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Upgrade to 64 bit version of BulletSim

dsg
Robert Adams 2011-06-08 09:45:42 -07:00
parent 7c542be833
commit 16aa0f73e5
5 changed files with 53 additions and 45 deletions
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10
addon-modules/BulletSPlugin/BSCharacter.cs
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@ -93,6 +93,7 @@ public class BSCharacter : PhysicsActor
_size = size;
_orientation = Quaternion.Identity;
_velocity = Vector3.Zero;
_buoyancy = 0f; // characters return a buoyancy of zero
_scale = new Vector3(1f, 1f, 1f);
float AVvolume = (float) (Math.PI*Math.Pow(CAPSULE_RADIUS, 2)*CAPSULE_LENGTH);
_mass = _density*AVvolume;
@ -105,8 +106,8 @@ public class BSCharacter : PhysicsActor
shapeData.Velocity = _velocity;
shapeData.Scale = _scale;
shapeData.Mass = _mass;
shapeData.Flying = isFlying ? ShapeData.numericTrue : ShapeData.numericFalse;
shapeData.Dynamic = ShapeData.numericFalse;
shapeData.Buoyancy = isFlying ? 0f : 1f;
shapeData.Static = ShapeData.numericFalse;
BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData);
@ -268,7 +269,8 @@ public class BSCharacter : PhysicsActor
_flying = value;
_scene.TaintedObject(delegate()
{
BulletSimAPI.SetObjectFlying(_scene.WorldID, LocalID, _flying);
// simulate flying by changing the effect of gravity
BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _flying ? 0f : 1f);
});
}
}
@ -415,7 +417,7 @@ public class BSCharacter : PhysicsActor
{
// m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
// The following says we're colliding this simulation step
// The following makes IsColliding() and IsCollidingGround() work
_collidingStep = _scene.SimulationStep;
if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID)
{

72
addon-modules/BulletSPlugin/BSPrim.cs
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@ -106,6 +106,7 @@ public sealed class BSPrim : PhysicsActor
_size = size;
_scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type
_orientation = rotation;
_buoyancy = 1f;
_mesh = mesh;
_hullKey = 0;
_pbs = pbs;
@ -181,7 +182,6 @@ public sealed class BSPrim : PhysicsActor
_isSelected = value;
_scene.TaintedObject(delegate()
{
m_log.DebugFormat("{0}: Selected={1}, localID={2}", LogHeader, _isSelected, _localID);
SetObjectDynamic();
// SyncUpdated = true;
});
@ -287,6 +287,7 @@ public sealed class BSPrim : PhysicsActor
public override OMV.Vector3 Position {
get {
// don't do the following GetObjectPosition because this function is called a zillion times
// _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
return _position;
}
@ -332,10 +333,7 @@ public sealed class BSPrim : PhysicsActor
_isVolumeDetect = newValue;
_scene.TaintedObject(delegate()
{
// make the object ghostly or not (walk throughable)
BulletSimAPI.SetObjectGhost(_scene.WorldID, LocalID, _isVolumeDetect);
// set whether we hear about collisions
BulletSimAPI.SetObjectCollidable(_scene.WorldID, LocalID, !IsPhantom);
SetObjectDynamic();
});
}
return;
@ -390,40 +388,39 @@ public sealed class BSPrim : PhysicsActor
_scene.TaintedObject(delegate()
{
SetObjectDynamic();
m_log.DebugFormat("{0}: ID={1}, IsPhysical={2}, IsSelected={3}, mass={4}", LogHeader, _localID, _isPhysical, _isSelected, _mass);
// SyncUpdated = true;
});
}
}
// An object is static (does not move) if selected or not physical
private bool IsStatic
{
get { return _isSelected || !IsPhysical; }
}
// An object is solid if it's not phantom and if it's not doing VolumeDetect
private bool IsSolid
{
get { return !IsPhantom && !_isVolumeDetect; }
}
// make gravity work if the object is physical and not selected
// no locking here because only called when it is safe
private void SetObjectDynamic()
{
// a selected object is not physical
if (_isSelected || !_isPhysical)
{
_mass = 0f; // non-physical things work best with a mass of zero
BulletSimAPI.SetObjectDynamic(_scene.WorldID, _localID, false, _mass);
}
else
{
_mass = CalculateMass();
BulletSimAPI.SetObjectDynamic(_scene.WorldID, _localID, true, _mass);
}
// non-physical things work best with a mass of zero
_mass = IsStatic ? 0f : CalculateMass();
BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass);
// m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}, mass={4}", LogHeader, _localID, IsStatic, IsSolid, _mass);
}
// prims don't fly
public override bool Flying {
get { return _flying; }
set {
_flying = value;
_scene.TaintedObject(delegate()
{
BulletSimAPI.SetObjectFlying(_scene.WorldID, LocalID, _flying);
// SyncUpdated = true;
});
}
set { _flying = value; }
}
public override bool
SetAlwaysRun {
public override bool SetAlwaysRun {
get { return _setAlwaysRun; }
set { _setAlwaysRun = value; }
}
@ -431,12 +428,12 @@ public sealed class BSPrim : PhysicsActor
get { return _throttleUpdates; }
set { _throttleUpdates = value; }
}
public override bool IsColliding {
get { return _isColliding; }
public override bool IsColliding {
get { return (_collidingStep == _scene.SimulationStep); }
set { _isColliding = value; }
}
public override bool CollidingGround {
get { return _collidingGround; }
public override bool CollidingGround {
get { return (_collidingGroundStep == _scene.SimulationStep); }
set { _collidingGround = value; }
}
public override bool CollidingObj {
@ -468,7 +465,12 @@ public sealed class BSPrim : PhysicsActor
}
public override float Buoyancy {
get { return _buoyancy; }
set { _buoyancy = value; }
set { _buoyancy = value;
_scene.TaintedObject(delegate()
{
BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
});
}
}
// Used for MoveTo
@ -1003,11 +1005,11 @@ public sealed class BSPrim : PhysicsActor
shape.Velocity = _velocity;
shape.Scale = _scale;
shape.Mass = _isPhysical ? _mass : 0f;
shape.Buoyancy = _buoyancy;
shape.MeshKey = _hullKey;
shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
shape.Flying = _flying ? ShapeData.numericTrue : ShapeData.numericFalse;
shape.Friction = _friction;
shape.Dynamic = _isPhysical ? ShapeData.numericTrue : ShapeData.numericFalse;
shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
}
// Rebuild the geometry and object.
@ -1044,7 +1046,7 @@ public sealed class BSPrim : PhysicsActor
public void UpdateProperties(EntityProperties entprop)
{
bool changed = false;
// we assign to the local variables so the normal set action does not happen
// assign to the local variables so the normal set action does not happen
if (_position != entprop.Position)
{
_position = entprop.Position;

7
addon-modules/BulletSPlugin/BSScene.cs
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@ -35,23 +35,24 @@ using OpenSim.Region.Physics.Manager;
using OpenMetaverse;
using OpenSim.Region.Framework;
// TODOs for BulletSim (both BSScene and BSPrim)
// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
// Does NeedsMeshing() really need to exclude all the different shapes?
// Based on material, set density and friction
// More efficient memory usage in passing hull information from BSPrim to BulletSim
// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly?
// In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground)
// At the moment, physical and phantom causes object to drop through the terrain
// LinkSets
// Freeing of memory of linksets in BulletSim::DestroyObject
// Set child prims phantom since the physicality is handled by the parent prim
// Linked children need rotation relative to parent (passed as world rotation)
// Should prim.link() and prim.delink() membership checking happen at taint time?
// Pass collision enable flags to BulletSim code so collisions are not reported up unless they are really needed
// Set bouyancy(). Maybe generalize SetFlying() to SetBouyancy() and use the factor to change the gravity effect
// Test sculpties
// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once
// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
// Parameterize BulletSim. Pass a structure of parameters to the C++ code. Capsule size, friction, ...
// Use event subscription times to reduce the number of events passed up (_subscribedEventMS)
// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions)
//
namespace OpenSim.Region.Physics.BulletSPlugin
{

9
addon-modules/BulletSPlugin/BulletSimAPI.cs
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@ -59,11 +59,11 @@ public struct ShapeData
public Vector3 Velocity;
public Vector3 Scale;
public float Mass;
public float Buoyancy;
public System.UInt64 MeshKey;
public int Collidable;
public int Flying;
public float Friction;
public int Dynamic;
public int Static; // true if a static object. Otherwise gravity, etc.
// note that bools are passed as ints since bool size changes by language
}
public struct SweepHit
@ -148,7 +148,10 @@ public static extern bool SetObjectDynamic(uint worldID, uint id, bool isDynamic
public static extern bool SetObjectGhost(uint worldID, uint id, bool ghostly);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetObjectFlying(uint worldID, uint id, bool flying);
public static extern bool SetObjectProperties(uint worldID, uint id, bool isStatic, bool isSolid, bool genCollisions, float mass);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetObjectBuoyancy(uint worldID, uint id, float buoyancy);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool HasObject(uint worldID, uint id);

BIN
bin/BulletSim.dll
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