BulletSim: Add physical 'actors' that operate on the physical object.

Add first 'actor' for locked axis.

OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs

@@ -0,0 +1,168 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+
+using OMV = OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSActorLockAxis : BSActor
+{
+    bool TryExperimentalLockAxisCode = false;
+    BSConstraint LockAxisConstraint = null;
+
+    public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
+        : base(physicsScene, pObj,actorName)
+    {
+        LockAxisConstraint = null;
+    }
+
+    // BSActor.isActive
+    public override bool isActive
+    {
+        get { return Enabled && Prim.IsPhysicallyActive; }
+    }
+
+    // Release any connections and resources used by the actor.
+    // BSActor.Release()
+    public override void Release()
+    {
+        RemoveAxisLockConstraint();
+    }
+
+    // Called when physical parameters (properties set in Bullet) need to be re-applied.
+    // Called at taint-time.
+    // BSActor.Refresh()
+    public override void Refresh()
+    {
+        // If all the axis are free, we don't need to exist
+        if (Prim.LockedAxis == Prim.LockedAxisFree)
+        {
+            Prim.PhysicalActors.RemoveAndRelease(ActorName);
+            return;
+        }
+        // If the object is physically active, add the axis locking constraint
+        if (Enabled
+                && Prim.IsPhysicallyActive
+                && TryExperimentalLockAxisCode
+                && Prim.LockedAxis != Prim.LockedAxisFree)
+        {
+            if (LockAxisConstraint != null)
+                AddAxisLockConstraint();
+        }
+        else
+        {
+            RemoveAxisLockConstraint();
+        }
+    }
+
+    // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
+    //     Register a prestep action to restore physical requirements before the next simulation step.
+    // Called at taint-time.
+    // BSActor.RemoveBodyDependencies()
+    public override void RemoveBodyDependencies()
+    {
+        if (LockAxisConstraint != null)
+        {
+            // If a constraint is set up, remove it from the physical scene
+            RemoveAxisLockConstraint();
+            // Schedule a call before the next simulation step to restore the constraint.
+            PhysicsScene.PostTaintObject(Prim.LockedAxisActorName, Prim.LocalID, delegate()
+            {
+                Refresh();
+            });
+        }
+    }
+
+    private void AddAxisLockConstraint()
+    {
+        // Lock that axis by creating a 6DOF constraint that has one end in the world and
+        //    the other in the object.
+        // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
+        // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
+
+        // Remove any existing axis constraint (just to be sure)
+        RemoveAxisLockConstraint();
+
+        BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, Prim.PhysBody, 
+                            OMV.Vector3.Zero, OMV.Quaternion.Inverse(Prim.RawOrientation),
+                            true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
+        LockAxisConstraint = axisConstrainer;
+        PhysicsScene.Constraints.AddConstraint(LockAxisConstraint);
+
+        // The constraint is tied to the world and oriented to the prim.
+
+        // Free to move linearly
+        OMV.Vector3 linearLow = OMV.Vector3.Zero;
+        OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize;
+        axisConstrainer.SetLinearLimits(linearLow, linearHigh);
+
+        // Angular with some axis locked
+        float f2PI = (float)Math.PI * 2f;
+        OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI);
+        OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI);
+        if (Prim.LockedAxis.X != 1f)
+        {
+            angularLow.X = 0f;
+            angularHigh.X = 0f;
+        }
+        if (Prim.LockedAxis.Y != 1f)
+        {
+            angularLow.Y = 0f;
+            angularHigh.Y = 0f;
+        }
+        if (Prim.LockedAxis.Z != 1f)
+        {
+            angularLow.Z = 0f;
+            angularHigh.Z = 0f;
+        }
+        axisConstrainer.SetAngularLimits(angularLow, angularHigh);
+
+        PhysicsScene.DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}",
+                                    Prim.LocalID, linearLow, linearHigh, angularLow, angularHigh);
+
+        // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
+        axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
+
+        axisConstrainer.RecomputeConstraintVariables(Prim.RawMass);
+    }
+
+    private void RemoveAxisLockConstraint()
+    {
+        if (LockAxisConstraint != null)
+        {
+            PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
+            LockAxisConstraint = null;
+            PhysicsScene.DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", Prim.LocalID);
+        }
+    }
+}
+}

OpenSim/Region/Physics/BulletSPlugin/BSActors.cs

@@ -0,0 +1,123 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyrightD
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ */
+using System;
+using System.Collections.Generic;
+using System.Text;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public class BSActorCollection
+{
+    private BSScene PhysicsScene { get; set; }
+    private Dictionary<string, BSActor> m_actors;
+
+    public BSActorCollection(BSScene physicsScene)
+    {
+        PhysicsScene = physicsScene;
+        m_actors = new Dictionary<string, BSActor>();
+    }
+    public void Add(string name, BSActor actor)
+    {
+        m_actors[name] = actor;
+    }
+    public bool RemoveAndRelease(string name)
+    {
+        bool ret = false;
+        if (m_actors.ContainsKey(name))
+        {
+            BSActor beingRemoved = m_actors[name];
+            beingRemoved.Release();
+            m_actors.Remove(name);
+            ret = true;
+        }
+        return ret;
+    }
+    public void Clear()
+    {
+        Release();
+        m_actors.Clear();
+    }
+    public bool HasActor(string name)
+    {
+        return m_actors.ContainsKey(name);
+    }
+    public void ForEachActor(Action<BSActor> act)
+    {
+        foreach (KeyValuePair<string, BSActor> kvp in m_actors)
+            act(kvp.Value);
+    }
+
+    public void Release()
+    {
+        ForEachActor(a => a.Release());
+    }
+    public void Refresh()
+    {
+        ForEachActor(a => a.Refresh());
+    }
+    public void RemoveBodyDependencies()
+    {
+        ForEachActor(a => a.RemoveBodyDependencies());
+    }
+}
+
+// =============================================================================
+public abstract class BSActor
+{
+    protected BSScene PhysicsScene { get; private set; }
+    protected BSPhysObject Prim { get; private set; }
+    protected bool Enabled { get; set; }
+    public string ActorName { get; private set; }
+
+    public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName)
+    {
+        PhysicsScene = physicsScene;
+        Prim = pObj;
+        ActorName = actorName;
+        Enabled = true;
+    }
+
+    // Return 'true' if activily updating the prim
+    public virtual bool isActive
+    {
+        get { return Enabled; }
+    }
+    // Turn the actor on an off.
+    public virtual void Enable(bool setEnabled)
+    {
+        Enabled = setEnabled;
+    }
+    // Release any connections and resources used by the actor.
+    public abstract void Release();
+    // Called when physical parameters (properties set in Bullet) need to be re-applied.
+    public abstract void Refresh();
+    // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...).
+    //     Register a prestep action to restore physical requirements before the next simulation step.
+    public abstract void RemoveBodyDependencies();
+
+}
+}

OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs

@@ -78,6 +78,9 @@ public abstract class BSPhysObject : PhysicsActor
         Name = name;    // PhysicsActor also has the name of the object. Someday consolidate.
         TypeName = typeName;
 
+        // The collection of things that push me around
+        PhysicalActors = new BSActorCollection(PhysicsScene);
+
         // Initialize variables kept in base.
         GravModifier = 1.0f;
         Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
@@ -109,6 +112,10 @@ public abstract class BSPhysObject : PhysicsActor
     {
         UnRegisterAllPreStepActions();
         UnRegisterAllPostStepActions();
+        PhysicsScene.TaintedObject("BSPhysObject.Destroy", delegate()
+        {
+            PhysicalActors.Release();
+        });
     }
 
     public BSScene PhysicsScene { get; protected set; }
@@ -230,6 +237,7 @@ public abstract class BSPhysObject : PhysicsActor
 
     public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free.
     public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f);  // All axis are free
+    public readonly String LockedAxisActorName = "BSPrim.LockedAxis";
 
     #region Collisions
 
@@ -413,6 +421,9 @@ public abstract class BSPhysObject : PhysicsActor
     #endregion // Collisions
 
     #region Per Simulation Step actions
+
+    public BSActorCollection PhysicalActors;
+
     // There are some actions that must be performed for a physical object before each simulation step.
     // These actions are optional so, rather than scanning all the physical objects and asking them
     //     if they have anything to do, a physical object registers for an event call before the step is performed.

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -126,7 +126,7 @@ public class BSPrim : BSPhysObject
         // Undo any vehicle properties
         this.VehicleType = (int)Vehicle.TYPE_NONE;
 
-        PhysicsScene.TaintedObject("BSPrim.destroy", delegate()
+        PhysicsScene.TaintedObject("BSPrim.Destroy", delegate()
         {
             DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
             // If there are physical body and shape, release my use of same.
@@ -257,98 +257,31 @@ public class BSPrim : BSPhysObject
         });
     }
 
-    bool TryExperimentalLockAxisCode = false;
-    BSConstraint LockAxisConstraint = null;
     public override void LockAngularMotion(OMV.Vector3 axis)
     {
         DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
 
         // "1" means free, "0" means locked
-        OMV.Vector3 locking = new OMV.Vector3(1f, 1f, 1f);
+        OMV.Vector3 locking = LockedAxisFree;
         if (axis.X != 1) locking.X = 0f;
         if (axis.Y != 1) locking.Y = 0f;
         if (axis.Z != 1) locking.Z = 0f;
         LockedAxis = locking;
 
-        if (TryExperimentalLockAxisCode && LockedAxis != LockedAxisFree)
+        if (LockedAxis != LockedAxisFree)
         {
-            // Lock that axis by creating a 6DOF constraint that has one end in the world and
-            //    the other in the object.
-            // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
-            // http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
-
             PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate()
             {
-                CleanUpLockAxisPhysicals(true /* inTaintTime */);
+                // If there is not already an axis locker, make one
-
+                if (!PhysicalActors.HasActor(LockedAxisActorName))
-                BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, PhysBody, 
-                                    OMV.Vector3.Zero, OMV.Quaternion.Inverse(RawOrientation),
-                                    true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
-                LockAxisConstraint = axisConstrainer;
-                PhysicsScene.Constraints.AddConstraint(LockAxisConstraint);
-
-                // The constraint is tied to the world and oriented to the prim.
-
-                // Free to move linearly
-                OMV.Vector3 linearLow = OMV.Vector3.Zero;
-                OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize;
-                axisConstrainer.SetLinearLimits(linearLow, linearHigh);
-
-                // Angular with some axis locked
-                float f2PI = (float)Math.PI * 2f;
-                OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI);
-                OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI);
-                if (LockedAxis.X != 1f)
                 {
-                    angularLow.X = 0f;
+                    PhysicalActors.Add(LockedAxisActorName, new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName));
-                    angularHigh.X = 0f;
                 }
-                if (LockedAxis.Y != 1f)
+                UpdatePhysicalParameters();
-                {
-                    angularLow.Y = 0f;
-                    angularHigh.Y = 0f;
-                }
-                if (LockedAxis.Z != 1f)
-                {
-                    angularLow.Z = 0f;
-                    angularHigh.Z = 0f;
-                }
-                axisConstrainer.SetAngularLimits(angularLow, angularHigh);
-
-                DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}",
-                                            LocalID, linearLow, linearHigh, angularLow, angularHigh);
-
-                // Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
-                axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
-
-                axisConstrainer.RecomputeConstraintVariables(RawMass);
             });
         }
-        else
-        {
-            // Everything seems unlocked
-            CleanUpLockAxisPhysicals(false /* inTaintTime */);
-        }
-
         return;
     }
-    // Get rid of any constraint built for LockAxis
-    // Most often the constraint is removed when the constraint collection is cleaned for this prim.
-    private void CleanUpLockAxisPhysicals(bool inTaintTime)
-    {
-        if (LockAxisConstraint != null)
-        {
-            PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CleanUpLockAxisPhysicals", delegate()
-            {
-                if (LockAxisConstraint != null)
-                {
-                    PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
-                    LockAxisConstraint = null;
-                    DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", LocalID);
-                }
-            });
-        }
-    }
 
     public override OMV.Vector3 RawPosition
     {
@@ -916,6 +849,7 @@ public class BSPrim : BSPhysObject
 
         // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
         VehicleController.Refresh();
+        PhysicalActors.Refresh();
 
         // Arrange for collision events if the simulator wants them
         EnableCollisions(SubscribedEvents());
@@ -1753,6 +1687,7 @@ public class BSPrim : BSPhysObject
     protected virtual void RemoveBodyDependencies()
     {
         VehicleController.RemoveBodyDependencies(this);
+        PhysicalActors.RemoveBodyDependencies();
     }
 
     // The physics engine says that properties have updated. Update same and inform