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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim

user_profiles
Diva Canto 2013-04-24 12:46:23 -07:00
parent 70081a40a4 c22a2ab7d2
commit 1868680848
14 changed files with 362 additions and 81 deletions
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27
OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs
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@ -268,6 +268,25 @@ public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShap
BSPhysicsShapeType.SHAPE_HULL);
}
public override BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
{
BulletWorldUnman worldu = world as BulletWorldUnman;
BulletShapeUnman shapeu = meshShape as BulletShapeUnman;
return new BulletShapeUnman(
BSAPICPP.BuildConvexHullShapeFromMesh2(worldu.ptr, shapeu.ptr),
BSPhysicsShapeType.SHAPE_CONVEXHULL);
}
public override BulletShape CreateConvexHullShape(BulletWorld world,
int indicesCount, int[] indices,
int verticesCount, float[] vertices)
{
BulletWorldUnman worldu = world as BulletWorldUnman;
return new BulletShapeUnman(
BSAPICPP.CreateConvexHullShape2(worldu.ptr, indicesCount, indices, verticesCount, vertices),
BSPhysicsShapeType.SHAPE_CONVEXHULL);
}
public override BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData)
{
BulletWorldUnman worldu = world as BulletWorldUnman;
@ -1413,6 +1432,14 @@ public static extern IntPtr CreateHullShape2(IntPtr world,
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape, HACDParams parms);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr BuildConvexHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateConvexHullShape2(IntPtr world,
int indicesCount, [MarshalAs(UnmanagedType.LPArray)] int[] indices,
int verticesCount, [MarshalAs(UnmanagedType.LPArray)] float[] vertices );
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);

10
OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
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@ -1778,6 +1778,16 @@ private sealed class BulletConstraintXNA : BulletConstraint
/* TODO */ return null;
}
public override BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
{
/* TODO */ return null;
}
public override BulletShape CreateConvexHullShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
{
/* TODO */ return null;
}
public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
{
//DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);

103
OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
View File

@ -40,10 +40,16 @@ public class BSActorAvatarMove : BSActor
{
BSVMotor m_velocityMotor;
// Set to true if we think we're going up stairs.
// This state is remembered because collisions will turn on and off as we go up stairs.
int m_walkingUpStairs;
float m_lastStepUp;
public BSActorAvatarMove(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_velocityMotor = null;
m_walkingUpStairs = 0;
m_physicsScene.DetailLog("{0},BSActorAvatarMove,constructor", m_controllingPrim.LocalID);
}
@ -119,6 +125,8 @@ public class BSActorAvatarMove : BSActor
SetVelocityAndTarget(m_controllingPrim.RawVelocity, m_controllingPrim.TargetVelocity, true /* inTaintTime */);
m_physicsScene.BeforeStep += Mover;
m_walkingUpStairs = 0;
}
}
@ -216,8 +224,6 @@ public class BSActorAvatarMove : BSActor
// 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force.
OMV.Vector3 moveForce = (stepVelocity - m_controllingPrim.RawVelocity) * m_controllingPrim.Mass;
// Should we check for move force being small and forcing velocity to zero?
// Add special movement force to allow avatars to walk up stepped surfaces.
moveForce += WalkUpStairs();
@ -233,24 +239,33 @@ public class BSActorAvatarMove : BSActor
{
OMV.Vector3 ret = OMV.Vector3.Zero;
m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4},avHeight={5}",
m_controllingPrim.LocalID, m_controllingPrim.IsColliding, m_controllingPrim.Flying,
m_controllingPrim.TargetVelocitySpeed, m_controllingPrim.CollisionsLastTick.Count, m_controllingPrim.Size.Z);
// This test is done if moving forward, not flying and is colliding with something.
// DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4}",
// LocalID, IsColliding, Flying, TargetSpeed, CollisionsLastTick.Count);
if (m_controllingPrim.IsColliding && !m_controllingPrim.Flying && m_controllingPrim.TargetVelocitySpeed > 0.1f /* && ForwardSpeed < 0.1f */)
// Check for stairs climbing if colliding, not flying and moving forward
if ( m_controllingPrim.IsColliding
&& !m_controllingPrim.Flying
&& m_controllingPrim.TargetVelocitySpeed > 0.1f )
{
// The range near the character's feet where we will consider stairs
float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) + 0.05f;
// float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) + 0.05f;
// Note: there is a problem with the computation of the capsule height. Thus RawPosition is off
// from the height. Revisit size and this computation when height is scaled properly.
float nearFeetHeightMin = m_controllingPrim.RawPosition.Z - (m_controllingPrim.Size.Z / 2f) - 0.05f;
float nearFeetHeightMax = nearFeetHeightMin + BSParam.AvatarStepHeight;
// Look for a collision point that is near the character's feet and is oriented the same as the charactor is
// Look for a collision point that is near the character's feet and is oriented the same as the charactor is.
// Find the highest 'good' collision.
OMV.Vector3 highestTouchPosition = OMV.Vector3.Zero;
foreach (KeyValuePair<uint, ContactPoint> kvp in m_controllingPrim.CollisionsLastTick.m_objCollisionList)
{
// Don't care about collisions with the terrain
if (kvp.Key > m_physicsScene.TerrainManager.HighestTerrainID)
{
OMV.Vector3 touchPosition = kvp.Value.Position;
// DetailLog("{0},BSCharacter.WalkUpStairs,min={1},max={2},touch={3}",
// LocalID, nearFeetHeightMin, nearFeetHeightMax, touchPosition);
m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,min={1},max={2},touch={3}",
m_controllingPrim.LocalID, nearFeetHeightMin, nearFeetHeightMax, touchPosition);
if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax)
{
// This contact is within the 'near the feet' range.
@ -261,24 +276,76 @@ public class BSActorAvatarMove : BSActor
float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal));
if (diff < BSParam.AvatarStepApproachFactor)
{
// Found the stairs contact point. Push up a little to raise the character.
float upForce = (touchPosition.Z - nearFeetHeightMin) * m_controllingPrim.Mass * BSParam.AvatarStepForceFactor;
ret = new OMV.Vector3(0f, 0f, upForce);
// Also move the avatar up for the new height
OMV.Vector3 displacement = new OMV.Vector3(0f, 0f, BSParam.AvatarStepHeight / 2f);
m_controllingPrim.ForcePosition = m_controllingPrim.RawPosition + displacement;
if (highestTouchPosition.Z < touchPosition.Z)
highestTouchPosition = touchPosition;
}
m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,touchPos={1},nearFeetMin={2},faceDir={3},norm={4},diff={5},ret={6}",
m_controllingPrim.LocalID, touchPosition, nearFeetHeightMin, directionFacing, touchNormal, diff, ret);
}
}
}
m_walkingUpStairs = 0;
// If there is a good step sensing, move the avatar over the step.
if (highestTouchPosition != OMV.Vector3.Zero)
{
// Remember that we are going up stairs. This is needed because collisions
// will stop when we move up so this smoothes out that effect.
m_walkingUpStairs = BSParam.AvatarStepSmoothingSteps;
m_lastStepUp = highestTouchPosition.Z - nearFeetHeightMin;
ret = ComputeStairCorrection(m_lastStepUp);
m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs,touchPos={1},nearFeetMin={2},ret={3}",
m_controllingPrim.LocalID, highestTouchPosition, nearFeetHeightMin, ret);
}
}
else
{
// If we used to be going up stairs but are not now, smooth the case where collision goes away while
// we are bouncing up the stairs.
if (m_walkingUpStairs > 0)
{
m_walkingUpStairs--;
ret = ComputeStairCorrection(m_lastStepUp);
}
}
return ret;
}
private OMV.Vector3 ComputeStairCorrection(float stepUp)
{
OMV.Vector3 ret = OMV.Vector3.Zero;
OMV.Vector3 displacement = OMV.Vector3.Zero;
if (stepUp > 0f)
{
// Found the stairs contact point. Push up a little to raise the character.
if (BSParam.AvatarStepForceFactor > 0f)
{
float upForce = stepUp * m_controllingPrim.Mass * BSParam.AvatarStepForceFactor;
ret = new OMV.Vector3(0f, 0f, upForce);
}
// Also move the avatar up for the new height
if (BSParam.AvatarStepUpCorrectionFactor > 0f)
{
// Move the avatar up related to the height of the collision
displacement = new OMV.Vector3(0f, 0f, stepUp * BSParam.AvatarStepUpCorrectionFactor);
m_controllingPrim.ForcePosition = m_controllingPrim.RawPosition + displacement;
}
else
{
if (BSParam.AvatarStepUpCorrectionFactor < 0f)
{
// Move the avatar up about the specified step height
displacement = new OMV.Vector3(0f, 0f, BSParam.AvatarStepHeight);
m_controllingPrim.ForcePosition = m_controllingPrim.RawPosition + displacement;
}
}
m_physicsScene.DetailLog("{0},BSCharacter.WalkUpStairs.ComputeStairCorrection,disp={1},force={2}",
m_controllingPrim.LocalID, displacement, ret);
}
return ret;
}
}
}

7
OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
View File

@ -70,6 +70,7 @@ public enum BSPhysicsShapeType
SHAPE_COMPOUND = 22,
SHAPE_HEIGHTMAP = 23,
SHAPE_AVATAR = 24,
SHAPE_CONVEXHULL= 25,
};
// The native shapes have predefined shape hash keys
@ -325,6 +326,12 @@ public abstract BulletShape CreateHullShape(BulletWorld world,
public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms);
public abstract BulletShape BuildConvexHullShapeFromMesh(BulletWorld world, BulletShape meshShape);
public abstract BulletShape CreateConvexHullShape(BulletWorld world,
int indicesCount, int[] indices,
int verticesCount, float[] vertices );
public abstract BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData);
public abstract bool IsNativeShape(BulletShape shape);

15
OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
View File

@ -128,6 +128,8 @@ public static class BSParam
public static float AvatarStepHeight { get; private set; }
public static float AvatarStepApproachFactor { get; private set; }
public static float AvatarStepForceFactor { get; private set; }
public static float AvatarStepUpCorrectionFactor { get; private set; }
public static int AvatarStepSmoothingSteps { get; private set; }
// Vehicle parameters
public static float VehicleMaxLinearVelocity { get; private set; }
@ -234,6 +236,7 @@ public static class BSParam
objectSet = pObjSetter;
}
/* Wish I could simplify using this definition but CLR doesn't store references so closure around delegates of references won't work
* TODO: Maybe use reflection and the name of the variable to create a reference for the getter/setter.
public ParameterDefn(string pName, string pDesc, T pDefault, ref T loc)
: base(pName, pDesc)
{
@ -561,7 +564,7 @@ public static class BSParam
(s) => { return AvatarBelowGroundUpCorrectionMeters; },
(s,v) => { AvatarBelowGroundUpCorrectionMeters = v; } ),
new ParameterDefn<float>("AvatarStepHeight", "Height of a step obstacle to consider step correction",
0.3f,
0.6f,
(s) => { return AvatarStepHeight; },
(s,v) => { AvatarStepHeight = v; } ),
new ParameterDefn<float>("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)",
@ -569,9 +572,17 @@ public static class BSParam
(s) => { return AvatarStepApproachFactor; },
(s,v) => { AvatarStepApproachFactor = v; } ),
new ParameterDefn<float>("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step",
2.0f,
1.0f,
(s) => { return AvatarStepForceFactor; },
(s,v) => { AvatarStepForceFactor = v; } ),
new ParameterDefn<float>("AvatarStepUpCorrectionFactor", "Multiplied by height of step collision to create up movement at step",
1.0f,
(s) => { return AvatarStepUpCorrectionFactor; },
(s,v) => { AvatarStepUpCorrectionFactor = v; } ),
new ParameterDefn<int>("AvatarStepSmoothingSteps", "Number of frames after a step collision that we continue walking up stairs",
2,
(s) => { return AvatarStepSmoothingSteps; },
(s,v) => { AvatarStepSmoothingSteps = v; } ),
new ParameterDefn<float>("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
1000.0f,

22
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
View File

@ -96,7 +96,7 @@ public abstract class BSPhysObject : PhysicsActor
SetMaterial((int)MaterialAttributes.Material.Wood);
CollisionCollection = new CollisionEventUpdate();
CollisionsLastTick = CollisionCollection;
CollisionsLastReported = CollisionCollection;
SubscribedEventsMs = 0;
CollidingStep = 0;
CollidingGroundStep = 0;
@ -368,11 +368,14 @@ public abstract class BSPhysObject : PhysicsActor
}
}
// The collisions that have been collected this tick
// The collisions that have been collected for the next collision reporting (throttled by subscription)
protected CollisionEventUpdate CollisionCollection;
// Remember collisions from last tick for fancy collision based actions
// This is the collision collection last reported to the Simulator.
public CollisionEventUpdate CollisionsLastReported;
// Remember the collisions recorded in the last tick for fancy collision checking
// (like a BSCharacter walking up stairs).
public CollisionEventUpdate CollisionsLastTick;
private long CollisionsLastTickStep = -1;
// The simulation step is telling this object about a collision.
// Return 'true' if a collision was processed and should be sent up.
@ -399,6 +402,15 @@ public abstract class BSPhysObject : PhysicsActor
// For movement tests, remember if we are colliding with an object that is moving.
ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false;
// Make a collection of the collisions that happened the last simulation tick.
// This is different than the collection created for sending up to the simulator as it is cleared every tick.
if (CollisionsLastTickStep != PhysicsScene.SimulationStep)
{
CollisionsLastTick = new CollisionEventUpdate();
CollisionsLastTickStep = PhysicsScene.SimulationStep;
}
CollisionsLastTick.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
// If someone has subscribed for collision events log the collision so it will be reported up
if (SubscribedEvents()) {
CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
@ -419,7 +431,7 @@ public abstract class BSPhysObject : PhysicsActor
bool ret = true;
// If the 'no collision' call, force it to happen right now so quick collision_end
bool force = (CollisionCollection.Count == 0 && CollisionsLastTick.Count != 0);
bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0);
// throttle the collisions to the number of milliseconds specified in the subscription
if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
@ -438,7 +450,7 @@ public abstract class BSPhysObject : PhysicsActor
base.SendCollisionUpdate(CollisionCollection);
// Remember the collisions from this tick for some collision specific processing.
CollisionsLastTick = CollisionCollection;
CollisionsLastReported = CollisionCollection;
// The CollisionCollection instance 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.

5
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -69,12 +69,17 @@ public class BSPrim : BSPhysObject
private int CrossingFailures { get; set; }
// Keep a handle to the vehicle actor so it is easy to set parameters on same.
public BSDynamics VehicleActor;
public const string VehicleActorName = "BasicVehicle";
// Parameters for the hover actor
public const string HoverActorName = "HoverActor";
// Parameters for the axis lock actor
public const String LockedAxisActorName = "BSPrim.LockedAxis";
// Parameters for the move to target actor
public const string MoveToTargetActorName = "MoveToTargetActor";
// Parameters for the setForce and setTorque actors
public const string SetForceActorName = "SetForceActor";
public const string SetTorqueActorName = "SetTorqueActor";

28
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
View File

@ -612,7 +612,7 @@ public sealed class BSShapeCollection : IDisposable
newShape = CreatePhysicalMesh(prim, newMeshKey, prim.BaseShape, prim.Size, lod);
// Take evasive action if the mesh was not constructed.
newShape = VerifyMeshCreated(newShape, prim);
newShape = VerifyMeshCreated(PhysicsScene, newShape, prim);
ReferenceShape(newShape);
@ -719,7 +719,7 @@ public sealed class BSShapeCollection : IDisposable
newShape = CreatePhysicalHull(prim, newHullKey, prim.BaseShape, prim.Size, lod);
// It might not have been created if we're waiting for an asset.
newShape = VerifyMeshCreated(newShape, prim);
newShape = VerifyMeshCreated(PhysicsScene, newShape, prim);
ReferenceShape(newShape);
@ -923,7 +923,7 @@ public sealed class BSShapeCollection : IDisposable
// Create a hash of all the shape parameters to be used as a key
// for this particular shape.
private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
public static System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
{
// level of detail based on size and type of the object
float lod = BSParam.MeshLOD;
@ -944,7 +944,7 @@ public sealed class BSShapeCollection : IDisposable
return pbs.GetMeshKey(size, lod);
}
// For those who don't want the LOD
private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs)
public static System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs)
{
float lod;
return ComputeShapeKey(size, pbs, out lod);
@ -957,7 +957,7 @@ public sealed class BSShapeCollection : IDisposable
// us to not loop forever.
// Called after creating a physical mesh or hull. If the physical shape was created,
// just return.
private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim)
public static BulletShape VerifyMeshCreated(BSScene physicsScene, BulletShape newShape, BSPhysObject prim)
{
// If the shape was successfully created, nothing more to do
if (newShape.HasPhysicalShape)
@ -969,7 +969,7 @@ public sealed class BSShapeCollection : IDisposable
if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
{
prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
PhysicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. {1}, texture={2}",
physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. {1}, texture={2}",
LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture);
}
else
@ -981,14 +981,14 @@ public sealed class BSShapeCollection : IDisposable
&& prim.BaseShape.SculptTexture != OMV.UUID.Zero
)
{
DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset", prim.LocalID);
physicsScene.DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset", prim.LocalID);
// Multiple requestors will know we're waiting for this asset
prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Waiting;
BSPhysObject xprim = prim;
Util.FireAndForget(delegate
{
RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
RequestAssetDelegate assetProvider = physicsScene.RequestAssetMethod;
if (assetProvider != null)
{
BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
@ -1016,7 +1016,7 @@ public sealed class BSShapeCollection : IDisposable
yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched;
else
yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
DetailLog("{0},BSShapeCollection,fetchAssetCallback,found={1},isSculpt={2},ids={3}",
physicsScene.DetailLog("{0},BSShapeCollection,fetchAssetCallback,found={1},isSculpt={2},ids={3}",
yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs );
});
@ -1024,8 +1024,8 @@ public sealed class BSShapeCollection : IDisposable
else
{
xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
PhysicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}",
LogHeader, PhysicsScene.Name);
physicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}",
LogHeader, physicsScene.Name);
}
});
}
@ -1033,15 +1033,15 @@ public sealed class BSShapeCollection : IDisposable
{
if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed)
{
PhysicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. obj={1}, texture={2}",
physicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. obj={1}, texture={2}",
LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture);
}
}
}
// While we wait for the mesh defining asset to be loaded, stick in a simple box for the object.
BulletShape fillinShape = BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
DetailLog("{0},BSShapeCollection.VerifyMeshCreated,boxTempShape", prim.LocalID);
BulletShape fillinShape = physicsScene.Shapes.BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
physicsScene.DetailLog("{0},BSShapeCollection.VerifyMeshCreated,boxTempShape", prim.LocalID);
return fillinShape;
}

223
OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
View File

@ -29,6 +29,9 @@ using System;
using System.Collections.Generic;
using System.Text;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
@ -37,11 +40,19 @@ public abstract class BSShape
{
public int referenceCount { get; set; }
public DateTime lastReferenced { get; set; }
public BulletShape physShapeInfo { get; set; }
public BSShape()
{
referenceCount = 0;
lastReferenced = DateTime.Now;
physShapeInfo = new BulletShape();
}
public BSShape(BulletShape pShape)
{
referenceCount = 0;
lastReferenced = DateTime.Now;
physShapeInfo = pShape;
}
// Get a reference to a physical shape. Create if it doesn't exist
@ -79,21 +90,30 @@ public abstract class BSShape
return ret;
}
public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
private static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
BSShapeMesh.GetReference(physicsScene, forceRebuild, prim);
BSShapeHull.GetReference(physicsScene, forceRebuild, prim);
return null;
}
public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
// Called when this shape is being used again.
public virtual void IncrementReference()
{
return null;
referenceCount++;
lastReferenced = DateTime.Now;
}
// Called when this shape is being used again.
public virtual void DecrementReference()
{
referenceCount--;
lastReferenced = DateTime.Now;
}
// Release the use of a physical shape.
public abstract void Dereference(BSScene physicsScene);
// All shapes have a static call to get a reference to the physical shape
// protected abstract static BSShape GetReference();
// Returns a string for debugging that uniquily identifies the memory used by this instance
public virtual string AddrString
{
@ -112,6 +132,7 @@ public abstract class BSShape
}
}
// ============================================================================================================
public class BSShapeNull : BSShape
{
public BSShapeNull() : base()
@ -121,23 +142,39 @@ public class BSShapeNull : BSShape
public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ }
}
// ============================================================================================================
public class BSShapeNative : BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE NATIVE]";
public BSShapeNative() : base()
public BSShapeNative(BulletShape pShape) : base(pShape)
{
}
public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim,
BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
{
// Native shapes are not shared and are always built anew.
//return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
return null;
}
private BSShapeNative(BSScene physicsScene, BSPhysObject prim,
BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim,
BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
{
// Native shapes are not shared and are always built anew.
return new BSShapeNative(CreatePhysicalNativeShape(physicsScene, prim, shapeType, shapeKey));
}
// Make this reference to the physical shape go away since native shapes are not shared.
public override void Dereference(BSScene physicsScene)
{
// Native shapes are not tracked and are released immediately
if (physShapeInfo.HasPhysicalShape)
{
physicsScene.DetailLog("{0},BSShapeNative.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo);
}
physShapeInfo.Clear();
// Garbage collection will free up this instance.
}
private static BulletShape CreatePhysicalNativeShape(BSScene physicsScene, BSPhysObject prim,
BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
{
BulletShape newShape;
ShapeData nativeShapeData = new ShapeData();
nativeShapeData.Type = shapeType;
nativeShapeData.ID = prim.LocalID;
@ -146,63 +183,164 @@ public class BSShapeNative : BSShape
nativeShapeData.MeshKey = (ulong)shapeKey;
nativeShapeData.HullKey = (ulong)shapeKey;
/*
if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
{
ptr = PhysicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale);
physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
newShape = physicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale);
physicsScene.DetailLog("{0},BSShapeNative,capsule,scale={1}", prim.LocalID, prim.Scale);
}
else
{
ptr = PhysicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData);
newShape = physicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData);
}
if (ptr == IntPtr.Zero)
if (!newShape.HasPhysicalShape)
{
physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
LogHeader, prim.LocalID, shapeType);
}
type = shapeType;
key = (UInt64)shapeKey;
*/
}
// Make this reference to the physical shape go away since native shapes are not shared.
public override void Dereference(BSScene physicsScene)
{
/*
// Native shapes are not tracked and are released immediately
physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
PhysicsScene.PE.DeleteCollisionShape(physicsScene.World, this);
ptr = IntPtr.Zero;
// Garbage collection will free up this instance.
*/
newShape.type = shapeType;
newShape.isNativeShape = true;
newShape.shapeKey = (UInt64)shapeKey;
return newShape;
}
}
// ============================================================================================================
public class BSShapeMesh : BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE MESH]";
private static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>();
public BSShapeMesh() : base()
public BSShapeMesh(BulletShape pShape) : base(pShape)
{
}
public static BSShape GetReference() { return new BSShapeNull(); }
public override void Dereference(BSScene physicsScene) { }
public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
float lod;
System.UInt64 newMeshKey = BSShapeCollection.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
physicsScene.DetailLog("{0},BSShapeMesh,create,oldKey={1},newKey={2},size={3},lod={4}",
prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"), prim.Size, lod);
BSShapeMesh retMesh;
lock (Meshes)
{
if (Meshes.TryGetValue(newMeshKey, out retMesh))
{
// The mesh has already been created. Return a new reference to same.
retMesh.IncrementReference();
}
else
{
// An instance of this mesh has not been created. Build and remember same.
BulletShape newShape = CreatePhysicalMesh(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod);
// Take evasive action if the mesh was not constructed.
newShape = BSShapeCollection.VerifyMeshCreated(physicsScene, newShape, prim);
retMesh = new BSShapeMesh(newShape);
Meshes.Add(newMeshKey, retMesh);
}
}
return retMesh;
}
public override void Dereference(BSScene physicsScene)
{
lock (Meshes)
{
this.DecrementReference();
// TODO: schedule aging and destruction of unused meshes.
}
}
private static BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey,
PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{
BulletShape newShape = null;
IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod,
false, // say it is not physical so a bounding box is not built
false // do not cache the mesh and do not use previously built versions
);
if (meshData != null)
{
int[] indices = meshData.getIndexListAsInt();
int realIndicesIndex = indices.Length;
float[] verticesAsFloats = meshData.getVertexListAsFloat();
if (BSParam.ShouldRemoveZeroWidthTriangles)
{
// Remove degenerate triangles. These are triangles with two of the vertices
// are the same. This is complicated by the problem that vertices are not
// made unique in sculpties so we have to compare the values in the vertex.
realIndicesIndex = 0;
for (int tri = 0; tri < indices.Length; tri += 3)
{
// Compute displacements into vertex array for each vertex of the triangle
int v1 = indices[tri + 0] * 3;
int v2 = indices[tri + 1] * 3;
int v3 = indices[tri + 2] * 3;
// Check to see if any two of the vertices are the same
if (!( ( verticesAsFloats[v1 + 0] == verticesAsFloats[v2 + 0]
&& verticesAsFloats[v1 + 1] == verticesAsFloats[v2 + 1]
&& verticesAsFloats[v1 + 2] == verticesAsFloats[v2 + 2])
|| ( verticesAsFloats[v2 + 0] == verticesAsFloats[v3 + 0]
&& verticesAsFloats[v2 + 1] == verticesAsFloats[v3 + 1]
&& verticesAsFloats[v2 + 2] == verticesAsFloats[v3 + 2])
|| ( verticesAsFloats[v1 + 0] == verticesAsFloats[v3 + 0]
&& verticesAsFloats[v1 + 1] == verticesAsFloats[v3 + 1]
&& verticesAsFloats[v1 + 2] == verticesAsFloats[v3 + 2]) )
)
{
// None of the vertices of the triangles are the same. This is a good triangle;
indices[realIndicesIndex + 0] = indices[tri + 0];
indices[realIndicesIndex + 1] = indices[tri + 1];
indices[realIndicesIndex + 2] = indices[tri + 2];
realIndicesIndex += 3;
}
}
}
physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalMesh,origTri={1},realTri={2},numVerts={3}",
BSScene.DetailLogZero, indices.Length / 3, realIndicesIndex / 3, verticesAsFloats.Length / 3);
if (realIndicesIndex != 0)
{
newShape = physicsScene.PE.CreateMeshShape(physicsScene.World,
realIndicesIndex, indices, verticesAsFloats.Length / 3, verticesAsFloats);
}
else
{
physicsScene.Logger.DebugFormat("{0} All mesh triangles degenerate. Prim {1} at {2} in {3}",
LogHeader, prim.PhysObjectName, prim.RawPosition, physicsScene.Name);
}
}
newShape.shapeKey = newMeshKey;
return newShape;
}
}
// ============================================================================================================
public class BSShapeHull : BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE HULL]";
private static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
public BSShapeHull() : base()
public BSShapeHull(BulletShape pShape) : base(pShape)
{
}
public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
return new BSShapeNull();
}
public override void Dereference(BSScene physicsScene)
{
}
public static BSShape GetReference() { return new BSShapeNull(); }
public override void Dereference(BSScene physicsScene) { }
}
// ============================================================================================================
public class BSShapeCompound : BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
@ -216,6 +354,7 @@ public class BSShapeCompound : BSShape
public override void Dereference(BSScene physicsScene) { }
}
// ============================================================================================================
public class BSShapeAvatar : BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE AVATAR]";

3
OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
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@ -42,6 +42,8 @@ One sided meshes? Should terrain be built into a closed shape?
VEHICLES TODO LIST:
=================================================
UBit improvements to remove rubber-banding of avatars sitting on vehicle child prims:
https://github.com/UbitUmarov/Ubit-opensim
Border crossing with linked vehicle causes crash
20121129.1411: editting/moving phys object across region boundries causes crash
getPos-> btRigidBody::upcast -> getBodyType -> BOOM
@ -167,6 +169,7 @@ Eliminate collisions between objects in a linkset. (LinksetConstraint)
MORE
======================================================
Compute avatar size and scale correctly. Now it is a bit off from the capsule size.
Create tests for different interface components
Have test objects/scripts measure themselves and turn color if correct/bad
Test functions in SL and calibrate correctness there

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