OpenSim
/
OpenSimMirror
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

BulletSim: first cut at new linksetCompound shape building.

user_profiles
Robert Adams 2013-04-28 21:44:06 -07:00
parent f2d408829b
commit 21ec434688
1 changed files with 27 additions and 63 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

90
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
View File

@ -93,9 +93,12 @@ public sealed class BSLinksetCompound : BSLinkset
{
private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
private BSShape LinksetShape;
public BSLinksetCompound(BSScene scene, BSPrimLinkable parent)
: base(scene, parent)
{
LinksetShape = new BSShapeNull();
}
// When physical properties are changed the linkset needs to recalculate
@ -391,22 +394,21 @@ public sealed class BSLinksetCompound : BSLinkset
{
try
{
/*
// Suppress rebuilding while rebuilding. (We know rebuilding is on only one thread.)
Rebuilding = true;
// This replaces the physical shape of the root prim with a compound shape made up of the root
// shape and all the children.
// Cause the root shape to be rebuilt as a compound object with just the root in it
LinksetRoot.ForceBodyShapeRebuild(true /* inTaintTime );
// RootPrim.PhysShape is the shape of the root prim.
// Here we build the compound shape made up of all the children.
// Free up any shape we'd previously built.
LinksetShape.Dereference(PhysicsScene);
LinksetShape = BSShapeCompound.GetReference(PhysicsScene, LinksetRoot);
// The center of mass for the linkset is the geometric center of the group.
// Compute a displacement for each component so it is relative to the center-of-mass.
// Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass
OMV.Vector3 centerOfMassW = LinksetRoot.RawPosition;
if (!disableCOM) // DEBUG DEBUG
{
// Compute a center-of-mass in world coordinates.
centerOfMassW = ComputeLinksetCenterOfMass();
}
OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass();
OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
@ -414,20 +416,7 @@ public sealed class BSLinksetCompound : BSLinkset
OMV.Vector3 centerDisplacement = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation;
LinksetRoot.SetEffectiveCenterOfMassW(centerDisplacement);
// This causes the physical position of the root prim to be offset to accomodate for the displacements
LinksetRoot.ForcePosition = LinksetRoot.RawPosition;
// Update the local transform for the root child shape so it is offset from the <0,0,0> which is COM
PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape.physShapeInfo, 0 /* childIndex ,
-centerDisplacement,
OMV.Quaternion.Identity, // LinksetRoot.RawOrientation,
false /* shouldRecalculateLocalAabb (is done later after linkset built) );
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}",
LinksetRoot.LocalID, centerOfMassW, LinksetRoot.RawPosition, centerDisplacement);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
// TODO: add phantom root shape to be the center-of-mass
// Add a shape for each of the other children in the linkset
int memberIndex = 1;
@ -440,56 +429,31 @@ public sealed class BSLinksetCompound : BSLinkset
else
{
cPrim.LinksetChildIndex = memberIndex;
}
if (cPrim.PhysShape.isNativeShape)
{
// A native shape is turned into a hull collision shape because native
// shapes are not shared so we have to hullify it so it will be tracked
// and freed at the correct time. This also solves the scaling problem
// (native shapes scale but hull/meshes are assumed to not be).
// TODO: decide of the native shape can just be used in the compound shape.
// Use call to CreateGeomNonSpecial().
BulletShape saveShape = cPrim.PhysShape;
cPrim.PhysShape.Clear(); // Don't let the create free the child's shape
PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
BulletShape newShape = cPrim.PhysShape;
cPrim.PhysShape = saveShape;
OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, offsetPos, offsetRot);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}",
LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, newShape, offsetPos, offsetRot);
}
else
{
// For the shared shapes (meshes and hulls), just use the shape in the child.
// The reference count added here will be decremented when the compound shape
// is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced).
if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape))
{
PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
}
OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNonNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}",
BSShape childShape = cPrim.PhysShape;
childShape.IncrementReference();
OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}",
LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot);
}
memberIndex++;
}
memberIndex++;
return false; // 'false' says to move onto the next child in the list
});
// Sneak the built compound shape in as the shape of the root prim.
// Note this doesn't touch the root prim's PhysShape so be sure the manage the difference.
PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo);
// With all of the linkset packed into the root prim, it has the mass of everyone.
LinksetMass = ComputeLinksetMass();
LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
// Enable the physical position updator to return the position and rotation of the root shape
PhysicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE);
*/
}
finally
{