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BulletSim: add parameter to UpdateProperties call into the linkset so changes from the physics engine can be differentiated from changes made by the user. This eliminates a linkset rebuild loop. Also add logic to not rebuild or freak out when the object/linkset crosses a terrain boundry.

0.7.5-pf-bulletsim
Robert Adams 2012-12-16 21:18:32 -08:00
parent 3f2aaffd4d
commit 2b8efa24dd
6 changed files with 65 additions and 36 deletions
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3
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
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@ -252,8 +252,9 @@ public abstract class BSLinkset
// Called when a parameter update comes from the physics engine for any object // Called when a parameter update comes from the physics engine for any object
// of the linkset is received. // of the linkset is received.
// Passed flag is update came from physics engine (true) or the user (false).
// Called at taint-time!! // Called at taint-time!!
public abstract void UpdateProperties(BSPhysObject physObject); public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate);
// Routine used when rebuilding the body of the root of the linkset // Routine used when rebuilding the body of the root of the linkset
// Destroy all the constraints have have been made to root. // Destroy all the constraints have have been made to root.

48
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
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@ -28,6 +28,8 @@ using System;
using System.Collections.Generic; using System.Collections.Generic;
using System.Text; using System.Text;
using OpenSim.Framework;
using OMV = OpenMetaverse; using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin namespace OpenSim.Region.Physics.BulletSPlugin
@ -87,25 +89,22 @@ public sealed class BSLinksetCompound : BSLinkset
// its internal properties. // its internal properties.
public override void Refresh(BSPhysObject requestor) public override void Refresh(BSPhysObject requestor)
{ {
if (!IsRoot(requestor))
{
}
// Something changed so do the rebuilding thing // Something changed so do the rebuilding thing
InternalRefresh(requestor); // ScheduleRebuild();
} }
// Schedule a refresh to happen after all the other taint processing. // Schedule a refresh to happen after all the other taint processing.
private void InternalRefresh(BSPhysObject requestor) private void ScheduleRebuild()
{ {
DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1},rebuilding={2}", DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,rebuilding={1}",
LinksetRoot.LocalID, requestor.LocalID, Rebuilding); LinksetRoot.LocalID, Rebuilding);
// When rebuilding, it is possible to set properties that would normally require a rebuild. // When rebuilding, it is possible to set properties that would normally require a rebuild.
// If already rebuilding, don't request another rebuild. // If already rebuilding, don't request another rebuild.
if (!Rebuilding) if (!Rebuilding)
{ {
PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate() PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", LinksetRoot.LocalID, delegate()
{ {
if (IsRoot(requestor) && HasAnyChildren) if (HasAnyChildren)
RecomputeLinksetCompound(); RecomputeLinksetCompound();
}); });
} }
@ -125,8 +124,7 @@ public sealed class BSLinksetCompound : BSLinkset
{ {
// The root is going dynamic. Make sure mass is properly set. // The root is going dynamic. Make sure mass is properly set.
m_mass = ComputeLinksetMass(); m_mass = ComputeLinksetMass();
if (HasAnyChildren) ScheduleRebuild();
InternalRefresh(LinksetRoot);
} }
else else
{ {
@ -155,8 +153,7 @@ public sealed class BSLinksetCompound : BSLinkset
DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
if (IsRoot(child)) if (IsRoot(child))
{ {
if (HasAnyChildren) ScheduleRebuild();
InternalRefresh(LinksetRoot);
} }
else else
{ {
@ -172,10 +169,21 @@ public sealed class BSLinksetCompound : BSLinkset
return ret; return ret;
} }
// Called at taint-time!! public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate)
public override void UpdateProperties(BSPhysObject updated)
{ {
// Nothing to do for compound linksets on property updates // The user moving a child around requires the rebuilding of the linkset compound shape
// One problem is this happens when a border is crossed -- the simulator implementation
// is to store the position into the group which causes the move of the object
// but it also means all the child positions get updated.
// What would cause an unnecessary rebuild so we make sure the linkset is in a
// region before bothering to do a rebuild.
if (!IsRoot(updated)
&& !physicalUpdate
&& PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
{
updated.LinksetInfo = null;
ScheduleRebuild();
}
} }
// Routine called when rebuilding the body of some member of the linkset. // Routine called when rebuilding the body of some member of the linkset.
@ -257,8 +265,8 @@ public sealed class BSLinksetCompound : BSLinkset
DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
// Cause constraints and assorted properties to be recomputed before the next simulation step. // Rebuild the compound shape with the new child shape included
InternalRefresh(LinksetRoot); ScheduleRebuild();
} }
return; return;
} }
@ -285,8 +293,8 @@ public sealed class BSLinksetCompound : BSLinkset
} }
else else
{ {
// Schedule a rebuild of the linkset before the next simulation tick. // Rebuild the compound shape with the child removed
InternalRefresh(LinksetRoot); ScheduleRebuild();
} }
} }
return; return;

2
OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
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@ -78,7 +78,7 @@ public sealed class BSLinksetConstraints : BSLinkset
} }
// Called at taint-time!! // Called at taint-time!!
public override void UpdateProperties(BSPhysObject updated) public override void UpdateProperties(BSPhysObject updated, bool inTaintTime)
{ {
// Nothing to do for constraints on property updates // Nothing to do for constraints on property updates
} }

9
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
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@ -214,7 +214,7 @@ public abstract class BSPhysObject : PhysicsActor
{ {
bool ret = true; bool ret = true;
// If the 'no collision' call, force it to happen right now so quick collision_end // If the 'no collision' call, force it to happen right now so quick collision_end
bool force = CollisionCollection.Count == 0; bool force = (CollisionCollection.Count == 0);
// throttle the collisions to the number of milliseconds specified in the subscription // throttle the collisions to the number of milliseconds specified in the subscription
if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime)) if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
@ -232,8 +232,10 @@ public abstract class BSPhysObject : PhysicsActor
// DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count); // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
base.SendCollisionUpdate(CollisionCollection); base.SendCollisionUpdate(CollisionCollection);
// The collisionCollection structure is passed around in the simulator. // The CollisionCollection instance is passed around in the simulator.
// Make sure we don't have a handle to that one and that a new one is used for next time. // Make sure we don't have a handle to that one and that a new one is used for next time.
// This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here,
// a race condition is created for the other users of this instance.
CollisionCollection = new CollisionEventUpdate(); CollisionCollection = new CollisionEventUpdate();
} }
return ret; return ret;
@ -251,7 +253,8 @@ public abstract class BSPhysObject : PhysicsActor
PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate() PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
{ {
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); if (PhysBody.HasPhysicalBody)
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
}); });
} }
else else

29
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -300,6 +300,10 @@ public sealed class BSPrim : BSPhysObject
} }
_position = value; _position = value;
PositionSanityCheck(false); PositionSanityCheck(false);
// A linkset might need to know if a component information changed.
Linkset.UpdateProperties(this, false);
PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
{ {
DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
@ -329,6 +333,14 @@ public sealed class BSPrim : BSPhysObject
{ {
bool ret = false; bool ret = false;
if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position))
{
// The physical object is out of the known/simulated area.
// Upper levels of code will handle the transition to other areas so, for
// the time, we just ignore the position.
return ret;
}
float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
OMV.Vector3 upForce = OMV.Vector3.Zero; OMV.Vector3 upForce = OMV.Vector3.Zero;
if (RawPosition.Z < terrainHeight) if (RawPosition.Z < terrainHeight)
@ -352,8 +364,6 @@ public sealed class BSPrim : BSPhysObject
} }
} }
// TODO: check for out of bounds
// The above code computes a force to apply to correct any out-of-bounds problems. Apply same. // The above code computes a force to apply to correct any out-of-bounds problems. Apply same.
// TODO: This should be intergrated with a geneal physics action mechanism. // TODO: This should be intergrated with a geneal physics action mechanism.
// TODO: This should be moderated with PID'ness. // TODO: This should be moderated with PID'ness.
@ -567,7 +577,10 @@ public sealed class BSPrim : BSPhysObject
if (_orientation == value) if (_orientation == value)
return; return;
_orientation = value; _orientation = value;
// TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
// A linkset might need to know if a component information changed.
Linkset.UpdateProperties(this, false);
PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
{ {
if (PhysBody.HasPhysicalBody) if (PhysBody.HasPhysicalBody)
@ -1432,14 +1445,14 @@ public sealed class BSPrim : BSPhysObject
entprop.Velocity = _velocity; entprop.Velocity = _velocity;
} }
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity); LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
base.RequestPhysicsterseUpdate(); base.RequestPhysicsterseUpdate();
} }
/* /*
@ -1453,7 +1466,7 @@ public sealed class BSPrim : BSPhysObject
*/ */
// The linkset implimentation might want to know about this. // The linkset implimentation might want to know about this.
Linkset.UpdateProperties(this); Linkset.UpdateProperties(this, true);
} }
} }
} }

10
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@ -517,8 +517,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}", DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps,
updatedEntityCount, collidersCount, ObjectsWithCollisions.Count);
if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG
} }
catch (Exception e) catch (Exception e)
@ -573,6 +574,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
// Objects that are done colliding are removed from the ObjectsWithCollisions list. // Objects that are done colliding are removed from the ObjectsWithCollisions list.
// Not done above because it is inside an iteration of ObjectWithCollisions. // Not done above because it is inside an iteration of ObjectWithCollisions.
// This complex collision processing is required to create an empty collision
// event call after all collisions have happened on an object. This enables
// the simulator to generate the 'collision end' event.
if (ObjectsWithNoMoreCollisions.Count > 0) if (ObjectsWithNoMoreCollisions.Count > 0)
{ {
foreach (BSPhysObject po in ObjectsWithNoMoreCollisions) foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
@ -597,7 +601,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
ProcessPostStepTaints(); ProcessPostStepTaints();
// This causes the unmanaged code to output ALL the values found in ALL the objects in the world. // 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. // Only enable this in a limited test world with few objects.
// BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG