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
|
/*
* 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.PhysicsModules.SharedBase;
namespace OpenSim.Region.PhysicsModule.BulletS
{
public sealed class BSShapeCollection : IDisposable
{
#pragma warning disable 414
private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
#pragma warning restore 414
private BSScene m_physicsScene { get; set; }
private Object m_collectionActivityLock = new Object();
private bool DDetail = false;
public BSShapeCollection(BSScene physScene)
{
m_physicsScene = physScene;
// Set the next to 'true' for very detailed shape update detailed logging (detailed details?)
// While detailed debugging is still active, this is better than commenting out all the
// DetailLog statements. When debugging slows down, this and the protected logging
// statements can be commented/removed.
DDetail = true;
}
public void Dispose()
{
// TODO!!!!!!!!!
}
// Callbacks called just before either the body or shape is destroyed.
// Mostly used for changing bodies out from under Linksets.
// Useful for other cases where parameters need saving.
// Passing 'null' says no callback.
public delegate void PhysicalDestructionCallback(BulletBody pBody, BulletShape pShape);
// Called to update/change the body and shape for an object.
// The object has some shape and body on it. Here we decide if that is the correct shape
// for the current state of the object (static/dynamic/...).
// If bodyCallback is not null, it is called if either the body or the shape are changed
// so dependencies (like constraints) can be removed before the physical object is dereferenced.
// Return 'true' if either the body or the shape changed.
// Called at taint-time.
public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim, PhysicalDestructionCallback bodyCallback)
{
m_physicsScene.AssertNotInSimulationTime("BSShapeCollection.GetBodyAndShape");
bool ret = false;
// This lock could probably be pushed down lower but building shouldn't take long
lock (m_collectionActivityLock)
{
// Do we have the correct geometry for this type of object?
// Updates prim.BSShape with information/pointers to shape.
// Returns 'true' of BSShape is changed to a new shape.
bool newGeom = CreateGeom(forceRebuild, prim, bodyCallback);
// If we had to select a new shape geometry for the object,
// rebuild the body around it.
// Updates prim.BSBody with information/pointers to requested body
// Returns 'true' if BSBody was changed.
bool newBody = CreateBody((newGeom || forceRebuild), prim, m_physicsScene.World, bodyCallback);
ret = newGeom || newBody;
}
DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape);
return ret;
}
public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim)
{
return GetBodyAndShape(forceRebuild, sim, prim, null);
}
// If the existing prim's shape is to be replaced, remove the tie to the existing shape
// before replacing it.
private void DereferenceExistingShape(BSPhysObject prim, PhysicalDestructionCallback shapeCallback)
{
if (prim.PhysShape.HasPhysicalShape)
{
if (shapeCallback != null)
shapeCallback(prim.PhysBody, prim.PhysShape.physShapeInfo);
prim.PhysShape.Dereference(m_physicsScene);
}
prim.PhysShape = new BSShapeNull();
}
// Create the geometry information in Bullet for later use.
// The objects needs a hull if it's physical otherwise a mesh is enough.
// if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls,
// shared geometries will be used. If the parameters of the existing shape are the same
// as this request, the shape is not rebuilt.
// Info in prim.BSShape is updated to the new shape.
// Returns 'true' if the geometry was rebuilt.
// Called at taint-time!
public const int AvatarShapeCapsule = 0;
public const int AvatarShapeCube = 1;
public const int AvatarShapeOvoid = 2;
public const int AvatarShapeMesh = 3;
private bool CreateGeom(bool forceRebuild, BSPhysObject prim, PhysicalDestructionCallback shapeCallback)
{
bool ret = false;
bool haveShape = false;
bool nativeShapePossible = true;
PrimitiveBaseShape pbs = prim.BaseShape;
// Kludge to create the capsule for the avatar.
// TDOD: Remove/redo this when BSShapeAvatar is working!!
BSCharacter theChar = prim as BSCharacter;
if (theChar != null)
{
DereferenceExistingShape(prim, shapeCallback);
switch (BSParam.AvatarShape)
{
case AvatarShapeCapsule:
prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim,
BSPhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE);
ret = true;
haveShape = true;
break;
case AvatarShapeCube:
prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim,
BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_CAPSULE);
ret = true;
haveShape = true;
break;
case AvatarShapeOvoid:
// Saddly, Bullet doesn't scale spheres so this doesn't work as an avatar shape
prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim,
BSPhysicsShapeType.SHAPE_SPHERE, FixedShapeKey.KEY_CAPSULE);
ret = true;
haveShape = true;
break;
case AvatarShapeMesh:
break;
default:
break;
}
}
// If the prim attributes are simple, this could be a simple Bullet native shape
// Native shapes work whether to object is static or physical.
if (!haveShape
&& nativeShapePossible
&& pbs != null
&& PrimHasNoCuts(pbs)
&& ( !pbs.SculptEntry || (pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim) )
)
{
// Get the scale of any existing shape so we can see if the new shape is same native type and same size.
OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero;
if (prim.PhysShape.HasPhysicalShape)
scaleOfExistingShape = m_physicsScene.PE.GetLocalScaling(prim.PhysShape.physShapeInfo);
if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}",
prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.physShapeInfo.shapeType);
// It doesn't look like Bullet scales native spheres so make sure the scales are all equal
if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
&& pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)
{
haveShape = true;
if (forceRebuild
|| prim.PhysShape.ShapeType != BSPhysicsShapeType.SHAPE_SPHERE
)
{
DereferenceExistingShape(prim, shapeCallback);
prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim,
BSPhysicsShapeType.SHAPE_SPHERE, FixedShapeKey.KEY_SPHERE);
ret = true;
}
if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},rebuilt={2},shape={3}",
prim.LocalID, forceRebuild, ret, prim.PhysShape);
}
// If we didn't make a sphere, maybe a box will work.
if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
{
haveShape = true;
if (forceRebuild
|| prim.Scale != scaleOfExistingShape
|| prim.PhysShape.ShapeType != BSPhysicsShapeType.SHAPE_BOX
)
{
DereferenceExistingShape(prim, shapeCallback);
prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim,
BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
ret = true;
}
if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},rebuilt={2},shape={3}",
prim.LocalID, forceRebuild, ret, prim.PhysShape);
}
}
// If a simple shape is not happening, create a mesh and possibly a hull.
if (!haveShape && pbs != null)
{
ret = CreateGeomMeshOrHull(prim, shapeCallback);
}
return ret;
}
// return 'true' if this shape description does not include any cutting or twisting.
public static bool PrimHasNoCuts(PrimitiveBaseShape pbs)
{
return pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
&& pbs.ProfileHollow == 0
&& pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
&& pbs.PathBegin == 0 && pbs.PathEnd == 0
&& pbs.PathTaperX == 0 && pbs.PathTaperY == 0
&& pbs.PathScaleX == 100 && pbs.PathScaleY == 100
&& pbs.PathShearX == 0 && pbs.PathShearY == 0;
}
// return 'true' if the prim's shape was changed.
private bool CreateGeomMeshOrHull(BSPhysObject prim, PhysicalDestructionCallback shapeCallback)
{
bool ret = false;
// Note that if it's a native shape, the check for physical/non-physical is not
// made. Native shapes work in either case.
if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects)
{
// Use a simple, single mesh convex hull shape if the object is simple enough
BSShape potentialHull = null;
PrimitiveBaseShape pbs = prim.BaseShape;
// Use a simple, one section convex shape for prims that are probably convex (no cuts or twists)
if (BSParam.ShouldUseSingleConvexHullForPrims
&& pbs != null
&& !pbs.SculptEntry
&& PrimHasNoCuts(pbs)
)
{
potentialHull = BSShapeConvexHull.GetReference(m_physicsScene, false /* forceRebuild */, prim);
}
// Use the GImpact shape if it is a prim that has some concaveness
if (potentialHull == null
&& BSParam.ShouldUseGImpactShapeForPrims
&& pbs != null
&& !pbs.SculptEntry
)
{
potentialHull = BSShapeGImpact.GetReference(m_physicsScene, false /* forceRebuild */, prim);
}
// If not any of the simple cases, just make a hull
if (potentialHull == null)
{
potentialHull = BSShapeHull.GetReference(m_physicsScene, false /*forceRebuild*/, prim);
}
// If the current shape is not what is on the prim at the moment, time to change.
if (!prim.PhysShape.HasPhysicalShape
|| potentialHull.ShapeType != prim.PhysShape.ShapeType
|| potentialHull.physShapeInfo.shapeKey != prim.PhysShape.physShapeInfo.shapeKey)
{
DereferenceExistingShape(prim, shapeCallback);
prim.PhysShape = potentialHull;
ret = true;
}
else
{
// The current shape on the prim is the correct one. We don't need the potential reference.
potentialHull.Dereference(m_physicsScene);
}
if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1}", prim.LocalID, prim.PhysShape);
}
else
{
// Non-physical objects should be just meshes.
BSShape potentialMesh = BSShapeMesh.GetReference(m_physicsScene, false /*forceRebuild*/, prim);
// If the current shape is not what is on the prim at the moment, time to change.
if (!prim.PhysShape.HasPhysicalShape
|| potentialMesh.ShapeType != prim.PhysShape.ShapeType
|| potentialMesh.physShapeInfo.shapeKey != prim.PhysShape.physShapeInfo.shapeKey)
{
DereferenceExistingShape(prim, shapeCallback);
prim.PhysShape = potentialMesh;
ret = true;
}
else
{
// We don't need this reference to the mesh that is already being using.
potentialMesh.Dereference(m_physicsScene);
}
if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1}", prim.LocalID, prim.PhysShape);
}
return ret;
}
// Track another user of a body.
// We presume the caller has allocated the body.
// Bodies only have one user so the body is just put into the world if not already there.
private void ReferenceBody(BulletBody body)
{
lock (m_collectionActivityLock)
{
if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
if (!m_physicsScene.PE.IsInWorld(m_physicsScene.World, body))
{
m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, body);
if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
}
}
}
// Release the usage of a body.
// Called when releasing use of a BSBody. BSShape is handled separately.
// Called in taint time.
public void DereferenceBody(BulletBody body, PhysicalDestructionCallback bodyCallback )
{
if (!body.HasPhysicalBody)
return;
m_physicsScene.AssertNotInSimulationTime("BSShapeCollection.DereferenceBody");
lock (m_collectionActivityLock)
{
if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1}", body.ID, body);
// If the caller needs to know the old body is going away, pass the event up.
if (bodyCallback != null)
bodyCallback(body, null);
// Removing an object not in the world is a NOOP
m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, body);
// Zero any reference to the shape so it is not freed when the body is deleted.
m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, body, null);
m_physicsScene.PE.DestroyObject(m_physicsScene.World, body);
}
}
// Create a body object in Bullet.
// Updates prim.BSBody with the information about the new body if one is created.
// Returns 'true' if an object was actually created.
// Called at taint-time.
private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, PhysicalDestructionCallback bodyCallback)
{
bool ret = false;
// the mesh, hull or native shape must have already been created in Bullet
bool mustRebuild = !prim.PhysBody.HasPhysicalBody;
// If there is an existing body, verify it's of an acceptable type.
// If not a solid object, body is a GhostObject. Otherwise a RigidBody.
if (!mustRebuild)
{
CollisionObjectTypes bodyType = (CollisionObjectTypes)m_physicsScene.PE.GetBodyType(prim.PhysBody);
if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
|| !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
{
// If the collisionObject is not the correct type for solidness, rebuild what's there
mustRebuild = true;
if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,forceRebuildBecauseChangingBodyType,bodyType={1}", prim.LocalID, bodyType);
}
}
if (mustRebuild || forceRebuild)
{
// Free any old body
DereferenceBody(prim.PhysBody, bodyCallback);
BulletBody aBody;
if (prim.IsSolid)
{
aBody = m_physicsScene.PE.CreateBodyFromShape(sim, prim.PhysShape.physShapeInfo, prim.LocalID, prim.RawPosition, prim.RawOrientation);
if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,rigid,body={1}", prim.LocalID, aBody);
}
else
{
aBody = m_physicsScene.PE.CreateGhostFromShape(sim, prim.PhysShape.physShapeInfo, prim.LocalID, prim.RawPosition, prim.RawOrientation);
if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody);
}
ReferenceBody(aBody);
prim.PhysBody = aBody;
ret = true;
}
return ret;
}
private void DetailLog(string msg, params Object[] args)
{
if (m_physicsScene.PhysicsLogging.Enabled)
m_physicsScene.DetailLog(msg, args);
}
}
}
|