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BulletSim: rework LinksetCompound to work with new BSShape system. 

Not all working yet.
user_profiles
Robert Adams 2013-05-01 17:15:54 -07:00
parent fca4e4ec7c
commit 0378baed35
1 changed files with 40 additions and 106 deletions
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146
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
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@ -35,6 +35,7 @@ using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
/*
// When a child is linked, the relationship position of the child to the parent
// is remembered so the child's world position can be recomputed when it is
// removed from the linkset.
@ -88,17 +89,15 @@ sealed class BSLinksetCompoundInfo : BSLinksetInfo
return buff.ToString();
}
};
*/
public sealed class BSLinksetCompound : BSLinkset
{
private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
private BSShape LinksetShape;
public BSLinksetCompound(BSScene scene, BSPrimLinkable parent)
: base(scene, parent)
{
LinksetShape = new BSShapeNull();
}
// When physical properties are changed the linkset needs to recalculate
@ -143,25 +142,11 @@ public sealed class BSLinksetCompound : BSLinkset
// The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
ScheduleRebuild(LinksetRoot);
}
// The origional prims are removed from the world as the shape of the root compound
// shape takes over.
m_physicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
m_physicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION);
// We don't want collisions from the old linkset children.
m_physicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
child.PhysBody.collisionType = CollisionType.LinksetChild;
ret = true;
return ret;
}
// The object is going static (non-physical). Do any setup necessary for a static linkset.
// The object is going static (non-physical). We do not do anything for static linksets.
// 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(BSPrimLinkable child)
{
@ -169,19 +154,9 @@ public sealed class BSLinksetCompound : BSLinkset
DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
if (IsRoot(child))
{
// Schedule a rebuild to verify that the root shape is set to the real shape.
ScheduleRebuild(LinksetRoot);
}
else
{
// The non-physical children can come back to life.
m_physicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
child.PhysBody.collisionType = CollisionType.LinksetChild;
// Don't force activation so setting of DISABLE_SIMULATION can stay if used.
m_physicsScene.PE.Activate(child.PhysBody, false);
ret = true;
}
return ret;
}
@ -283,9 +258,6 @@ public sealed class BSLinksetCompound : BSLinkset
if (!IsRoot(child))
{
// Because it is a convenient time, recompute child world position and rotation based on
// its position in the linkset.
RecomputeChildWorldPosition(child, true /* inTaintTime */);
child.LinksetInfo = null;
}
@ -296,50 +268,6 @@ public sealed class BSLinksetCompound : BSLinkset
return ret;
}
// When the linkset is built, the child shape is added to the compound shape relative to the
// root shape. The linkset then moves around but this does not move the actual child
// prim. The child prim's location must be recomputed based on the location of the root shape.
private void RecomputeChildWorldPosition(BSPrimLinkable child, bool inTaintTime)
{
// For the moment (20130201), disable this computation (converting the child physical addr back to
// a region address) until we have a good handle on center-of-mass offsets and what the physics
// engine moving a child actually means.
// The simulator keeps track of where children should be as the linkset moves. Setting
// the pos/rot here does not effect that knowledge as there is no good way for the
// physics engine to send the simulator an update for a child.
/*
BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo;
if (lci != null)
{
if (inTaintTime)
{
OMV.Vector3 oldPos = child.RawPosition;
child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetFromRoot;
child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot;
DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}",
child.LocalID, oldPos, lci, child.RawPosition);
}
else
{
// TaintedObject is not used here so the raw position is set now and not at taint-time.
child.Position = LinksetRoot.RawPosition + lci.OffsetFromRoot;
child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot;
}
}
else
{
// This happens when children have been added to the linkset but the linkset
// has not been constructed yet. So like, at taint time, adding children to a linkset
// and then changing properties of the children (makePhysical, for instance)
// but the post-print action of actually rebuilding the linkset has not yet happened.
// PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}",
// LogHeader, child.LocalID);
DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID);
}
*/
}
// ================================================================
// Add a new child to the linkset.
@ -372,7 +300,6 @@ public sealed class BSLinksetCompound : BSLinkset
child.LocalID, child.PhysBody.AddrString);
// Cause the child's body to be rebuilt and thus restored to normal operation
RecomputeChildWorldPosition(child, false);
child.LinksetInfo = null;
child.ForceBodyShapeRebuild(false);
@ -399,26 +326,27 @@ public sealed class BSLinksetCompound : BSLinkset
private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting
private void RecomputeLinksetCompound()
{
if (!LinksetRoot.IsPhysicallyActive)
{
// There is no reason to build all this physical stuff for a non-physical linkset
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID);
return;
}
try
{
// This replaces the physical shape of the root prim with a compound shape made up of the root
// shape and all the children.
Rebuilding = true;
// RootPrim.PhysShape is the shape of the root prim.
// Here we build the compound shape made up of all the children.
// No matter what is being done, force the root prim's PhysBody and PhysShape to get set
// to what they should be as if the root was not in a linkset.
// Not that bad since we only get into this routine if there are children in the linkset and
// something has been updated/changed.
LinksetRoot.ForceBodyShapeRebuild(true);
// Free up any shape we'd previously built.
LinksetShape.Dereference(m_physicsScene);
// 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.
}
// Get a new compound shape to build the linkset shape in.
LinksetShape = BSShapeCompound.GetReference(m_physicsScene);
BSShape linksetShape = BSShapeCompound.GetReference(m_physicsScene);
// The center of mass for the linkset is the geometric center of the group.
// Compute a displacement for each component so it is relative to the center-of-mass.
@ -445,35 +373,41 @@ public sealed class BSLinksetCompound : BSLinkset
int memberIndex = 1;
ForEachMember(delegate(BSPrimLinkable cPrim)
{
if (IsRoot(cPrim))
{
cPrim.LinksetChildIndex = 0;
}
else
{
cPrim.LinksetChildIndex = memberIndex;
}
// Root shape is always index zero.
cPrim.LinksetChildIndex = IsRoot(cPrim) ? 0 : memberIndex;
// Get a reference to the shape of the child and add that shape to the linkset compound shape
BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim);
OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
m_physicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1}cShape={2},offPos={3},offRot={4}",
m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}",
LinksetRoot.LocalID, memberIndex, cPrim.PhysShape, offsetPos, offsetRot);
// Since we are borrowing the shape of the child, disable the origional child body
if (!IsRoot(cPrim))
{
m_physicsScene.PE.AddToCollisionFlags(cPrim.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
m_physicsScene.PE.ForceActivationState(cPrim.PhysBody, ActivationState.DISABLE_SIMULATION);
// We don't want collisions from the old linkset children.
m_physicsScene.PE.RemoveFromCollisionFlags(cPrim.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
cPrim.PhysBody.collisionType = CollisionType.LinksetChild;
}
memberIndex++;
return false; // 'false' says to move onto the next child in the list
});
// Sneak the built compound shape in as the shape of the root prim.
// Note this doesn't touch the root prim's PhysShape so be sure the manage the difference.
// Replace the root shape with the built compound shape.
// Object removed and added to world to get collision cache rebuilt for new shape.
LinksetRoot.PhysShape.Dereference(m_physicsScene);
LinksetRoot.PhysShape = linksetShape;
m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody);
m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo);
m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, linksetShape.physShapeInfo);
m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}",
LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetShape);
LinksetRoot.LocalID, LinksetRoot.PhysBody, linksetShape);
// With all of the linkset packed into the root prim, it has the mass of everyone.
LinksetMass = ComputeLinksetMass();
@ -494,7 +428,7 @@ public sealed class BSLinksetCompound : BSLinkset
}
// See that the Aabb surrounds the new shape
m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetShape.physShapeInfo);
m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo);
}
}
}