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* Merges BulletSim Updates to BulletSimN(BulletSNPlugin)

0.7.5-pf-bulletsim
teravus 2012-12-18 15:00:10 -05:00
parent 225b564573
commit 29cdf0f3dd
19 changed files with 116 additions and 79 deletions
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8
OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs
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@ -174,7 +174,7 @@ public sealed class BSCharacter : BSPhysObject
BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
}
UpdatePhysicalMassProperties(RawMass);
UpdatePhysicalMassProperties(RawMass, false);
// Make so capsule does not fall over
BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero);
@ -224,7 +224,7 @@ public sealed class BSCharacter : BSPhysObject
if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
{
BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
UpdatePhysicalMassProperties(RawMass);
UpdatePhysicalMassProperties(RawMass, true);
// Make sure this change appears as a property update event
BulletSimAPI.PushUpdate2(PhysBody.ptr);
}
@ -260,7 +260,6 @@ public sealed class BSCharacter : BSPhysObject
public override void ZeroMotion(bool inTaintTime)
{
_velocity = OMV.Vector3.Zero;
_velocityMotor.Zero();
_acceleration = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero;
@ -390,7 +389,7 @@ public sealed class BSCharacter : BSPhysObject
public override float RawMass {
get {return _mass; }
}
public override void UpdatePhysicalMassProperties(float physMass)
public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
{
OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
@ -787,6 +786,7 @@ public sealed class BSCharacter : BSPhysObject
// the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer.
if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero)
{
ZeroMotion(true);
stepVelocity = OMV.Vector3.Zero;
_velocityMotor.Enabled = false;
DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);

2
OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs
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@ -36,7 +36,7 @@ public abstract class BSConstraint : IDisposable
{
private static string LogHeader = "[BULLETSIM CONSTRAINT]";
protected BulletSim m_world;
protected BulletWorld m_world;
protected BulletBody m_body1;
protected BulletBody m_body2;
protected BulletConstraint m_constraint;

4
OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs
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@ -39,7 +39,7 @@ public sealed class BSConstraint6Dof : BSConstraint
public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }
// Create a btGeneric6DofConstraint
public BSConstraint6Dof(BulletSim world, BulletBody obj1, BulletBody obj2,
public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 frame1, Quaternion frame1rot,
Vector3 frame2, Quaternion frame2rot,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
@ -58,7 +58,7 @@ public sealed class BSConstraint6Dof : BSConstraint
obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
}
public BSConstraint6Dof(BulletSim world, BulletBody obj1, BulletBody obj2,
public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 joinPoint,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
{

4
OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs
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@ -41,9 +41,9 @@ public sealed class BSConstraintCollection : IDisposable
delegate bool ConstraintAction(BSConstraint constrain);
private List<BSConstraint> m_constraints;
private BulletSim m_world;
private BulletWorld m_world;
public BSConstraintCollection(BulletSim world)
public BSConstraintCollection(BulletWorld world)
{
m_world = world;
m_constraints = new List<BSConstraint>();

2
OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs
View File

@ -36,7 +36,7 @@ public sealed class BSConstraintHinge : BSConstraint
{
public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } }
public BSConstraintHinge(BulletSim world, BulletBody obj1, BulletBody obj2,
public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2,
Vector3 pivotInA, Vector3 pivotInB,
Vector3 axisInA, Vector3 axisInB,
bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)

3
OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs
View File

@ -573,6 +573,9 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr);
Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy);
BulletSimAPI.SetGravity2(Prim.PhysBody.ptr, grav);
VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}",
Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping);
}

20
OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs
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@ -97,14 +97,7 @@ public abstract class BSLinkset
}
// We keep the prim's mass in the linkset structure since it could be dependent on other prims
protected float m_mass;
public float LinksetMass
{
get
{
return m_mass;
}
}
public float LinksetMass { get; protected set; }
public virtual bool LinksetIsColliding { get { return false; } }
@ -128,7 +121,7 @@ public abstract class BSLinkset
PhysicsScene = scene;
LinksetRoot = parent;
m_children = new HashSet<BSPhysObject>();
m_mass = parent.RawMass;
LinksetMass = parent.RawMass;
Rebuilding = false;
}
@ -143,7 +136,7 @@ public abstract class BSLinkset
// Don't add the root to its own linkset
if (!IsRoot(child))
AddChildToLinkset(child);
m_mass = ComputeLinksetMass();
LinksetMass = ComputeLinksetMass();
}
return this;
}
@ -162,7 +155,7 @@ public abstract class BSLinkset
return this;
}
RemoveChildFromLinkset(child);
m_mass = ComputeLinksetMass();
LinksetMass = ComputeLinksetMass();
}
// The child is down to a linkset of just itself
@ -230,7 +223,10 @@ public abstract class BSLinkset
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
// May be called at runtime or taint-time.
public abstract void Refresh(BSPhysObject requestor);
public virtual void Refresh(BSPhysObject requestor)
{
LinksetMass = ComputeLinksetMass();
}
// Flag denoting the linkset is in the process of being rebuilt.
// Used to know not the schedule a rebuild in the middle of a rebuild.

11
OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs
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@ -89,6 +89,8 @@ public sealed class BSLinksetCompound : BSLinkset
// its internal properties.
public override void Refresh(BSPhysObject requestor)
{
base.Refresh(requestor);
// Something changed so do the rebuilding thing
// ScheduleRebuild();
}
@ -96,13 +98,13 @@ public sealed class BSLinksetCompound : BSLinkset
// Schedule a refresh to happen after all the other taint processing.
private void ScheduleRebuild(BSPhysObject requestor)
{
DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,rebuilding={1}",
DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1}",
requestor.LocalID, Rebuilding);
// When rebuilding, it is possible to set properties that would normally require a rebuild.
// If already rebuilding, don't request another rebuild.
if (!Rebuilding)
{
PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", LinksetRoot.LocalID, delegate()
PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
{
if (HasAnyChildren)
RecomputeLinksetCompound();
@ -123,7 +125,6 @@ public sealed class BSLinksetCompound : BSLinkset
if (IsRoot(child))
{
// The root is going dynamic. Make sure mass is properly set.
m_mass = ComputeLinksetMass();
ScheduleRebuild(LinksetRoot);
}
else
@ -377,8 +378,8 @@ public sealed class BSLinksetCompound : BSLinkset
});
// With all of the linkset packed into the root prim, it has the mass of everyone.
float linksetMass = LinksetMass;
LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
LinksetMass = LinksetMass;
LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
}
finally
{

6
OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs
View File

@ -46,6 +46,8 @@ public sealed class BSLinksetConstraints : BSLinkset
// refresh will happen once after all the other taints are applied.
public override void Refresh(BSPhysObject requestor)
{
base.Refresh(requestor);
// Queue to happen after all the other taint processing
PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
{
@ -279,7 +281,7 @@ public sealed class BSLinksetConstraints : BSLinkset
private void RecomputeLinksetConstraints()
{
float linksetMass = LinksetMass;
LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true);
// DEBUG: see of inter-linkset collisions are causing problems
// BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
@ -292,7 +294,7 @@ public sealed class BSLinksetConstraints : BSLinkset
// 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.
// (Also do the mass stuff before recomputing the constraint so mass is not zero.)
child.UpdatePhysicalMassProperties(linksetMass);
child.UpdatePhysicalMassProperties(linksetMass, true);
BSConstraint constrain;
if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))

16
OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs
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@ -119,26 +119,26 @@ public static class BSMaterials
Attributes[(int)MaterialAttributes.Material.Light] =
new MaterialAttributes("light",dDensity, dFriction, dRestitution);
Attributes[(int)MaterialAttributes.Material.Avatar] =
new MaterialAttributes("avatar",60f, 0.2f, 0f);
new MaterialAttributes("avatar",3.5f, 0.2f, 0f);
Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f);
Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("metalPhysical",dDensity, 0.8f, 0.4f);
new MaterialAttributes("metalPhysical",dDensity, 0.3f, 0.4f);
Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("glassPhysical",dDensity, 0.8f, 0.7f);
new MaterialAttributes("glassPhysical",dDensity, 0.2f, 0.7f);
Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("woodPhysical",dDensity, 0.8f, 0.5f);
new MaterialAttributes("woodPhysical",dDensity, 0.6f, 0.5f);
Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("fleshPhysical",dDensity, 0.8f, 0.3f);
new MaterialAttributes("fleshPhysical",dDensity, 0.9f, 0.3f);
Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("plasticPhysical",dDensity, 0.8f, 0.7f);
new MaterialAttributes("plasticPhysical",dDensity, 0.4f, 0.7f);
Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("rubberPhysical",dDensity, 0.8f, 0.9f);
new MaterialAttributes("rubberPhysical",dDensity, 0.9f, 0.9f);
Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution);
Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] =
new MaterialAttributes("avatarPhysical",60f, 0.2f, 0f);
new MaterialAttributes("avatarPhysical",3.5f, 0.2f, 0f);
}
// Under the [BulletSim] section, one can change the individual material

2
OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs
View File

@ -351,7 +351,7 @@ public static class BSParam
(s) => { return AvatarStandingFriction; },
(s,p,l,v) => { AvatarStandingFriction = v; } ),
new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
60f,
3.5f,
(s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); },
(s) => { return AvatarDensity; },
(s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ),

3
OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs
View File

@ -96,7 +96,8 @@ public abstract class BSPhysObject : PhysicsActor
// Return the object mass without calculating it or having side effects
public abstract float RawMass { get; }
// Set the raw mass but also update physical mass properties (inertia, ...)
public abstract void UpdatePhysicalMassProperties(float mass);
// 'inWorld' true if the object has already been added to the dynamic world.
public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
// The last value calculated for the prim's inertia
public OMV.Vector3 Inertia { get; set; }

61
OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
View File

@ -115,6 +115,8 @@ public sealed class BSPrim : BSPhysObject
PhysBody = new BulletBody(LocalID);
PhysShape = new BulletShape();
Linkset.Refresh(this);
DetailLog("{0},BSPrim.constructor,call", LocalID);
// do the actual object creation at taint time
PhysicsScene.TaintedObject("BSPrim.create", delegate()
@ -384,13 +386,13 @@ public sealed class BSPrim : BSPhysObject
}
// Return the effective mass of the object.
// If there are multiple items in the linkset, add them together for the root
// The definition of this call is to return the mass of the prim.
// If the simulator cares about the mass of the linkset, it will sum it itself.
public override float Mass
{
get
{
return Linkset.LinksetMass;
// return _mass;
return _mass;
}
}
@ -400,7 +402,9 @@ public sealed class BSPrim : BSPhysObject
}
// Set the physical mass to the passed mass.
// Note that this does not change _mass!
public override void UpdatePhysicalMassProperties(float physMass)
public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
{
if (PhysBody.HasPhysicalBody)
{
if (IsStatic)
{
@ -410,12 +414,33 @@ public sealed class BSPrim : BSPhysObject
}
else
{
if (inWorld)
{
// Changing interesting properties doesn't change proxy and collision cache
// information. The Bullet solution is to re-add the object to the world
// after parameters are changed.
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
}
Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
// center of mass is at the zero of the object
// DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, Inertia);
DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},inWorld={3}", LocalID, physMass, Inertia, inWorld);
if (inWorld)
{
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr,_position,_orientation);
}
// Must set gravity after it has been added to the world because, for unknown reasons,
// adding the object resets the object's gravity to world gravity
OMV.Vector3 grav = PhysicsScene.DefaultGravity * (1f - Buoyancy);
BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
}
}
}
@ -714,7 +739,7 @@ public sealed class BSPrim : BSPhysObject
Linkset.Refresh(this);
DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape);
LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape);
}
// "Making dynamic" means changing to and from static.
@ -737,7 +762,7 @@ public sealed class BSPrim : BSPhysObject
BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
// Mass is zero which disables a bunch of physics stuff in Bullet
UpdatePhysicalMassProperties(0f);
UpdatePhysicalMassProperties(0f, false);
// Set collision detection parameters
if (BSParam.CcdMotionThreshold > 0f)
{
@ -777,7 +802,7 @@ public sealed class BSPrim : BSPhysObject
// DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
// A dynamic object has mass
UpdatePhysicalMassProperties(RawMass);
UpdatePhysicalMassProperties(RawMass, false);
// Set collision detection parameters
if (BSParam.CcdMotionThreshold > 0f)
@ -950,15 +975,11 @@ public sealed class BSPrim : BSPhysObject
set {
_buoyancy = value;
// DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
// Buoyancy is faked by changing the gravity applied to the object
if (PhysBody.HasPhysicalBody)
{
float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
// Force the recalculation of the various inertia,etc variables in the object
UpdatePhysicalMassProperties(_mass, true);
ActivateIfPhysical(false);
}
}
}
// Used for MoveTo
public override OMV.Vector3 PIDTarget {
@ -993,7 +1014,9 @@ public sealed class BSPrim : BSPhysObject
public override float APIDDamping { set { return; } }
public override void AddForce(OMV.Vector3 force, bool pushforce) {
AddForce(force, pushforce, false);
// Since this force is being applied in only one step, make this a force per second.
OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
AddForce(addForce, pushforce, false);
}
// Applying a force just adds this to the total force on the object.
// This added force will only last the next simulation tick.
@ -1001,8 +1024,16 @@ public sealed class BSPrim : BSPhysObject
// for an object, doesn't matter if force is a pushforce or not
if (force.IsFinite())
{
float magnitude = force.Length();
if (magnitude > 20000f)
{
// Force has a limit
force = force / magnitude * 20000f;
}
OMV.Vector3 addForce = force;
DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
{
// Bullet adds this central force to the total force for this tick

11
OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs
View File

@ -74,7 +74,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
public IMesher mesher;
public uint WorldID { get; private set; }
public BulletSim World { get; private set; }
public BulletWorld World { get; private set; }
// All the constraints that have been allocated in this instance.
public BSConstraintCollection Constraints { get; private set; }
@ -244,7 +244,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
// m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
World = new BulletSim(0, this, BulletSimAPI.Initialize2(worldExtent, UnmanagedParams,
World = new BulletWorld(0, this, BulletSimAPI.Initialize2(worldExtent, UnmanagedParams,
m_maxCollisionsPerFrame, ref m_collisionArray,
m_maxUpdatesPerFrame,ref m_updateArray,
m_DebugLogCallbackHandle));
@ -497,13 +497,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
InTaintTime = false; // Only used for debugging so locking is not necessary.
// The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
// Only enable this in a limited test world with few objects.
// BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG
// step the physical world one interval
m_simulationStep++;
int numSubSteps = 0;
try
{
//if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG
if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
@ -833,7 +836,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
{
DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
Util.PrintCallStack(); // Prints the stack into the DEBUG log file.
Util.PrintCallStack(DetailLog);
}
return InTaintTime;
}

6
OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs
View File

@ -98,7 +98,7 @@ public sealed class BSShapeCollection : IDisposable
// higher level dependencies on the shape or body. Mostly used for LinkSets to
// remove the physical constraints before the body is destroyed.
// Called at taint-time!!
public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim,
public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim,
ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
{
PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape");
@ -126,7 +126,7 @@ public sealed class BSShapeCollection : IDisposable
return ret;
}
public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim)
public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim)
{
return GetBodyAndShape(forceRebuild, sim, prim, null, null);
}
@ -918,7 +918,7 @@ public sealed class BSShapeCollection : IDisposable
// Updates prim.BSBody with the information about the new body if one is created.
// Returns 'true' if an object was actually created.
// Called at taint-time.
private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape,
private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BulletShape shape,
BodyDestructionCallback bodyCallback)
{
bool ret = false;

2
OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs
View File

@ -103,7 +103,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
Vector3 centerPos;
centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f);
centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f + 0.5f);
centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f - 0.5f);
m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID,
BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr,

3
OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs
View File

@ -140,7 +140,7 @@ public sealed class BSTerrainManager : IDisposable
m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
Vector3.Zero, Quaternion.Identity));
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr);
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr, Vector3.Zero, Quaternion.Identity);
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr);
// Ground plane does not move
BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
@ -376,6 +376,7 @@ public sealed class BSTerrainManager : IDisposable
DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}",
BSScene.DetailLogZero, pos, terrainBaseXYZ);
}
lastHeight = ret;
return ret;
}

1
OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
View File

@ -58,7 +58,6 @@ public enum ConstraintType : int
MAX_CONSTRAINT_TYPE
}
// ===============================================================================
[StructLayout(LayoutKind.Sequential)]
public struct ConvexHull

4
OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs
View File

@ -35,9 +35,9 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
// These hold pointers to allocated objects in the unmanaged space.
// The physics engine controller class created at initialization
public struct BulletSim
public struct BulletWorld
{
public BulletSim(uint worldId, BSScene bss, object xx)
public BulletWorld(uint worldId, BSScene bss, object xx)
{
ptr = xx;
worldID = worldId;