BulletSim: Add physical 'actors' that operate on the physical object.
Add first 'actor' for locked axis.user_profiles
Robert Adams
parent
9b83e53b28
commit
2c581cae2a
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@ -0,0 +1,168 @@
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/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyrightD
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using OMV = OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public class BSActorLockAxis : BSActor
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{
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bool TryExperimentalLockAxisCode = false;
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BSConstraint LockAxisConstraint = null;
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public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
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: base(physicsScene, pObj,actorName)
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{
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LockAxisConstraint = null;
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}
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// BSActor.isActive
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public override bool isActive
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{
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get { return Enabled && Prim.IsPhysicallyActive; }
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}
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// Release any connections and resources used by the actor.
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// BSActor.Release()
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public override void Release()
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{
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RemoveAxisLockConstraint();
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}
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// Called when physical parameters (properties set in Bullet) need to be re-applied.
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// Called at taint-time.
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// BSActor.Refresh()
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public override void Refresh()
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{
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// If all the axis are free, we don't need to exist
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if (Prim.LockedAxis == Prim.LockedAxisFree)
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{
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Prim.PhysicalActors.RemoveAndRelease(ActorName);
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return;
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}
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// If the object is physically active, add the axis locking constraint
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if (Enabled
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&& Prim.IsPhysicallyActive
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&& TryExperimentalLockAxisCode
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&& Prim.LockedAxis != Prim.LockedAxisFree)
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{
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if (LockAxisConstraint != null)
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AddAxisLockConstraint();
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}
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else
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{
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RemoveAxisLockConstraint();
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}
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}
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// The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
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// Register a prestep action to restore physical requirements before the next simulation step.
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// Called at taint-time.
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// BSActor.RemoveBodyDependencies()
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public override void RemoveBodyDependencies()
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{
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if (LockAxisConstraint != null)
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{
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// If a constraint is set up, remove it from the physical scene
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RemoveAxisLockConstraint();
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// Schedule a call before the next simulation step to restore the constraint.
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PhysicsScene.PostTaintObject(Prim.LockedAxisActorName, Prim.LocalID, delegate()
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{
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Refresh();
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});
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}
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}
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private void AddAxisLockConstraint()
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{
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// Lock that axis by creating a 6DOF constraint that has one end in the world and
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// the other in the object.
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// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
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// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
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// Remove any existing axis constraint (just to be sure)
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RemoveAxisLockConstraint();
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BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, Prim.PhysBody,
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OMV.Vector3.Zero, OMV.Quaternion.Inverse(Prim.RawOrientation),
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true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
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LockAxisConstraint = axisConstrainer;
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PhysicsScene.Constraints.AddConstraint(LockAxisConstraint);
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// The constraint is tied to the world and oriented to the prim.
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// Free to move linearly
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OMV.Vector3 linearLow = OMV.Vector3.Zero;
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OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize;
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axisConstrainer.SetLinearLimits(linearLow, linearHigh);
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// Angular with some axis locked
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float f2PI = (float)Math.PI * 2f;
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OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI);
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OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI);
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if (Prim.LockedAxis.X != 1f)
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{
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angularLow.X = 0f;
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angularHigh.X = 0f;
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}
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if (Prim.LockedAxis.Y != 1f)
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{
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angularLow.Y = 0f;
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angularHigh.Y = 0f;
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}
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if (Prim.LockedAxis.Z != 1f)
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{
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angularLow.Z = 0f;
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angularHigh.Z = 0f;
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}
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axisConstrainer.SetAngularLimits(angularLow, angularHigh);
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PhysicsScene.DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}",
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Prim.LocalID, linearLow, linearHigh, angularLow, angularHigh);
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// Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
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axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
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axisConstrainer.RecomputeConstraintVariables(Prim.RawMass);
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}
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private void RemoveAxisLockConstraint()
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{
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if (LockAxisConstraint != null)
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{
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PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
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LockAxisConstraint = null;
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PhysicsScene.DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", Prim.LocalID);
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}
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}
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}
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}
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@ -0,0 +1,123 @@
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/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyrightD
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Text;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public class BSActorCollection
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{
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private BSScene PhysicsScene { get; set; }
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private Dictionary<string, BSActor> m_actors;
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public BSActorCollection(BSScene physicsScene)
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{
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PhysicsScene = physicsScene;
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m_actors = new Dictionary<string, BSActor>();
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}
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public void Add(string name, BSActor actor)
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{
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m_actors[name] = actor;
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}
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public bool RemoveAndRelease(string name)
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{
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bool ret = false;
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if (m_actors.ContainsKey(name))
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{
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BSActor beingRemoved = m_actors[name];
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beingRemoved.Release();
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m_actors.Remove(name);
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ret = true;
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}
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return ret;
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}
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public void Clear()
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{
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Release();
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m_actors.Clear();
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}
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public bool HasActor(string name)
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{
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return m_actors.ContainsKey(name);
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}
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public void ForEachActor(Action<BSActor> act)
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{
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foreach (KeyValuePair<string, BSActor> kvp in m_actors)
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act(kvp.Value);
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}
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public void Release()
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{
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ForEachActor(a => a.Release());
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}
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public void Refresh()
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{
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ForEachActor(a => a.Refresh());
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}
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public void RemoveBodyDependencies()
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{
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ForEachActor(a => a.RemoveBodyDependencies());
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}
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}
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// =============================================================================
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public abstract class BSActor
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{
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protected BSScene PhysicsScene { get; private set; }
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protected BSPhysObject Prim { get; private set; }
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protected bool Enabled { get; set; }
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public string ActorName { get; private set; }
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public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName)
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{
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PhysicsScene = physicsScene;
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Prim = pObj;
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ActorName = actorName;
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Enabled = true;
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}
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// Return 'true' if activily updating the prim
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public virtual bool isActive
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{
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get { return Enabled; }
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}
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// Turn the actor on an off.
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public virtual void Enable(bool setEnabled)
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{
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Enabled = setEnabled;
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}
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// Release any connections and resources used by the actor.
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public abstract void Release();
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// Called when physical parameters (properties set in Bullet) need to be re-applied.
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public abstract void Refresh();
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// The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
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// Register a prestep action to restore physical requirements before the next simulation step.
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public abstract void RemoveBodyDependencies();
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}
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}
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@ -78,6 +78,9 @@ public abstract class BSPhysObject : PhysicsActor
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Name = name; // PhysicsActor also has the name of the object. Someday consolidate.
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TypeName = typeName;
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// The collection of things that push me around
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PhysicalActors = new BSActorCollection(PhysicsScene);
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// Initialize variables kept in base.
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GravModifier = 1.0f;
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Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
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@ -109,6 +112,10 @@ public abstract class BSPhysObject : PhysicsActor
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{
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UnRegisterAllPreStepActions();
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UnRegisterAllPostStepActions();
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PhysicsScene.TaintedObject("BSPhysObject.Destroy", delegate()
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{
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PhysicalActors.Release();
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});
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}
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public BSScene PhysicsScene { get; protected set; }
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@ -230,6 +237,7 @@ public abstract class BSPhysObject : PhysicsActor
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public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free.
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public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free
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public readonly String LockedAxisActorName = "BSPrim.LockedAxis";
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#region Collisions
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@ -413,6 +421,9 @@ public abstract class BSPhysObject : PhysicsActor
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#endregion // Collisions
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#region Per Simulation Step actions
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public BSActorCollection PhysicalActors;
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// There are some actions that must be performed for a physical object before each simulation step.
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// These actions are optional so, rather than scanning all the physical objects and asking them
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// if they have anything to do, a physical object registers for an event call before the step is performed.
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@ -126,7 +126,7 @@ public class BSPrim : BSPhysObject
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// Undo any vehicle properties
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this.VehicleType = (int)Vehicle.TYPE_NONE;
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PhysicsScene.TaintedObject("BSPrim.destroy", delegate()
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PhysicsScene.TaintedObject("BSPrim.Destroy", delegate()
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{
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DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
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// If there are physical body and shape, release my use of same.
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@ -257,98 +257,31 @@ public class BSPrim : BSPhysObject
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});
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}
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bool TryExperimentalLockAxisCode = false;
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BSConstraint LockAxisConstraint = null;
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public override void LockAngularMotion(OMV.Vector3 axis)
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{
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DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
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// "1" means free, "0" means locked
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OMV.Vector3 locking = new OMV.Vector3(1f, 1f, 1f);
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OMV.Vector3 locking = LockedAxisFree;
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if (axis.X != 1) locking.X = 0f;
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if (axis.Y != 1) locking.Y = 0f;
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if (axis.Z != 1) locking.Z = 0f;
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LockedAxis = locking;
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if (TryExperimentalLockAxisCode && LockedAxis != LockedAxisFree)
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if (LockedAxis != LockedAxisFree)
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{
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// Lock that axis by creating a 6DOF constraint that has one end in the world and
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// the other in the object.
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// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
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// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
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PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate()
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{
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CleanUpLockAxisPhysicals(true /* inTaintTime */);
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BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, PhysBody,
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OMV.Vector3.Zero, OMV.Quaternion.Inverse(RawOrientation),
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true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
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LockAxisConstraint = axisConstrainer;
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PhysicsScene.Constraints.AddConstraint(LockAxisConstraint);
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// The constraint is tied to the world and oriented to the prim.
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// Free to move linearly
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OMV.Vector3 linearLow = OMV.Vector3.Zero;
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OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize;
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axisConstrainer.SetLinearLimits(linearLow, linearHigh);
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// Angular with some axis locked
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float f2PI = (float)Math.PI * 2f;
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OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI);
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OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI);
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if (LockedAxis.X != 1f)
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// If there is not already an axis locker, make one
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if (!PhysicalActors.HasActor(LockedAxisActorName))
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{
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angularLow.X = 0f;
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angularHigh.X = 0f;
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PhysicalActors.Add(LockedAxisActorName, new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName));
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}
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if (LockedAxis.Y != 1f)
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{
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angularLow.Y = 0f;
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angularHigh.Y = 0f;
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}
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if (LockedAxis.Z != 1f)
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{
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angularLow.Z = 0f;
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angularHigh.Z = 0f;
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}
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axisConstrainer.SetAngularLimits(angularLow, angularHigh);
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DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}",
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LocalID, linearLow, linearHigh, angularLow, angularHigh);
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// Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
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axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
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axisConstrainer.RecomputeConstraintVariables(RawMass);
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UpdatePhysicalParameters();
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});
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}
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else
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{
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// Everything seems unlocked
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CleanUpLockAxisPhysicals(false /* inTaintTime */);
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}
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return;
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}
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// Get rid of any constraint built for LockAxis
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// Most often the constraint is removed when the constraint collection is cleaned for this prim.
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private void CleanUpLockAxisPhysicals(bool inTaintTime)
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{
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if (LockAxisConstraint != null)
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{
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PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CleanUpLockAxisPhysicals", delegate()
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{
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if (LockAxisConstraint != null)
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{
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PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
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LockAxisConstraint = null;
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DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", LocalID);
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}
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});
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}
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}
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public override OMV.Vector3 RawPosition
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{
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@ -916,6 +849,7 @@ public class BSPrim : BSPhysObject
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// Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
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VehicleController.Refresh();
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PhysicalActors.Refresh();
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// Arrange for collision events if the simulator wants them
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EnableCollisions(SubscribedEvents());
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@ -1753,6 +1687,7 @@ public class BSPrim : BSPhysObject
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protected virtual void RemoveBodyDependencies()
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{
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VehicleController.RemoveBodyDependencies(this);
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PhysicalActors.RemoveBodyDependencies();
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}
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// The physics engine says that properties have updated. Update same and inform
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