From 21ec4346884d6cc02f67bbbdafa49f3b5db5426e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 28 Apr 2013 21:44:06 -0700 Subject: [PATCH] BulletSim: first cut at new linksetCompound shape building. --- .../BulletSPlugin/BSLinksetCompound.cs | 90 ++++++------------- 1 file changed, 27 insertions(+), 63 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index a20bbc3956..be01808a6b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -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 {