BulletSim: reclass BSPrim into layers so linkset and physical world displacement is implemented as overlay classes rather than if statements scattered about.
Robert Adams
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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 copyright
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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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* The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
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* are Copyright (c) 2009 Linden Research, Inc and are used under their license
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* of Creative Commons Attribution-Share Alike 3.0
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* (http://creativecommons.org/licenses/by-sa/3.0/).
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*/
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using System;
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using System.Collections.Generic;
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using System.Reflection;
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using System.Runtime.InteropServices;
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using OpenMetaverse;
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using OpenSim.Framework;
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using OpenSim.Region.Physics.Manager;
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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 BSPrimDisplaced : BSPrim
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{
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// 'Position' and 'Orientation' is what the simulator thinks the positions of the prim is.
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// Because Bullet needs the zero coordinate to be the center of mass of the linkset,
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// sometimes it is necessary to displace the position the physics engine thinks
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// the position is. PositionDisplacement must be added and removed from the
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// position as the simulator position is stored and fetched from the physics
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// engine. Similar to OrientationDisplacement.
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public virtual OMV.Vector3 PositionDisplacement { get; set; }
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public virtual OMV.Quaternion OrientationDisplacement { get; set; }
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public virtual OMV.Vector3 CenterOfMassLocation { get; set; }
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public virtual OMV.Vector3 GeometricCenterLocation { get; set; }
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public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
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OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
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: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
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{
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CenterOfMassLocation = RawPosition;
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GeometricCenterLocation = RawPosition;
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}
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public override Vector3 ForcePosition
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{
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get
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{
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return base.ForcePosition;
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}
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set
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{
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base.ForcePosition = value;
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CenterOfMassLocation = RawPosition;
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GeometricCenterLocation = RawPosition;
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}
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}
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public override Quaternion ForceOrientation
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{
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get
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{
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return base.ForceOrientation;
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}
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set
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{
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base.ForceOrientation = value;
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}
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}
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// Is this used?
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public override OMV.Vector3 CenterOfMass
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{
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get { return CenterOfMassLocation; }
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}
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// Is this used?
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public override OMV.Vector3 GeometricCenter
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{
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get { return GeometricCenterLocation; }
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}
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public override void UpdateProperties(EntityProperties entprop)
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{
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// Undo any center-of-mass displacement that might have been done.
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if (PositionDisplacement != OMV.Vector3.Zero)
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{
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// Correct for any rotation around the center-of-mass
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// TODO!!!
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entprop.Position -= PositionDisplacement;
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}
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base.UpdateProperties(entprop);
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}
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}
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}
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@ -0,0 +1,179 @@
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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
|
||||
* 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
|
||||
* 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
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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 OpenSim.Framework;
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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 BSPrimLinkable : BSPrimDisplaced
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{
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public BSLinkset Linkset { get; set; }
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public BSLinksetInfo LinksetInfo { get; set; }
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public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
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OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
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: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
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{
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Linkset = BSLinkset.Factory(PhysicsScene, this);
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PhysicsScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate()
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{
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Linkset.Refresh(this);
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});
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}
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public override void Destroy()
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{
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Linkset = Linkset.RemoveMeFromLinkset(this);
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base.Destroy();
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}
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public override BSPhysicsShapeType PreferredPhysicalShape
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{ get { return Linkset.PreferredPhysicalShape(this); } }
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public override void link(Manager.PhysicsActor obj)
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{
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BSPrimLinkable parent = obj as BSPrimLinkable;
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if (parent != null)
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{
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BSPhysObject parentBefore = Linkset.LinksetRoot;
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int childrenBefore = Linkset.NumberOfChildren;
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Linkset = parent.Linkset.AddMeToLinkset(this);
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DetailLog("{0},BSPrimLinkset.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
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LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
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}
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return;
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}
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public override void delink()
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{
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// TODO: decide if this parent checking needs to happen at taint time
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// Race condition here: if link() and delink() in same simulation tick, the delink will not happen
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BSPhysObject parentBefore = Linkset.LinksetRoot;
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int childrenBefore = Linkset.NumberOfChildren;
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Linkset = Linkset.RemoveMeFromLinkset(this);
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DetailLog("{0},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
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LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
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return;
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base.delink();
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}
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// When simulator changes position, this might be moving a child of the linkset.
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public override OMV.Vector3 Position
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{
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get { return base.Position; }
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set
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{
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base.Position = value;
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PhysicsScene.TaintedObject("BSPrimLinkset.setPosition", delegate()
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{
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Linkset.UpdateProperties(UpdatedProperties.Position, this);
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});
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}
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}
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// When simulator changes orientation, this might be moving a child of the linkset.
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public override OMV.Quaternion Orientation
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{
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get { return base.Orientation; }
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set
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{
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base.Orientation = value;
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PhysicsScene.TaintedObject("BSPrimLinkset.setOrientation", delegate()
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{
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Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
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});
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}
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}
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public override float TotalMass
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{
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get { return Linkset.LinksetMass; }
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}
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public override void UpdatePhysicalParameters()
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{
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base.UpdatePhysicalParameters();
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// Recompute any linkset parameters.
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// When going from non-physical to physical, this re-enables the constraints that
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// had been automatically disabled when the mass was set to zero.
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// For compound based linksets, this enables and disables interactions of the children.
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Linkset.Refresh(this);
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}
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protected override void MakeDynamic(bool makeStatic)
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{
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base.MakeDynamic(makeStatic);
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if (makeStatic)
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Linkset.MakeStatic(this);
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else
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Linkset.MakeDynamic(this);
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}
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// Body is being taken apart. Remove physical dependencies and schedule a rebuild.
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protected override void RemoveBodyDependencies()
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{
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Linkset.RemoveBodyDependencies(this);
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base.RemoveBodyDependencies();
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}
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public override void UpdateProperties(EntityProperties entprop)
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{
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if (Linkset.IsRoot(this))
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{
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// Properties are only updated for the roots of a linkset.
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// TODO: this will have to change when linksets are articulated.
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base.UpdateProperties(entprop);
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}
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Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
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}
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public override bool Collide(uint collidingWith, BSPhysObject collidee,
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OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
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{
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// prims in the same linkset cannot collide with each other
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BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
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if (convCollidee != null && (this.Linkset.LinksetID == convCollidee.Linkset.LinksetID))
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{
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return false;
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}
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return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
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}
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}
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}
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