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BulletSim: comments and non-functional changes working toward the center-of-gravity implementation.

cpu-performance
Robert Adams 2013-06-02 10:04:15 -07:00
parent 5f97c6f8f0
commit 03268d85c4
4 changed files with 39 additions and 20 deletions
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11
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
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@ -315,7 +315,6 @@ public sealed class BSLinksetCompound : BSLinkset
// Note that this works for rebuilding just the root after a linkset is taken apart.
// Called at taint time!!
private bool UseBulletSimRootOffsetHack = false; // Attempt to have Bullet track the coords of root compound shape
private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting
private void RecomputeLinksetCompound()
{
try
@ -331,9 +330,7 @@ public sealed class BSLinksetCompound : BSLinkset
// There is no reason to build all this physical stuff for a non-physical linkset.
if (!LinksetRoot.IsPhysicallyActive)
{
// Clean up any old linkset shape and make sure the root shape is set to the root object.
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID);
return; // Note the 'finally' clause at the botton which will get executed.
}
@ -347,9 +344,9 @@ public sealed class BSLinksetCompound : BSLinkset
OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation));
// 'centerDisplacement' is the value to subtract from children to give physical offset position
// 'centerDisplacementV' is the value to subtract from children to give physical offset position
OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation;
if (UseBulletSimRootOffsetHack || disableCOM)
if (UseBulletSimRootOffsetHack || !BSParam.LinksetOffsetCenterOfMass)
{
centerDisplacementV = OMV.Vector3.Zero;
LinksetRoot.ClearDisplacement();
@ -357,6 +354,8 @@ public sealed class BSLinksetCompound : BSLinkset
else
{
LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV);
// The actual center-of-mass could have been set by the user.
centerDisplacementV = LinksetRoot.PositionDisplacement;
}
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}",
LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacementV);
@ -409,7 +408,7 @@ public sealed class BSLinksetCompound : BSLinkset
{
// Enable the physical position updator to return the position and rotation of the root shape.
// This enables a feature in the C++ code to return the world coordinates of the first shape in the
// compound shape. This eleviates the need to offset the returned physical position by the
// compound shape. This aleviates the need to offset the returned physical position by the
// center-of-mass offset.
m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE);
}

3
OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
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@ -176,6 +176,7 @@ public static class BSParam
// Linkset implementation parameters
public static float LinksetImplementation { get; private set; }
public static bool LinksetOffsetCenterOfMass { get; private set; }
public static bool LinkConstraintUseFrameOffset { get; private set; }
public static bool LinkConstraintEnableTransMotor { get; private set; }
public static float LinkConstraintTransMotorMaxVel { get; private set; }
@ -684,6 +685,8 @@ public static class BSParam
new ParameterDefn<float>("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
(float)BSLinkset.LinksetImplementation.Compound ),
new ParameterDefn<bool>("LinksetOffsetCenterOfMass", "If 'true', compute linkset center-of-mass and offset linkset position to account for same",
false ),
new ParameterDefn<bool>("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
false ),
new ParameterDefn<bool>("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",

26
OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
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@ -44,12 +44,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
public class BSPrimDisplaced : BSPrim
{
// The purpose of this module is to do any mapping between what the simulator thinks
// The purpose of this subclass is to do any mapping between what the simulator thinks
// the prim position and orientation is and what the physical position/orientation.
// This difference happens because Bullet assumes the center-of-mass is the <0,0,0>
// of the prim/linkset. The simulator tracks the location of the prim/linkset by
// the location of the root prim. So, if center-of-mass is anywhere but the origin
// of the root prim, the physical origin is displaced from the simulator origin.
// of the prim/linkset. The simulator, on the other hand, tracks the location of
// the prim/linkset by the location of the root prim. So, if center-of-mass is anywhere
// but the origin of the root prim, the physical origin is displaced from the simulator origin.
//
// This routine works by capturing the Force* setting of position/orientation/... and
// adjusting the simulator values (being set) into the physical values.
@ -61,6 +61,7 @@ public class BSPrimDisplaced : BSPrim
public virtual OMV.Vector3 PositionDisplacement { get; set; }
public virtual OMV.Quaternion OrientationDisplacement { get; set; }
public virtual OMV.Quaternion OrientationDisplacementOrigInv { get; set; }
public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
@ -99,7 +100,8 @@ public class BSPrimDisplaced : BSPrim
// Remember the displacement from root as well as the origional rotation of the
// new center-of-mass.
PositionDisplacement = comDisp;
OrientationDisplacement = OMV.Quaternion.Identity;
OrientationDisplacement = Quaternion.Normalize(RawOrientation);
OrientationDisplacementOrigInv = Quaternion.Inverse(OrientationDisplacement);
}
}
@ -110,7 +112,7 @@ public class BSPrimDisplaced : BSPrim
{
if (PositionDisplacement != OMV.Vector3.Zero)
{
OMV.Vector3 displacedPos = value - (PositionDisplacement * RawOrientation);
OMV.Vector3 displacedPos = value - (PositionDisplacement * (OrientationDisplacementOrigInv * RawOrientation));
DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos);
base.ForcePosition = displacedPos;
}
@ -126,7 +128,8 @@ public class BSPrimDisplaced : BSPrim
get { return base.ForceOrientation; }
set
{
// TODO:
// Changing orientation also changes the position of the center-of-mass since
// the orientation passed is for a rotation around the root prim's center.
base.ForceOrientation = value;
}
}
@ -150,10 +153,13 @@ public class BSPrimDisplaced : BSPrim
// Undo any center-of-mass displacement that might have been done.
if (PositionDisplacement != OMV.Vector3.Zero || OrientationDisplacement != OMV.Quaternion.Identity)
{
// Correct for any rotation around the center-of-mass
// TODO!!!
// The origional shape was offset from 'zero' by PositionDisplacement and rotated by OrientationDisplacement.
// These physical locations and rotation must be back converted to be centered around the displaced
// root shape.
// The root position is the reported position displaced by the rotated displacement.
OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * (entprop.Rotation * OrientationDisplacementOrigInv));
OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation);
DetailLog("{0},BSPrimDisplaced.ForcePosition,physPos={1},disp={2},newPos={3}", LocalID, entprop.Position, PositionDisplacement, displacedPos);
entprop.Position = displacedPos;
// entprop.Rotation = something;

19
OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
View File

@ -37,6 +37,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
public class BSPrimLinkable : BSPrimDisplaced
{
// The purpose of this subclass is to add linkset functionality to the prim. This overrides
// operations necessary for keeping the linkset created and, additionally, this
// calls the linkset implementation for its creation and management.
// This adds the overrides for link() and delink() so the prim is linkable.
public BSLinkset Linkset { get; set; }
// The index of this child prim.
public int LinksetChildIndex { get; set; }
@ -69,8 +75,8 @@ public class BSPrimLinkable : BSPrimDisplaced
BSPrimLinkable parent = obj as BSPrimLinkable;
if (parent != null)
{
BSPhysObject parentBefore = Linkset.LinksetRoot;
int childrenBefore = Linkset.NumberOfChildren;
BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG
int childrenBefore = Linkset.NumberOfChildren; // DEBUG
Linkset = parent.Linkset.AddMeToLinkset(this);
@ -85,8 +91,8 @@ public class BSPrimLinkable : BSPrimDisplaced
// TODO: decide if this parent checking needs to happen at taint time
// Race condition here: if link() and delink() in same simulation tick, the delink will not happen
BSPhysObject parentBefore = Linkset.LinksetRoot;
int childrenBefore = Linkset.NumberOfChildren;
BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG
int childrenBefore = Linkset.NumberOfChildren; // DEBUG
Linkset = Linkset.RemoveMeFromLinkset(this);
@ -128,6 +134,7 @@ public class BSPrimLinkable : BSPrimDisplaced
get { return Linkset.LinksetMass; }
}
// Refresh the linkset structure and parameters when the prim's physical parameters are changed.
public override void UpdatePhysicalParameters()
{
base.UpdatePhysicalParameters();
@ -139,6 +146,7 @@ public class BSPrimLinkable : BSPrimDisplaced
Linkset.Refresh(this);
}
// When the prim is made dynamic or static, the linkset needs to change.
protected override void MakeDynamic(bool makeStatic)
{
base.MakeDynamic(makeStatic);
@ -155,6 +163,8 @@ public class BSPrimLinkable : BSPrimDisplaced
base.RemoveDependencies();
}
// Called after a simulation step for the changes in physical object properties.
// Do any filtering/modification needed for linksets.
public override void UpdateProperties(EntityProperties entprop)
{
if (Linkset.IsRoot(this))
@ -176,6 +186,7 @@ public class BSPrimLinkable : BSPrimDisplaced
Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
}
// Called after a simulation step to post a collision with this object.
public override bool Collide(uint collidingWith, BSPhysObject collidee,
OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
{