BulletSim: include the linkage to the layered prim implementation. Separate layers for physical (vs simulator) location displacement and linksets.
Robert Adams
parent
2fd184e350
commit
1b203601f4
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@ -901,7 +901,7 @@ public sealed class BSCharacter : BSPhysObject
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CurrentEntityProperties = entprop;
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// Tell the linkset about value changes
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Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
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// Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
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// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
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// base.RequestPhysicsterseUpdate();
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@ -597,7 +597,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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if (IsActive)
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{
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// Remember the mass so we don't have to fetch it every step
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m_vehicleMass = Prim.Linkset.LinksetMass;
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m_vehicleMass = Prim.TotalMass;
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// Friction affects are handled by this vehicle code
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PhysicsScene.PE.SetFriction(Prim.PhysBody, BSParam.VehicleFriction);
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@ -52,7 +52,7 @@ public abstract class BSLinkset
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Manual = 2 // linkset tied together manually (code moves all the pieces)
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}
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// Create the correct type of linkset for this child
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public static BSLinkset Factory(BSScene physScene, BSPhysObject parent)
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public static BSLinkset Factory(BSScene physScene, BSPrimLinkable parent)
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{
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BSLinkset ret = null;
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@ -74,7 +74,7 @@ public abstract class BSLinkset
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return ret;
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}
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public BSPhysObject LinksetRoot { get; protected set; }
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public BSPrimLinkable LinksetRoot { get; protected set; }
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public BSScene PhysicsScene { get; private set; }
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@ -82,7 +82,7 @@ public abstract class BSLinkset
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public int LinksetID { get; private set; }
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// The children under the root in this linkset.
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protected HashSet<BSPhysObject> m_children;
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protected HashSet<BSPrimLinkable> m_children;
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// We lock the diddling of linkset classes to prevent any badness.
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// This locks the modification of the instances of this class. Changes
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@ -91,7 +91,7 @@ public abstract class BSLinkset
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// Some linksets have a preferred physical shape.
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// Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected.
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public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
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public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor)
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{
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return BSPhysicsShapeType.SHAPE_UNKNOWN;
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}
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@ -111,7 +111,7 @@ public abstract class BSLinkset
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get { return ComputeLinksetGeometricCenter(); }
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}
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protected BSLinkset(BSScene scene, BSPhysObject parent)
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protected BSLinkset(BSScene scene, BSPrimLinkable parent)
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{
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// A simple linkset of one (no children)
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LinksetID = m_nextLinksetID++;
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@ -120,7 +120,7 @@ public abstract class BSLinkset
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m_nextLinksetID = 1;
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PhysicsScene = scene;
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LinksetRoot = parent;
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m_children = new HashSet<BSPhysObject>();
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m_children = new HashSet<BSPrimLinkable>();
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LinksetMass = parent.RawMass;
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Rebuilding = false;
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}
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@ -129,7 +129,7 @@ public abstract class BSLinkset
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// Parent changing should not happen so do some sanity checking.
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// We return the parent's linkset so the child can track its membership.
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// Called at runtime.
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public BSLinkset AddMeToLinkset(BSPhysObject child)
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public BSLinkset AddMeToLinkset(BSPrimLinkable child)
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{
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lock (m_linksetActivityLock)
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{
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@ -145,14 +145,13 @@ public abstract class BSLinkset
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// Returns a new linkset for the child which is a linkset of one (just the
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// orphened child).
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// Called at runtime.
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public BSLinkset RemoveMeFromLinkset(BSPhysObject child)
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public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child)
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{
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lock (m_linksetActivityLock)
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{
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if (IsRoot(child))
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{
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// Cannot remove the root from a linkset.
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child.PositionDisplacement = OMV.Vector3.Zero;
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return this;
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}
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RemoveChildFromLinkset(child);
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@ -160,12 +159,11 @@ public abstract class BSLinkset
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}
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// The child is down to a linkset of just itself
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child.PositionDisplacement = OMV.Vector3.Zero;
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return BSLinkset.Factory(PhysicsScene, child);
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}
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// Return 'true' if the passed object is the root object of this linkset
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public bool IsRoot(BSPhysObject requestor)
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public bool IsRoot(BSPrimLinkable requestor)
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{
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return (requestor.LocalID == LinksetRoot.LocalID);
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}
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@ -176,14 +174,14 @@ public abstract class BSLinkset
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public bool HasAnyChildren { get { return (m_children.Count > 0); } }
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// Return 'true' if this child is in this linkset
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public bool HasChild(BSPhysObject child)
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public bool HasChild(BSPrimLinkable child)
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{
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bool ret = false;
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lock (m_linksetActivityLock)
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{
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ret = m_children.Contains(child);
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/* Safer version but the above should work
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foreach (BSPhysObject bp in m_children)
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foreach (BSPrimLinkable bp in m_children)
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{
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if (child.LocalID == bp.LocalID)
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{
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@ -198,14 +196,14 @@ public abstract class BSLinkset
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// Perform an action on each member of the linkset including root prim.
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// Depends on the action on whether this should be done at taint time.
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public delegate bool ForEachMemberAction(BSPhysObject obj);
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public delegate bool ForEachMemberAction(BSPrimLinkable obj);
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public virtual bool ForEachMember(ForEachMemberAction action)
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{
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bool ret = false;
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lock (m_linksetActivityLock)
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{
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action(LinksetRoot);
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foreach (BSPhysObject po in m_children)
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foreach (BSPrimLinkable po in m_children)
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{
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if (action(po))
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break;
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@ -216,16 +214,16 @@ public abstract class BSLinkset
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// I am the root of a linkset and a new child is being added
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// Called while LinkActivity is locked.
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protected abstract void AddChildToLinkset(BSPhysObject child);
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protected abstract void AddChildToLinkset(BSPrimLinkable child);
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// I am the root of a linkset and one of my children is being removed.
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// Safe to call even if the child is not really in my linkset.
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protected abstract void RemoveChildFromLinkset(BSPhysObject child);
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protected abstract void RemoveChildFromLinkset(BSPrimLinkable child);
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// When physical properties are changed the linkset needs to recalculate
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// its internal properties.
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// May be called at runtime or taint-time.
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public virtual void Refresh(BSPhysObject requestor)
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public virtual void Refresh(BSPrimLinkable requestor)
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{
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LinksetMass = ComputeLinksetMass();
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}
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@ -240,26 +238,26 @@ public abstract class BSLinkset
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// has not yet been fully constructed.
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// Return 'true' if any properties updated on the passed object.
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// Called at taint-time!
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public abstract bool MakeDynamic(BSPhysObject child);
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public abstract bool MakeDynamic(BSPrimLinkable child);
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// The object is going static (non-physical). Do any setup necessary
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// for a static linkset.
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// Return 'true' if any properties updated on the passed object.
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// Called at taint-time!
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public abstract bool MakeStatic(BSPhysObject child);
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public abstract bool MakeStatic(BSPrimLinkable child);
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// Called when a parameter update comes from the physics engine for any object
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// of the linkset is received.
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// Passed flag is update came from physics engine (true) or the user (false).
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// Called at taint-time!!
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public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject physObject);
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public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable physObject);
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// Routine used when rebuilding the body of the root of the linkset
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// Destroy all the constraints have have been made to root.
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// This is called when the root body is changing.
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// Returns 'true' of something was actually removed and would need restoring
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// Called at taint-time!!
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public abstract bool RemoveBodyDependencies(BSPrim child);
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public abstract bool RemoveBodyDependencies(BSPrimLinkable child);
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// ================================================================
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protected virtual float ComputeLinksetMass()
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@ -269,7 +267,7 @@ public abstract class BSLinkset
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{
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lock (m_linksetActivityLock)
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{
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foreach (BSPhysObject bp in m_children)
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foreach (BSPrimLinkable bp in m_children)
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{
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mass += bp.RawMass;
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}
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@ -286,7 +284,7 @@ public abstract class BSLinkset
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com = LinksetRoot.Position * LinksetRoot.RawMass;
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float totalMass = LinksetRoot.RawMass;
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foreach (BSPhysObject bp in m_children)
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foreach (BSPrimLinkable bp in m_children)
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{
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com += bp.Position * bp.RawMass;
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totalMass += bp.RawMass;
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@ -305,7 +303,7 @@ public abstract class BSLinkset
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{
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com = LinksetRoot.Position;
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foreach (BSPhysObject bp in m_children)
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foreach (BSPrimLinkable bp in m_children)
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{
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com += bp.Position;
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}
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@ -52,7 +52,7 @@ sealed class BSLinksetCompoundInfo : BSLinksetInfo
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OffsetRot = r;
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}
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// 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape)
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public BSLinksetCompoundInfo(int indx, BSPhysObject root, BSPhysObject child, OMV.Vector3 centerDisplacement)
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public BSLinksetCompoundInfo(int indx, BSPrimLinkable root, BSPrimLinkable child, OMV.Vector3 centerDisplacement)
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{
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// Each child position and rotation is given relative to the center-of-mass.
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OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation);
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@ -93,12 +93,12 @@ public sealed class BSLinksetCompound : BSLinkset
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{
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private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
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public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent)
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public BSLinksetCompound(BSScene scene, BSPrimLinkable parent) : base(scene, parent)
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{
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}
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// For compound implimented linksets, if there are children, use compound shape for the root.
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public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
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public override BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor)
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{
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// Returning 'unknown' means we don't have a preference.
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BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
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@ -112,7 +112,7 @@ public sealed class BSLinksetCompound : BSLinkset
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// When physical properties are changed the linkset needs to recalculate
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// its internal properties.
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public override void Refresh(BSPhysObject requestor)
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public override void Refresh(BSPrimLinkable requestor)
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{
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base.Refresh(requestor);
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@ -121,7 +121,7 @@ public sealed class BSLinksetCompound : BSLinkset
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}
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// Schedule a refresh to happen after all the other taint processing.
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private void ScheduleRebuild(BSPhysObject requestor)
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private void ScheduleRebuild(BSPrimLinkable requestor)
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{
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DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
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requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
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@ -143,7 +143,7 @@ public sealed class BSLinksetCompound : BSLinkset
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// has not yet been fully constructed.
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// Return 'true' if any properties updated on the passed object.
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// Called at taint-time!
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public override bool MakeDynamic(BSPhysObject child)
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public override bool MakeDynamic(BSPrimLinkable child)
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{
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bool ret = false;
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DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
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@ -173,7 +173,7 @@ public sealed class BSLinksetCompound : BSLinkset
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// This doesn't normally happen -- OpenSim removes the objects from the physical
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// world if it is a static linkset.
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// Called at taint-time!
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public override bool MakeStatic(BSPhysObject child)
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public override bool MakeStatic(BSPrimLinkable child)
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{
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bool ret = false;
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DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
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@ -197,7 +197,7 @@ public sealed class BSLinksetCompound : BSLinkset
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// 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then.
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// Called at taint-time.
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public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject updated)
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public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable updated)
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{
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// The user moving a child around requires the rebuilding of the linkset compound shape
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// One problem is this happens when a border is crossed -- the simulator implementation
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@ -222,7 +222,7 @@ public sealed class BSLinksetCompound : BSLinkset
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if (lsi != null)
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{
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// Since the child moved or rotationed, it needs a new relative position within the linkset
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BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement);
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BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, OMV.Vector3.Zero);
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updated.LinksetInfo = newLsi;
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// Find the physical instance of the child
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@ -291,7 +291,7 @@ public sealed class BSLinksetCompound : BSLinkset
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// Since we don't keep in world relationships, do nothing unless it's a child changing.
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// Returns 'true' of something was actually removed and would need restoring
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// Called at taint-time!!
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public override bool RemoveBodyDependencies(BSPrim child)
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public override bool RemoveBodyDependencies(BSPrimLinkable child)
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{
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bool ret = false;
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@ -316,7 +316,7 @@ public sealed class BSLinksetCompound : BSLinkset
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// When the linkset is built, the child shape is added to the compound shape relative to the
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// root shape. The linkset then moves around but this does not move the actual child
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// prim. The child prim's location must be recomputed based on the location of the root shape.
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private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime)
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private void RecomputeChildWorldPosition(BSPrimLinkable child, bool inTaintTime)
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{
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// For the moment (20130201), disable this computation (converting the child physical addr back to
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// a region address) until we have a good handle on center-of-mass offsets and what the physics
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@ -361,7 +361,7 @@ public sealed class BSLinksetCompound : BSLinkset
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// Add a new child to the linkset.
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// Called while LinkActivity is locked.
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protected override void AddChildToLinkset(BSPhysObject child)
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protected override void AddChildToLinkset(BSPrimLinkable child)
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{
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if (!HasChild(child))
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{
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@ -377,7 +377,7 @@ public sealed class BSLinksetCompound : BSLinkset
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// Remove the specified child from the linkset.
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// Safe to call even if the child is not really in the linkset.
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protected override void RemoveChildFromLinkset(BSPhysObject child)
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protected override void RemoveChildFromLinkset(BSPrimLinkable child)
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{
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if (m_children.Remove(child))
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{
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@ -429,7 +429,7 @@ public sealed class BSLinksetCompound : BSLinkset
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if (disableCOM) // DEBUG DEBUG
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{ // DEBUG DEBUG
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centerOfMass = LinksetRoot.RawPosition; // DEBUG DEBUG
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LinksetRoot.PositionDisplacement = OMV.Vector3.Zero;
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// LinksetRoot.PositionDisplacement = OMV.Vector3.Zero;
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} // DEBUG DEBUG
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else
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{
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@ -438,7 +438,7 @@ public sealed class BSLinksetCompound : BSLinkset
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centerDisplacement = LinksetRoot.RawPosition - centerOfMass;
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// Since we're displacing the center of the shape, we need to move the body in the world
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LinksetRoot.PositionDisplacement = centerDisplacement;
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// LinksetRoot.PositionDisplacement = centerDisplacement;
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// This causes the root prim position to be set properly based on the new PositionDisplacement
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LinksetRoot.ForcePosition = LinksetRoot.RawPosition;
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@ -453,7 +453,7 @@ public sealed class BSLinksetCompound : BSLinkset
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// Add a shape for each of the other children in the linkset
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int memberIndex = 1;
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ForEachMember(delegate(BSPhysObject cPrim)
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ForEachMember(delegate(BSPrimLinkable cPrim)
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{
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if (!IsRoot(cPrim))
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{
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@ -36,7 +36,7 @@ public sealed class BSLinksetConstraints : BSLinkset
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{
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// private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
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public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent)
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public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent)
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{
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}
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@ -44,7 +44,7 @@ public sealed class BSLinksetConstraints : BSLinkset
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// its internal properties.
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// This is queued in the 'post taint' queue so the
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// refresh will happen once after all the other taints are applied.
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public override void Refresh(BSPhysObject requestor)
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public override void Refresh(BSPrimLinkable requestor)
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{
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base.Refresh(requestor);
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@ -65,7 +65,7 @@ public sealed class BSLinksetConstraints : BSLinkset
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// has not yet been fully constructed.
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// Return 'true' if any properties updated on the passed object.
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// Called at taint-time!
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public override bool MakeDynamic(BSPhysObject child)
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public override bool MakeDynamic(BSPrimLinkable child)
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{
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// What is done for each object in BSPrim is what we want.
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return false;
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@ -76,14 +76,14 @@ public sealed class BSLinksetConstraints : BSLinkset
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// This doesn't normally happen -- OpenSim removes the objects from the physical
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// world if it is a static linkset.
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// Called at taint-time!
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public override bool MakeStatic(BSPhysObject child)
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public override bool MakeStatic(BSPrimLinkable child)
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{
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// What is done for each object in BSPrim is what we want.
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return false;
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}
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// Called at taint-time!!
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public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject pObj)
|
||||
public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable pObj)
|
||||
{
|
||||
// Nothing to do for constraints on property updates
|
||||
}
|
||||
|
|
@ -93,7 +93,7 @@ public sealed class BSLinksetConstraints : BSLinkset
|
|||
// up to rebuild the constraints before the next simulation step.
|
||||
// Returns 'true' of something was actually removed and would need restoring
|
||||
// Called at taint-time!!
|
||||
public override bool RemoveBodyDependencies(BSPrim child)
|
||||
public override bool RemoveBodyDependencies(BSPrimLinkable child)
|
||||
{
|
||||
bool ret = false;
|
||||
|
||||
|
|
@ -114,7 +114,7 @@ public sealed class BSLinksetConstraints : BSLinkset
|
|||
|
||||
// Add a new child to the linkset.
|
||||
// Called while LinkActivity is locked.
|
||||
protected override void AddChildToLinkset(BSPhysObject child)
|
||||
protected override void AddChildToLinkset(BSPrimLinkable child)
|
||||
{
|
||||
if (!HasChild(child))
|
||||
{
|
||||
|
|
@ -130,12 +130,12 @@ public sealed class BSLinksetConstraints : BSLinkset
|
|||
|
||||
// Remove the specified child from the linkset.
|
||||
// Safe to call even if the child is not really in my linkset.
|
||||
protected override void RemoveChildFromLinkset(BSPhysObject child)
|
||||
protected override void RemoveChildFromLinkset(BSPrimLinkable child)
|
||||
{
|
||||
if (m_children.Remove(child))
|
||||
{
|
||||
BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
|
||||
BSPhysObject childx = child;
|
||||
BSPrimLinkable rootx = LinksetRoot; // capture the root and body as of now
|
||||
BSPrimLinkable childx = child;
|
||||
|
||||
DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
|
||||
childx.LocalID,
|
||||
|
|
@ -159,13 +159,13 @@ public sealed class BSLinksetConstraints : BSLinkset
|
|||
|
||||
// Create a constraint between me (root of linkset) and the passed prim (the child).
|
||||
// Called at taint time!
|
||||
private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
|
||||
private void PhysicallyLinkAChildToRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
|
||||
{
|
||||
// Don't build the constraint when asked. Put it off until just before the simulation step.
|
||||
Refresh(rootPrim);
|
||||
}
|
||||
|
||||
private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim)
|
||||
private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
|
||||
{
|
||||
// Zero motion for children so they don't interpolate
|
||||
childPrim.ZeroMotion(true);
|
||||
|
|
@ -239,7 +239,7 @@ public sealed class BSLinksetConstraints : BSLinkset
|
|||
// The root and child bodies are passed in because we need to remove the constraint between
|
||||
// the bodies that were present at unlink time.
|
||||
// Called at taint time!
|
||||
private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
|
||||
private bool PhysicallyUnlinkAChildFromRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
|
||||
{
|
||||
bool ret = false;
|
||||
DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
|
||||
|
|
@ -261,7 +261,7 @@ public sealed class BSLinksetConstraints : BSLinkset
|
|||
// Remove linkage between myself and any possible children I might have.
|
||||
// Returns 'true' of any constraints were destroyed.
|
||||
// Called at taint time!
|
||||
private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
|
||||
private bool PhysicallyUnlinkAllChildrenFromRoot(BSPrimLinkable rootPrim)
|
||||
{
|
||||
DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
|
||||
|
||||
|
|
@ -281,7 +281,7 @@ public sealed class BSLinksetConstraints : BSLinkset
|
|||
DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
|
||||
LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass);
|
||||
|
||||
foreach (BSPhysObject child in m_children)
|
||||
foreach (BSPrimLinkable child in m_children)
|
||||
{
|
||||
// A child in the linkset physically shows the mass of the whole linkset.
|
||||
// This allows Bullet to apply enough force on the child to move the whole linkset.
|
||||
|
|
|
|||
|
|
@ -86,10 +86,6 @@ public abstract class BSPhysObject : PhysicsActor
|
|||
PhysBody = new BulletBody(localID);
|
||||
PhysShape = new BulletShape();
|
||||
|
||||
// A linkset of just me
|
||||
Linkset = BSLinkset.Factory(PhysicsScene, this);
|
||||
PositionDisplacement = OMV.Vector3.Zero;
|
||||
|
||||
LastAssetBuildFailed = false;
|
||||
|
||||
// Default material type. Also sets Friction, Restitution and Density.
|
||||
|
|
@ -117,8 +113,6 @@ public abstract class BSPhysObject : PhysicsActor
|
|||
public string PhysObjectName { get; protected set; }
|
||||
public string TypeName { get; protected set; }
|
||||
|
||||
public BSLinkset Linkset { get; set; }
|
||||
public BSLinksetInfo LinksetInfo { get; set; }
|
||||
|
||||
// Return the object mass without calculating it or having side effects
|
||||
public abstract float RawMass { get; }
|
||||
|
|
@ -188,15 +182,6 @@ public abstract class BSPhysObject : PhysicsActor
|
|||
public abstract OMV.Vector3 RawPosition { get; set; }
|
||||
public abstract OMV.Vector3 ForcePosition { get; set; }
|
||||
|
||||
// 'Position' and 'Orientation' is what the simulator thinks the positions of the prim is.
|
||||
// Because Bullet needs the zero coordinate to be the center of mass of the linkset,
|
||||
// sometimes it is necessary to displace the position the physics engine thinks
|
||||
// the position is. PositionDisplacement must be added and removed from the
|
||||
// position as the simulator position is stored and fetched from the physics
|
||||
// engine. Similar to OrientationDisplacement.
|
||||
public virtual OMV.Vector3 PositionDisplacement { get; set; }
|
||||
public virtual OMV.Quaternion OrientationDisplacement { get; set; }
|
||||
|
||||
public abstract OMV.Quaternion RawOrientation { get; set; }
|
||||
public abstract OMV.Quaternion ForceOrientation { get; set; }
|
||||
|
||||
|
|
@ -302,12 +287,6 @@ public abstract class BSPhysObject : PhysicsActor
|
|||
CollidingObjectStep = PhysicsScene.SimulationStep;
|
||||
}
|
||||
|
||||
// prims in the same linkset cannot collide with each other
|
||||
if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
|
||||
{
|
||||
return ret;
|
||||
}
|
||||
|
||||
CollisionAccumulation++;
|
||||
|
||||
// For movement tests, remember if we are colliding with an object that is moving.
|
||||
|
|
|
|||
|
|
@ -39,7 +39,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
{
|
||||
|
||||
[Serializable]
|
||||
public sealed class BSPrim : BSPhysObject
|
||||
public class BSPrim : BSPhysObject
|
||||
{
|
||||
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
|
||||
private static readonly string LogHeader = "[BULLETS PRIM]";
|
||||
|
|
@ -102,9 +102,6 @@ public sealed class BSPrim : BSPhysObject
|
|||
|
||||
_mass = CalculateMass();
|
||||
|
||||
// Cause linkset variables to be initialized (like mass)
|
||||
Linkset.Refresh(this);
|
||||
|
||||
DetailLog("{0},BSPrim.constructor,call", LocalID);
|
||||
// do the actual object creation at taint time
|
||||
PhysicsScene.TaintedObject("BSPrim.create", delegate()
|
||||
|
|
@ -121,15 +118,6 @@ public sealed class BSPrim : BSPhysObject
|
|||
// m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
|
||||
base.Destroy();
|
||||
|
||||
// Undo any links between me and any other object
|
||||
BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG DEBUG
|
||||
int childrenBefore = Linkset.NumberOfChildren; // DEBUG DEBUG
|
||||
|
||||
Linkset = Linkset.RemoveMeFromLinkset(this);
|
||||
|
||||
DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}",
|
||||
LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
|
||||
|
||||
// Undo any vehicle properties
|
||||
this.VehicleType = (int)Vehicle.TYPE_NONE;
|
||||
|
||||
|
|
@ -166,9 +154,9 @@ public sealed class BSPrim : BSPhysObject
|
|||
ForceBodyShapeRebuild(false);
|
||||
}
|
||||
}
|
||||
// Whatever the linkset wants is what I want.
|
||||
// 'unknown' says to choose the best type
|
||||
public override BSPhysicsShapeType PreferredPhysicalShape
|
||||
{ get { return Linkset.PreferredPhysicalShape(this); } }
|
||||
{ get { return BSPhysicsShapeType.SHAPE_UNKNOWN; } }
|
||||
|
||||
public override bool ForceBodyShapeRebuild(bool inTaintTime)
|
||||
{
|
||||
|
|
@ -213,33 +201,10 @@ public sealed class BSPrim : BSPhysObject
|
|||
|
||||
// link me to the specified parent
|
||||
public override void link(PhysicsActor obj) {
|
||||
BSPrim parent = obj as BSPrim;
|
||||
if (parent != null)
|
||||
{
|
||||
BSPhysObject parentBefore = Linkset.LinksetRoot;
|
||||
int childrenBefore = Linkset.NumberOfChildren;
|
||||
|
||||
Linkset = parent.Linkset.AddMeToLinkset(this);
|
||||
|
||||
DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
|
||||
LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
|
||||
}
|
||||
return;
|
||||
}
|
||||
|
||||
// delink me from my linkset
|
||||
public override void delink() {
|
||||
// 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;
|
||||
|
||||
Linkset = Linkset.RemoveMeFromLinkset(this);
|
||||
|
||||
DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
|
||||
LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
|
||||
return;
|
||||
}
|
||||
|
||||
// Set motion values to zero.
|
||||
|
|
@ -287,15 +252,8 @@ public sealed class BSPrim : BSPhysObject
|
|||
}
|
||||
public override OMV.Vector3 Position {
|
||||
get {
|
||||
/* NOTE: this refetch is not necessary. The simulator knows about linkset children
|
||||
* and does not fetch this position info for children. Thus this is commented out.
|
||||
// child prims move around based on their parent. Need to get the latest location
|
||||
if (!Linkset.IsRoot(this))
|
||||
_position = Linkset.PositionGet(this);
|
||||
*/
|
||||
|
||||
// don't do the GetObjectPosition for root elements because this function is called a zillion times.
|
||||
// _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody) - PositionDisplacement;
|
||||
// _position = ForcePosition;
|
||||
return _position;
|
||||
}
|
||||
set {
|
||||
|
|
@ -313,24 +271,20 @@ public sealed class BSPrim : BSPhysObject
|
|||
{
|
||||
DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
|
||||
ForcePosition = _position;
|
||||
|
||||
// A linkset might need to know if a component information changed.
|
||||
Linkset.UpdateProperties(UpdatedProperties.Position, this);
|
||||
|
||||
});
|
||||
}
|
||||
}
|
||||
|
||||
public override OMV.Vector3 ForcePosition {
|
||||
get {
|
||||
_position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement;
|
||||
_position = PhysicsScene.PE.GetPosition(PhysBody);
|
||||
return _position;
|
||||
}
|
||||
set {
|
||||
_position = value;
|
||||
if (PhysBody.HasPhysicalBody)
|
||||
{
|
||||
PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation);
|
||||
PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
|
||||
ActivateIfPhysical(false);
|
||||
}
|
||||
}
|
||||
|
|
@ -398,12 +352,13 @@ public sealed class BSPrim : BSPhysObject
|
|||
// If the simulator cares about the mass of the linkset, it will sum it itself.
|
||||
public override float Mass
|
||||
{
|
||||
get
|
||||
{
|
||||
return _mass;
|
||||
}
|
||||
get { return _mass; }
|
||||
}
|
||||
// TotalMass returns the mass of the large object the prim may be in (overridden by linkset code)
|
||||
public virtual float TotalMass
|
||||
{
|
||||
get { return _mass; }
|
||||
}
|
||||
|
||||
// used when we only want this prim's mass and not the linkset thing
|
||||
public override float RawMass {
|
||||
get { return _mass; }
|
||||
|
|
@ -467,13 +422,13 @@ public sealed class BSPrim : BSPhysObject
|
|||
// Is this used?
|
||||
public override OMV.Vector3 CenterOfMass
|
||||
{
|
||||
get { return Linkset.CenterOfMass; }
|
||||
get { return RawPosition; }
|
||||
}
|
||||
|
||||
// Is this used?
|
||||
public override OMV.Vector3 GeometricCenter
|
||||
{
|
||||
get { return Linkset.GeometricCenter; }
|
||||
get { return RawPosition; }
|
||||
}
|
||||
|
||||
public override OMV.Vector3 Force {
|
||||
|
|
@ -721,14 +676,6 @@ public sealed class BSPrim : BSPhysObject
|
|||
}
|
||||
public override OMV.Quaternion Orientation {
|
||||
get {
|
||||
/* NOTE: this refetch is not necessary. The simulator knows about linkset children
|
||||
* and does not fetch this position info for children. Thus this is commented out.
|
||||
// Children move around because tied to parent. Get a fresh value.
|
||||
if (!Linkset.IsRoot(this))
|
||||
{
|
||||
_orientation = Linkset.OrientationGet(this);
|
||||
}
|
||||
*/
|
||||
return _orientation;
|
||||
}
|
||||
set {
|
||||
|
|
@ -739,10 +686,6 @@ public sealed class BSPrim : BSPhysObject
|
|||
PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
|
||||
{
|
||||
ForceOrientation = _orientation;
|
||||
|
||||
// A linkset might need to know if a component information changed.
|
||||
Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
|
||||
|
||||
});
|
||||
}
|
||||
}
|
||||
|
|
@ -758,7 +701,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
{
|
||||
_orientation = value;
|
||||
if (PhysBody.HasPhysicalBody)
|
||||
PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation);
|
||||
PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
|
||||
}
|
||||
}
|
||||
public override int PhysicsActorType {
|
||||
|
|
@ -814,7 +757,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
// isSolid: other objects bounce off of this object
|
||||
// isVolumeDetect: other objects pass through but can generate collisions
|
||||
// collisionEvents: whether this object returns collision events
|
||||
public void UpdatePhysicalParameters()
|
||||
public virtual void UpdatePhysicalParameters()
|
||||
{
|
||||
if (!PhysBody.HasPhysicalBody)
|
||||
{
|
||||
|
|
@ -844,12 +787,6 @@ public sealed class BSPrim : BSPhysObject
|
|||
// Rebuild its shape
|
||||
PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
|
||||
|
||||
// Recompute any linkset parameters.
|
||||
// When going from non-physical to physical, this re-enables the constraints that
|
||||
// had been automatically disabled when the mass was set to zero.
|
||||
// For compound based linksets, this enables and disables interactions of the children.
|
||||
Linkset.Refresh(this);
|
||||
|
||||
DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}",
|
||||
LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape);
|
||||
}
|
||||
|
|
@ -859,7 +796,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
// When dynamic, the object can fall and be pushed by others.
|
||||
// This is independent of its 'solidness' which controls what passes through
|
||||
// this object and what interacts with it.
|
||||
private void MakeDynamic(bool makeStatic)
|
||||
protected virtual void MakeDynamic(bool makeStatic)
|
||||
{
|
||||
if (makeStatic)
|
||||
{
|
||||
|
|
@ -889,9 +826,6 @@ public sealed class BSPrim : BSPhysObject
|
|||
|
||||
// This collides like a static object
|
||||
PhysBody.collisionType = CollisionType.Static;
|
||||
|
||||
// There can be special things needed for implementing linksets
|
||||
Linkset.MakeStatic(this);
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -908,10 +842,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
// PhysicsScene.PE.ClearAllForces(BSBody);
|
||||
|
||||
// For good measure, make sure the transform is set through to the motion state
|
||||
PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation);
|
||||
|
||||
// Center of mass is at the center of the object
|
||||
// DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(Linkset.LinksetRoot.PhysBody, _position, _orientation);
|
||||
ForcePosition = _position;
|
||||
|
||||
// A dynamic object has mass
|
||||
UpdatePhysicalMassProperties(RawMass, false);
|
||||
|
|
@ -935,9 +866,6 @@ public sealed class BSPrim : BSPhysObject
|
|||
// Force activation of the object so Bullet will act on it.
|
||||
// Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
|
||||
PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
|
||||
|
||||
// There might be special things needed for implementing linksets.
|
||||
Linkset.MakeDynamic(this);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1643,16 +1571,6 @@ public sealed class BSPrim : BSPhysObject
|
|||
|
||||
returnMass = Density * volume;
|
||||
|
||||
/* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
|
||||
if (IsRootOfLinkset)
|
||||
{
|
||||
foreach (BSPrim prim in _childrenPrims)
|
||||
{
|
||||
returnMass += prim.CalculateMass();
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
|
||||
|
||||
return returnMass;
|
||||
|
|
@ -1672,8 +1590,7 @@ public sealed class BSPrim : BSPhysObject
|
|||
// Called if the current prim body is about to be destroyed.
|
||||
// Remove all the physical dependencies on the old body.
|
||||
// (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
|
||||
Linkset.RemoveBodyDependencies(this);
|
||||
VehicleController.RemoveBodyDependencies(this);
|
||||
RemoveBodyDependencies();
|
||||
});
|
||||
|
||||
// Make sure the properties are set on the new object
|
||||
|
|
@ -1681,57 +1598,50 @@ public sealed class BSPrim : BSPhysObject
|
|||
return;
|
||||
}
|
||||
|
||||
protected virtual void RemoveBodyDependencies()
|
||||
{
|
||||
VehicleController.RemoveBodyDependencies(this);
|
||||
}
|
||||
|
||||
// The physics engine says that properties have updated. Update same and inform
|
||||
// the world that things have changed.
|
||||
public override void UpdateProperties(EntityProperties entprop)
|
||||
{
|
||||
// Updates only for individual prims and for the root object of a linkset.
|
||||
if (Linkset.IsRoot(this))
|
||||
// A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
|
||||
// TODO: handle physics introduced by Bullet with computed vehicle physics.
|
||||
if (VehicleController.IsActive)
|
||||
{
|
||||
// A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
|
||||
// TODO: handle physics introduced by Bullet with computed vehicle physics.
|
||||
if (VehicleController.IsActive)
|
||||
{
|
||||
entprop.RotationalVelocity = OMV.Vector3.Zero;
|
||||
}
|
||||
|
||||
// DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
|
||||
|
||||
// Undo any center-of-mass displacement that might have been done.
|
||||
if (PositionDisplacement != OMV.Vector3.Zero)
|
||||
{
|
||||
// Correct for any rotation around the center-of-mass
|
||||
// TODO!!!
|
||||
entprop.Position -= PositionDisplacement;
|
||||
}
|
||||
|
||||
// Assign directly to the local variables so the normal set actions do not happen
|
||||
_position = entprop.Position;
|
||||
_orientation = entprop.Rotation;
|
||||
_velocity = entprop.Velocity;
|
||||
_acceleration = entprop.Acceleration;
|
||||
_rotationalVelocity = entprop.RotationalVelocity;
|
||||
|
||||
// DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG
|
||||
|
||||
// The sanity check can change the velocity and/or position.
|
||||
if (PositionSanityCheck(true /* inTaintTime */ ))
|
||||
{
|
||||
entprop.Position = _position;
|
||||
entprop.Velocity = _velocity;
|
||||
entprop.RotationalVelocity = _rotationalVelocity;
|
||||
entprop.Acceleration = _acceleration;
|
||||
}
|
||||
|
||||
OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
|
||||
DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
|
||||
|
||||
// remember the current and last set values
|
||||
LastEntityProperties = CurrentEntityProperties;
|
||||
CurrentEntityProperties = entprop;
|
||||
|
||||
base.RequestPhysicsterseUpdate();
|
||||
entprop.RotationalVelocity = OMV.Vector3.Zero;
|
||||
}
|
||||
|
||||
// DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
|
||||
|
||||
// Assign directly to the local variables so the normal set actions do not happen
|
||||
_position = entprop.Position;
|
||||
_orientation = entprop.Rotation;
|
||||
_velocity = entprop.Velocity;
|
||||
_acceleration = entprop.Acceleration;
|
||||
_rotationalVelocity = entprop.RotationalVelocity;
|
||||
|
||||
// DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG
|
||||
|
||||
// The sanity check can change the velocity and/or position.
|
||||
if (PositionSanityCheck(true /* inTaintTime */ ))
|
||||
{
|
||||
entprop.Position = _position;
|
||||
entprop.Velocity = _velocity;
|
||||
entprop.RotationalVelocity = _rotationalVelocity;
|
||||
entprop.Acceleration = _acceleration;
|
||||
}
|
||||
|
||||
OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
|
||||
DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
|
||||
|
||||
// remember the current and last set values
|
||||
LastEntityProperties = CurrentEntityProperties;
|
||||
CurrentEntityProperties = entprop;
|
||||
|
||||
base.RequestPhysicsterseUpdate();
|
||||
/*
|
||||
else
|
||||
{
|
||||
|
|
@ -1741,9 +1651,6 @@ public sealed class BSPrim : BSPhysObject
|
|||
entprop.Acceleration, entprop.RotationalVelocity);
|
||||
}
|
||||
*/
|
||||
|
||||
// The linkset implimentation might want to know about this.
|
||||
Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -434,7 +434,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
|
|||
{
|
||||
if (!m_initialized) return;
|
||||
|
||||
BSPrim bsprim = prim as BSPrim;
|
||||
BSPhysObject bsprim = prim as BSPhysObject;
|
||||
if (bsprim != null)
|
||||
{
|
||||
DetailLog("{0},RemovePrim,call", bsprim.LocalID);
|
||||
|
|
@ -465,7 +465,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
|
|||
|
||||
DetailLog("{0},AddPrimShape,call", localID);
|
||||
|
||||
BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
|
||||
BSPhysObject prim = new BSPrimLinkable(localID, primName, this, position, size, rotation, pbs, isPhysical);
|
||||
lock (PhysObjects) PhysObjects.Add(localID, prim);
|
||||
return prim;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue