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BulletSim: impliment FloatOnWater OS function.

connector_plugin
Robert Adams 2012-10-01 11:54:35 -07:00
parent c1740a2903
commit 33617e09a1
3 changed files with 104 additions and 22 deletions
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41
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
View File

@ -234,6 +234,15 @@ public class BSCharacter : BSPhysObject
_position.Z = terrainHeight + 2.0f;
ret = true;
}
if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) == 0)
{
float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
if (Position.Z < waterHeight)
{
_position.Z = waterHeight;
ret = true;
}
}
// TODO: check for out of bounds
return ret;
@ -242,18 +251,22 @@ public class BSCharacter : BSPhysObject
// A version of the sanity check that also makes sure a new position value is
// pushed back to the physics engine. This routine would be used by anyone
// who is not already pushing the value.
private bool PositionSanityCheck2()
private bool PositionSanityCheck2(bool atTaintTime)
{
bool ret = false;
if (PositionSanityCheck())
{
// The new position value must be pushed into the physics engine but we can't
// just assign to "Position" because of potential call loops.
PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", delegate()
BSScene.TaintCallback sanityOperation = delegate()
{
DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
});
};
if (atTaintTime)
sanityOperation();
else
PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", sanityOperation);
ret = true;
}
return ret;
@ -378,7 +391,16 @@ public class BSCharacter : BSPhysObject
set { _collidingObj = value; }
}
public override bool FloatOnWater {
set { _floatOnWater = value; }
set {
_floatOnWater = value;
PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
{
if (_floatOnWater)
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
else
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
});
}
}
public override OMV.Vector3 RotationalVelocity {
get { return _rotationalVelocity; }
@ -493,15 +515,14 @@ public class BSCharacter : BSPhysObject
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
PositionSanityCheck2(true);
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
PositionSanityCheck2();
float heightHere = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); // only for debug
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity, heightHere);
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
}
}
}

77
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -267,6 +267,7 @@ public sealed class BSPrim : BSPhysObject
set {
_position = value;
// TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
PositionSanityCheck();
PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
{
// DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
@ -275,6 +276,63 @@ public sealed class BSPrim : BSPhysObject
}
}
// Check that the current position is sane and, if not, modify the position to make it so.
// Check for being below terrain and being out of bounds.
// Returns 'true' of the position was made sane by some action.
private bool PositionSanityCheck()
{
bool ret = false;
// If totally below the ground, move the prim up
// TODO: figure out the right solution for this... only for dynamic objects?
/*
float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
if (Position.Z < terrainHeight)
{
DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
_position.Z = terrainHeight + 2.0f;
ret = true;
}
*/
if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
{
float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
if (Position.Z < waterHeight)
{
_position.Z = waterHeight;
ret = true;
}
}
// TODO: check for out of bounds
return ret;
}
// A version of the sanity check that also makes sure a new position value is
// pushed back to the physics engine. This routine would be used by anyone
// who is not already pushing the value.
private bool PositionSanityCheck2(bool atTaintTime)
{
bool ret = false;
if (PositionSanityCheck())
{
// The new position value must be pushed into the physics engine but we can't
// just assign to "Position" because of potential call loops.
BSScene.TaintCallback sanityOperation = delegate()
{
DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
};
if (atTaintTime)
sanityOperation();
else
PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation);
ret = true;
}
return ret;
}
// Return the effective mass of the object.
// If there are multiple items in the linkset, add them together for the root
public override float Mass
@ -481,11 +539,10 @@ public sealed class BSPrim : BSPhysObject
// This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
// Set up the object physicalness (does gravity and collisions move this object)
MakeDynamic(IsStatic);
// Do any vehicle stuff
// Update vehicle specific parameters
_vehicle.Refresh();
// Arrange for collision events if the simulator wants them
@ -556,7 +613,6 @@ public sealed class BSPrim : BSPhysObject
// A dynamic object has mass
IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass);
// OMV.Vector3 inertia = OMV.Vector3.Zero;
BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
@ -566,7 +622,7 @@ public sealed class BSPrim : BSPhysObject
BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
// There can be special things needed for implementing linksets.
// There might be special things needed for implementing linksets.
Linkset.MakeDynamic(this);
// Force activation of the object so Bullet will act on it.
@ -656,7 +712,16 @@ public sealed class BSPrim : BSPhysObject
}
}
public override bool FloatOnWater {
set { _floatOnWater = value; }
set {
_floatOnWater = value;
PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
{
if (_floatOnWater)
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
else
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
});
}
}
public override OMV.Vector3 RotationalVelocity {
get {
@ -1198,6 +1263,8 @@ public sealed class BSPrim : BSPhysObject
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
PositionSanityCheck2(true);
DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);

8
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
View File

@ -344,10 +344,7 @@ public enum CollisionFlags : uint
CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
// Following used by BulletSim to control collisions
BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
// BS_VOLUME_DETECT_OBJECT = 1 << 11,
// BS_PHANTOM_OBJECT = 1 << 12,
// BS_PHYSICAL_OBJECT = 1 << 13,
// BS_TERRAIN_OBJECT = 1 << 14,
BS_FLOATS_ON_WATER = 1 << 11,
BS_NONE = 0,
BS_ALL = 0xFFFFFFFF,
@ -356,9 +353,6 @@ public enum CollisionFlags : uint
BS_ACTIVE = CF_STATIC_OBJECT
| CF_KINEMATIC_OBJECT
| CF_NO_CONTACT_RESPONSE
// | BS_VOLUME_DETECT_OBJECT
// | BS_PHANTOM_OBJECT
// | BS_PHYSICAL_OBJECT,
};
// Values for collisions groups and masks