From 364a7c308804a3e331199ca60c6dfafa406b5d0d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 31 Oct 2012 14:49:28 -0700 Subject: [PATCH] BulletSim: rename BSBody and BSShape to PhysBody and PhysShape. Add skeleton of BSLinksetCompound. --- .../Physics/BulletSPlugin/BSCharacter.cs | 78 ++++---- .../Physics/BulletSPlugin/BSDynamics.cs | 4 +- .../Region/Physics/BulletSPlugin/BSLinkset.cs | 7 - .../BulletSPlugin/BSLinksetCompound.cs | 173 ++++++++++++++++++ .../BulletSPlugin/BSLinksetConstraints.cs | 40 ++-- .../Physics/BulletSPlugin/BSPhysObject.cs | 8 +- .../Region/Physics/BulletSPlugin/BSPrim.cs | 128 ++++++------- .../Region/Physics/BulletSPlugin/BSScene.cs | 20 +- .../BulletSPlugin/BSShapeCollection.cs | 46 ++--- 9 files changed, 328 insertions(+), 176 deletions(-) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index b9013abaf3..8c7061d4d8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -131,45 +131,45 @@ public sealed class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.Destroy", LocalID); PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() { - PhysicsScene.Shapes.DereferenceBody(BSBody, true, null); - PhysicsScene.Shapes.DereferenceShape(BSShape, true, null); + PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); + PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); }); } private void SetPhysicalProperties() { - BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr); + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); ZeroMotion(); ForcePosition = _position; // Set the velocity and compute the proper friction ForceVelocity = _velocity; - BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution); - BulletSimAPI.SetMargin2(BSShape.ptr, PhysicsScene.Params.collisionMargin); - BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale); - BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); + BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.avatarRestitution); + BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin); + BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); + BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold); if (PhysicsScene.Params.ccdMotionThreshold > 0f) { - BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); + BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold); + BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); } UpdatePhysicalMassProperties(MassRaw); // Make so capsule does not fall over - BulletSimAPI.SetAngularFactorV2(BSBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); + BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr); + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); - BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_DEACTIVATION); - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr); + BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION); + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); // Do this after the object has been added to the world - BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, + BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, (uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask); } @@ -199,7 +199,7 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { - BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale); + BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); UpdatePhysicalMassProperties(MassRaw); }); @@ -234,10 +234,10 @@ public sealed class BSCharacter : BSPhysObject _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties directly into the physics engine - BulletSimAPI.SetLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); - BulletSimAPI.ClearForces2(BSBody.ptr); + BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.SetInterpolationVelocity2(PhysBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero); + BulletSimAPI.ClearForces2(PhysBody.ptr); } public override void LockAngularMotion(OMV.Vector3 axis) { return; } @@ -254,19 +254,19 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() { DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); }); } } public override OMV.Vector3 ForcePosition { get { - _position = BulletSimAPI.GetPosition2(BSBody.ptr); + _position = BulletSimAPI.GetPosition2(PhysBody.ptr); return _position; } set { _position = value; PositionSanityCheck(); - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); } } @@ -313,7 +313,7 @@ public sealed class BSCharacter : BSPhysObject BSScene.TaintCallback sanityOperation = delegate() { DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); }; if (inTaintTime) sanityOperation(); @@ -332,8 +332,8 @@ public sealed class BSCharacter : BSPhysObject } public override void UpdatePhysicalMassProperties(float physMass) { - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass); - BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia); + OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); + BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia); } public override OMV.Vector3 Force { @@ -344,7 +344,7 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate() { DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); - BulletSimAPI.SetObjectForce2(BSBody.ptr, _force); + BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); }); } } @@ -383,7 +383,7 @@ public sealed class BSCharacter : BSPhysObject if (_currentFriction != PhysicsScene.Params.avatarStandingFriction) { _currentFriction = PhysicsScene.Params.avatarStandingFriction; - BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction); + BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); } } else @@ -391,15 +391,15 @@ public sealed class BSCharacter : BSPhysObject if (_currentFriction != PhysicsScene.Params.avatarFriction) { _currentFriction = PhysicsScene.Params.avatarFriction; - BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction); + BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); } } _velocity = value; // Remember the set velocity so we can suppress the reduction by friction, ... _appliedVelocity = value; - BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity); - BulletSimAPI.Activate2(BSBody.ptr, true); + BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); + BulletSimAPI.Activate2(PhysBody.ptr, true); } } public override OMV.Vector3 Torque { @@ -424,7 +424,7 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() { // _position = BulletSimAPI.GetPosition2(BSBody.ptr); - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); }); } } @@ -433,13 +433,13 @@ public sealed class BSCharacter : BSPhysObject { get { - _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr); + _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); return _orientation; } set { _orientation = value; - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); } } public override int PhysicsActorType { @@ -498,9 +498,9 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() { if (_floatOnWater) - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); else - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); }); } } @@ -533,7 +533,7 @@ public sealed class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); // Buoyancy is faked by changing the gravity applied to the object float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); - BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav)); + BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); } } @@ -579,7 +579,7 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate() { DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); - BulletSimAPI.SetObjectForce2(BSBody.ptr, _force); + BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); }); } else @@ -647,7 +647,7 @@ public sealed class BSCharacter : BSPhysObject // That's just the way they are defined. OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z); _velocity = avVel; - BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel); + BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel); } // Tell the linkset about value changes diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 5c61774d3d..38609e36e6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -514,8 +514,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (IsActive) { // Friction effects are handled by this vehicle code - BulletSimAPI.SetFriction2(Prim.BSBody.ptr, 0f); - BulletSimAPI.SetHitFraction2(Prim.BSBody.ptr, 0f); + BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, 0f); + BulletSimAPI.SetHitFraction2(Prim.PhysBody.ptr, 0f); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 6d84fcc790..525ec28efb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -194,13 +194,6 @@ public abstract class BSLinkset // Called while LinkActivity is locked. protected abstract void AddChildToLinkset(BSPhysObject child); - // Forcefully removing a child from a linkset. - // This is not being called by the child so we have to make sure the child doesn't think - // it's still connected to the linkset. - // Normal OpenSimulator operation will never do this because other SceneObjectPart information - // also has to be updated (like pointer to prim's parent). - protected abstract void RemoveChildFromOtherLinkset(BSPhysObject pchild); - // I am the root of a linkset and one of my children is being removed. // Safe to call even if the child is not really in my linkset. protected abstract void RemoveChildFromLinkset(BSPhysObject child); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs new file mode 100755 index 0000000000..1c569b5c55 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -0,0 +1,173 @@ +/* + * 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; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public sealed class BSLinksetCompound : BSLinkset +{ + // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; + + public BSLinksetCompound(BSScene scene, BSPhysObject parent) + { + base.Initialize(scene, parent); + } + + // When physical properties are changed the linkset needs to recalculate + // its internal properties. + // This is queued in the 'post taint' queue so the + // refresh will happen once after all the other taints are applied. + public override void Refresh(BSPhysObject requestor) + { + // Queue to happen after all the other taint processing + PhysicsScene.PostTaintObject("BSLinksetcompound.Refresh", requestor.LocalID, delegate() + { + if (HasAnyChildren && IsRoot(requestor)) + RecomputeLinksetCompound(); + }); + } + + // The object is going dynamic (physical). Do any setup necessary + // for a dynamic linkset. + // Only the state of the passed object can be modified. The rest of the linkset + // has not yet been fully constructed. + // Return 'true' if any properties updated on the passed object. + // Called at taint-time! + public override bool MakeDynamic(BSPhysObject child) + { + // What is done for each object in BSPrim is what we want. + return false; + } + + // The object is going static (non-physical). Do any setup necessary for a static linkset. + // Return 'true' if any properties updated on the passed object. + // This doesn't normally happen -- OpenSim removes the objects from the physical + // world if it is a static linkset. + // Called at taint-time! + public override bool MakeStatic(BSPhysObject child) + { + // What is done for each object in BSPrim is what we want. + return false; + } + + // Called at taint-time!! + public override void UpdateProperties(BSPhysObject updated) + { + // Nothing to do for constraints on property updates + } + + // Routine called when rebuilding the body of some member of the linkset. + // Destroy all the constraints have have been made to root and set + // up to rebuild the constraints before the next simulation step. + // Returns 'true' of something was actually removed and would need restoring + // Called at taint-time!! + public override bool RemoveBodyDependencies(BSPrim child) + { + bool ret = false; + + DetailLog("{0},BSLinksetcompound.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", + child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X")); + + // Cause the current shape to be freed and the new one to be built. + Refresh(LinksetRoot); + + return ret; + } + + // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', + // this routine will restore the removed constraints. + // Called at taint-time!! + public override void RestoreBodyDependencies(BSPrim child) + { + // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints. + } + + // ================================================================ + + // Add a new child to the linkset. + // Called while LinkActivity is locked. + protected override void AddChildToLinkset(BSPhysObject child) + { + if (!HasChild(child)) + { + m_children.Add(child); + + DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); + + // Cause constraints and assorted properties to be recomputed before the next simulation step. + Refresh(LinksetRoot); + } + return; + } + + // Remove the specified child from the linkset. + // Safe to call even if the child is not really in my linkset. + protected override void RemoveChildFromLinkset(BSPhysObject child) + { + if (m_children.Remove(child)) + { + DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", + child.LocalID, + LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), + child.LocalID, child.PhysBody.ptr.ToString("X")); + + // See that the linkset parameters are recomputed at the end of the taint time. + Refresh(LinksetRoot); + } + else + { + // Non-fatal occurance. + // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader); + } + return; + } + + + // Call each of the constraints that make up this linkset and recompute the + // various transforms and variables. Create constraints of not created yet. + // Called before the simulation step to make sure the constraint based linkset + // is all initialized. + // Called at taint time!! + private void RecomputeLinksetCompound() + { + float linksetMass = LinksetMass; + LinksetRoot.UpdatePhysicalMassProperties(linksetMass); + + // DEBUG: see of inter-linkset collisions are causing problems + // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, + // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,set,rBody={1},linksetMass={2}", + LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass); + + + } +} +} \ No newline at end of file diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 8cdbd9b7b3..65aed7713b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -94,7 +94,7 @@ public sealed class BSLinksetConstraints : BSLinkset bool ret = false; DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", - child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X")); + child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X")); lock (m_linksetActivityLock) { @@ -124,9 +124,6 @@ public sealed class BSLinksetConstraints : BSLinkset { m_children.Add(child); - BSPhysObject rootx = LinksetRoot; // capture the root as of now - BSPhysObject childx = child; - DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); // Cause constraints and assorted properties to be recomputed before the next simulation step. @@ -135,17 +132,6 @@ public sealed class BSLinksetConstraints : BSLinkset return; } - // Forcefully removing a child from a linkset. - // This is not being called by the child so we have to make sure the child doesn't think - // it's still connected to the linkset. - // Normal OpenSimulator operation will never do this because other SceneObjectPart information - // also has to be updated (like pointer to prim's parent). - protected override void RemoveChildFromOtherLinkset(BSPhysObject pchild) - { - pchild.Linkset = BSLinkset.Factory(PhysicsScene, pchild); - RemoveChildFromLinkset(pchild); - } - // Remove the specified child from the linkset. // Safe to call even if the child is not really in my linkset. protected override void RemoveChildFromLinkset(BSPhysObject child) @@ -157,8 +143,8 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", childx.LocalID, - rootx.LocalID, rootx.BSBody.ptr.ToString("X"), - childx.LocalID, childx.BSBody.ptr.ToString("X")); + rootx.LocalID, rootx.PhysBody.ptr.ToString("X"), + childx.LocalID, childx.PhysBody.ptr.ToString("X")); PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate() { @@ -197,15 +183,15 @@ public sealed class BSLinksetConstraints : BSLinkset DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}", rootPrim.LocalID, - rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), - childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"), + rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"), + childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X"), rootPrim.Position, childPrim.Position, midPoint); // create a constraint that allows no freedom of movement between the two objects // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 BSConstraint6Dof constrain = new BSConstraint6Dof( - PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true ); + PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true ); // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true ); /* NOTE: below is an attempt to build constraint with full frame computation, etc. @@ -262,14 +248,14 @@ public sealed class BSLinksetConstraints : BSLinkset bool ret = false; DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}", rootPrim.LocalID, - rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"), - childPrim.LocalID, childPrim.BSBody.ptr.ToString("X")); + rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString("X"), + childPrim.LocalID, childPrim.PhysBody.ptr.ToString("X")); // Find the constraint for this link and get rid of it from the overall collection and from my list - if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody)) + if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) { // Make the child refresh its location - BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr); + BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr); ret = true; } @@ -283,7 +269,7 @@ public sealed class BSLinksetConstraints : BSLinkset { DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); - return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody); + return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody); } // Call each of the constraints that make up this linkset and recompute the @@ -300,7 +286,7 @@ public sealed class BSLinksetConstraints : BSLinkset // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}", - LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), linksetMass); + LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), linksetMass); foreach (BSPhysObject child in m_children) { @@ -310,7 +296,7 @@ public sealed class BSLinksetConstraints : BSLinkset child.UpdatePhysicalMassProperties(linksetMass); BSConstraint constrain; - if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain)) + if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) { // If constraint doesn't exist yet, create it. constrain = BuildConstraint(LinksetRoot, child); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index be8d64b716..6220b2123d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -68,9 +68,9 @@ public abstract class BSPhysObject : PhysicsActor public abstract void UpdatePhysicalMassProperties(float mass); // Reference to the physical body (btCollisionObject) of this object - public BulletBody BSBody; + public BulletBody PhysBody; // Reference to the physical shape (btCollisionShape) of this object - public BulletShape BSShape; + public BulletShape PhysShape; // 'true' if the mesh's underlying asset failed to build. // This will keep us from looping after the first time the build failed. @@ -206,7 +206,7 @@ public abstract class BSPhysObject : PhysicsActor PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate() { - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } else @@ -220,7 +220,7 @@ public abstract class BSPhysObject : PhysicsActor SubscribedEventsMs = 0; PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() { - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } // Return 'true' if the simulator wants collision events diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 9ced61fae9..8dd48cadd6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -111,8 +111,8 @@ public sealed class BSPrim : BSPhysObject _mass = CalculateMass(); // No body or shape yet - BSBody = new BulletBody(LocalID, IntPtr.Zero); - BSShape = new BulletShape(IntPtr.Zero); + PhysBody = new BulletBody(LocalID, IntPtr.Zero); + PhysShape = new BulletShape(IntPtr.Zero); DetailLog("{0},BSPrim.constructor,call", LocalID); // do the actual object creation at taint time @@ -120,7 +120,7 @@ public sealed class BSPrim : BSPhysObject { CreateGeomAndObject(true); - CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.ptr); + CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr); }); } @@ -145,8 +145,8 @@ public sealed class BSPrim : BSPhysObject { DetailLog("{0},BSPrim.Destroy,taint,", LocalID); // If there are physical body and shape, release my use of same. - PhysicsScene.Shapes.DereferenceBody(BSBody, true, null); - PhysicsScene.Shapes.DereferenceShape(BSShape, true, null); + PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); + PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); }); } @@ -243,7 +243,7 @@ public sealed class BSPrim : BSPhysObject _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties in the physics engine - BulletSimAPI.ClearAllForces2(BSBody.ptr); + BulletSimAPI.ClearAllForces2(PhysBody.ptr); } public override void LockAngularMotion(OMV.Vector3 axis) @@ -256,7 +256,7 @@ public sealed class BSPrim : BSPhysObject get { if (!Linkset.IsRoot(this)) // child prims move around based on their parent. Need to get the latest location - _position = BulletSimAPI.GetPosition2(BSBody.ptr); + _position = BulletSimAPI.GetPosition2(PhysBody.ptr); // don't do the GetObjectPosition for root elements because this function is called a zillion times // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); @@ -274,20 +274,20 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() { // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); ActivateIfPhysical(false); }); } } public override OMV.Vector3 ForcePosition { get { - _position = BulletSimAPI.GetPosition2(BSBody.ptr); + _position = BulletSimAPI.GetPosition2(PhysBody.ptr); return _position; } set { _position = value; PositionSanityCheck(); - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); ActivateIfPhysical(false); } } @@ -371,15 +371,15 @@ public sealed class BSPrim : BSPhysObject { if (IsStatic) { - BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero); - BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); + BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, OMV.Vector3.Zero); + BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); } else { - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass); - BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia); + OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); + BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia); // center of mass is at the zero of the object - BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation); + BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); // BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, localInertia); } @@ -404,7 +404,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setForce", delegate() { // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); - BulletSimAPI.SetObjectForce2(BSBody.ptr, _force); + BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); }); } } @@ -498,7 +498,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() { // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); - BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity); + BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); }); } } @@ -506,7 +506,7 @@ public sealed class BSPrim : BSPhysObject get { return _velocity; } set { _velocity = value; - BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity); + BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); } } public override OMV.Vector3 Torque { @@ -531,7 +531,7 @@ public sealed class BSPrim : BSPhysObject if (!Linkset.IsRoot(this)) { // Children move around because tied to parent. Get a fresh value. - _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr); + _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); } return _orientation; } @@ -544,7 +544,7 @@ public sealed class BSPrim : BSPhysObject { // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); }); } } @@ -553,13 +553,13 @@ public sealed class BSPrim : BSPhysObject { get { - _orientation = BulletSimAPI.GetOrientation2(BSBody.ptr); + _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr); return _orientation; } set { _orientation = value; - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); } } public override int PhysicsActorType { @@ -615,7 +615,7 @@ public sealed class BSPrim : BSPhysObject // Mangling all the physical properties requires the object not be in the physical world. // 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); + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); // Set up the object physicalness (does gravity and collisions move this object) MakeDynamic(IsStatic); @@ -629,15 +629,15 @@ public sealed class BSPrim : BSPhysObject // Make solid or not (do things bounce off or pass through this object). MakeSolid(IsSolid); - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr); + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); // Rebuild its shape - BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr); + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); // Collision filter can be set only when the object is in the world - if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0) + if (PhysBody.collisionFilter != 0 || PhysBody.collisionMask != 0) { - BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask); + BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, (uint)PhysBody.collisionFilter, (uint)PhysBody.collisionMask); } // Recompute any linkset parameters. @@ -646,7 +646,7 @@ public sealed class BSPrim : BSPhysObject Linkset.Refresh(this); DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", - LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape); + LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape); } // "Making dynamic" means changing to and from static. @@ -659,44 +659,44 @@ public sealed class BSPrim : BSPhysObject if (makeStatic) { // Become a Bullet 'static' object type - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); // Stop all movement ZeroMotion(); // Center of mass is at the center of the object - BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation); + BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation); // Mass is zero which disables a bunch of physics stuff in Bullet UpdatePhysicalMassProperties(0f); // Set collision detection parameters if (PhysicsScene.Params.ccdMotionThreshold > 0f) { - BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); + BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold); + BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); } // There can be special things needed for implementing linksets Linkset.MakeStatic(this); // The activation state is 'disabled' so Bullet will not try to act on it. - BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION); + BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION); // Start it out sleeping and physical actions could wake it up. // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); - BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; - BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask; + PhysBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; + PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask; } else { // Not a Bullet static object - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); // Set various physical properties so internal dynamic properties will get computed correctly as they are set - BulletSimAPI.SetFriction2(BSBody.ptr, PhysicsScene.Params.defaultFriction); - BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution); + BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction); + BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution); // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 // Since this can be called multiple times, only zero forces when becoming physical // BulletSimAPI.ClearAllForces2(BSBody.ptr); // For good measure, make sure the transform is set through to the motion state - BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); // A dynamic object has mass UpdatePhysicalMassProperties(MassRaw); @@ -704,26 +704,26 @@ public sealed class BSPrim : BSPhysObject // Set collision detection parameters if (PhysicsScene.Params.ccdMotionThreshold > 0f) { - BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); - BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); + BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold); + BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); } // Various values for simulation limits - BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping); - BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime); - BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); - BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); + BulletSimAPI.SetDamping2(PhysBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping); + BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, PhysicsScene.Params.deactivationTime); + BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); + BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold); // There might be special things needed for implementing linksets. Linkset.MakeDynamic(this); // Force activation of the object so Bullet will act on it. // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. - BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); + BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG); // BulletSimAPI.Activate2(BSBody.ptr, true); - BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter; - BSBody.collisionMask = CollisionFilterGroups.ObjectMask; + PhysBody.collisionFilter = CollisionFilterGroups.ObjectFilter; + PhysBody.collisionMask = CollisionFilterGroups.ObjectMask; } } @@ -733,7 +733,7 @@ public sealed class BSPrim : BSPhysObject // the functions after this one set up the state of a possibly newly created collision body. private void MakeSolid(bool makeSolid) { - CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(BSBody.ptr); + CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(PhysBody.ptr); if (makeSolid) { // Verify the previous code created the correct shape for this type of thing. @@ -741,7 +741,7 @@ public sealed class BSPrim : BSPhysObject { m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType); } - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); } else { @@ -749,9 +749,9 @@ public sealed class BSPrim : BSPhysObject { m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); } - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - BSBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter; - BSBody.collisionMask = CollisionFilterGroups.VolumeDetectMask; + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); + PhysBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter; + PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask; } } @@ -761,7 +761,7 @@ public sealed class BSPrim : BSPhysObject private void ActivateIfPhysical(bool forceIt) { if (IsPhysical) - BulletSimAPI.Activate2(BSBody.ptr, forceIt); + BulletSimAPI.Activate2(PhysBody.ptr, forceIt); } // Turn on or off the flag controlling whether collision events are returned to the simulator. @@ -769,11 +769,11 @@ public sealed class BSPrim : BSPhysObject { if (wantsCollisionEvents) { - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); } else { - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); } } @@ -818,9 +818,9 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate() { if (_floatOnWater) - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); else - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); }); } } @@ -843,7 +843,7 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() { DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); - BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity); + BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); }); } } @@ -853,7 +853,7 @@ public sealed class BSPrim : BSPhysObject } set { _rotationalVelocity = value; - BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity); + BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); } } public override bool Kinematic { @@ -879,7 +879,7 @@ public sealed class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); // Buoyancy is faked by changing the gravity applied to the object float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); - BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav)); + BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); } } @@ -946,7 +946,7 @@ public sealed class BSPrim : BSPhysObject } DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum); if (fSum != OMV.Vector3.Zero) - BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); + BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum); }; if (inTaintTime) addForceOperation(); @@ -986,7 +986,7 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum); if (fSum != OMV.Vector3.Zero) { - BulletSimAPI.ApplyTorque2(BSBody.ptr, fSum); + BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum); _torque = fSum; } }; @@ -1002,7 +1002,7 @@ public sealed class BSPrim : BSPhysObject BSScene.TaintCallback applyTorqueImpulseOperation = delegate() { DetailLog("{0},BSPrim.ApplyTorqueImpulse,taint,tImpulse={1}", LocalID, applyImpulse); - BulletSimAPI.ApplyTorqueImpulse2(BSBody.ptr, applyImpulse); + BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); }; if (inTaintTime) applyTorqueImpulseOperation(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index c27b5f08f7..cc5dbb2488 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -1067,49 +1067,49 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linearDamping; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ), + (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, v); } ), new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", 0f, (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].angularDamping; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ), + (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, v); } ), new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", 0.2f, (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].deactivationTime; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.BSBody.ptr, v); } ), + (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ), new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", 0.8f, (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].linearSleepingThreshold; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ), + (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", 1.0f, (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].angularSleepingThreshold; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ), + (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ), new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , 0f, // set to zero to disable (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].ccdMotionThreshold; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.BSBody.ptr, v); } ), + (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ), new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , 0f, (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].ccdSweptSphereRadius; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.BSBody.ptr, v); } ), + (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ), new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , 0.1f, (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].contactProcessingThreshold; }, (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); }, - (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.BSBody.ptr, v); } ), + (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ), new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , 0.5f, @@ -1428,8 +1428,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { foreach (BSPrim prim in m_vehicles) { - BulletSimAPI.DumpRigidBody2(World.ptr, prim.BSBody.ptr); - BulletSimAPI.DumpCollisionShape2(World.ptr, prim.BSShape.ptr); + BulletSimAPI.DumpRigidBody2(World.ptr, prim.PhysBody.ptr); + BulletSimAPI.DumpCollisionShape2(World.ptr, prim.PhysShape.ptr); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 1219fc0973..a38e650766 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -106,11 +106,11 @@ public sealed class BSShapeCollection : IDisposable // rebuild the body around it. // Updates prim.BSBody with information/pointers to requested body bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, - prim.BSShape, shapeData, bodyCallback); + prim.PhysShape, shapeData, bodyCallback); ret = newGeom || newBody; } DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}", - prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape); + prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape); return ret; } @@ -337,7 +337,7 @@ public sealed class BSShapeCollection : IDisposable // an avatar capsule is close to a native shape (it is not shared) ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR, ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback); - DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.BSShape); + DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape); ret = true; haveShape = true; } @@ -360,13 +360,13 @@ public sealed class BSShapeCollection : IDisposable haveShape = true; if (forceRebuild || prim.Scale != shapeData.Size - || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE + || prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE ) { ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", - prim.LocalID, forceRebuild, prim.BSShape); + prim.LocalID, forceRebuild, prim.PhysShape); } } if (pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) @@ -374,13 +374,13 @@ public sealed class BSShapeCollection : IDisposable haveShape = true; if (forceRebuild || prim.Scale != shapeData.Size - || prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX + || prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX ) { ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", - prim.LocalID, forceRebuild, prim.BSShape); + prim.LocalID, forceRebuild, prim.PhysShape); } } } @@ -394,13 +394,13 @@ public sealed class BSShapeCollection : IDisposable // Update prim.BSShape to reference a hull of this shape. ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", - shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X")); + shapeData.ID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); } else { ret = GetReferenceToMesh(prim, shapeData, pbs, shapeCallback); DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", - shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X")); + shapeData.ID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); } } return ret; @@ -413,7 +413,7 @@ public sealed class BSShapeCollection : IDisposable ShapeDestructionCallback shapeCallback) { // release any previous shape - DereferenceShape(prim.BSShape, true, shapeCallback); + DereferenceShape(prim.PhysShape, true, shapeCallback); shapeData.Type = shapeType; // Bullet native objects are scaled by the Bullet engine so pass the size in @@ -426,7 +426,7 @@ public sealed class BSShapeCollection : IDisposable DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", shapeData.ID, newShape, shapeData.Scale); - prim.BSShape = newShape; + prim.PhysShape = newShape; return true; } @@ -475,14 +475,14 @@ public sealed class BSShapeCollection : IDisposable System.UInt64 newMeshKey = ComputeShapeKey(shapeData, pbs, out lod); // if this new shape is the same as last time, don't recreate the mesh - if (newMeshKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH) + if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH) return false; DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}", - prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); + prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); // Since we're recreating new, get rid of the reference to the previous shape - DereferenceShape(prim.BSShape, true, shapeCallback); + DereferenceShape(prim.PhysShape, true, shapeCallback); newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod); // Take evasive action if the mesh was not constructed. @@ -492,7 +492,7 @@ public sealed class BSShapeCollection : IDisposable // meshes are already scaled by the meshmerizer prim.Scale = new OMV.Vector3(1f, 1f, 1f); - prim.BSShape = newShape; + prim.PhysShape = newShape; return true; // 'true' means a new shape has been added to this prim } @@ -550,14 +550,14 @@ public sealed class BSShapeCollection : IDisposable System.UInt64 newHullKey = ComputeShapeKey(shapeData, pbs, out lod); // if the hull hasn't changed, don't rebuild it - if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL) + if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL) return false; DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}", - prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X")); + prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X")); // Remove usage of the previous shape. - DereferenceShape(prim.BSShape, true, shapeCallback); + DereferenceShape(prim.PhysShape, true, shapeCallback); newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod); newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs); @@ -566,7 +566,7 @@ public sealed class BSShapeCollection : IDisposable // hulls are already scaled by the meshmerizer prim.Scale = new OMV.Vector3(1f, 1f, 1f); - prim.BSShape = newShape; + prim.PhysShape = newShape; return true; // 'true' means a new shape has been added to this prim } @@ -778,13 +778,13 @@ public sealed class BSShapeCollection : IDisposable bool ret = false; // the mesh, hull or native shape must have already been created in Bullet - bool mustRebuild = (prim.BSBody.ptr == IntPtr.Zero); + bool mustRebuild = (prim.PhysBody.ptr == IntPtr.Zero); // If there is an existing body, verify it's of an acceptable type. // If not a solid object, body is a GhostObject. Otherwise a RigidBody. if (!mustRebuild) { - CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.BSBody.ptr); + CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr); if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT) { @@ -796,7 +796,7 @@ public sealed class BSShapeCollection : IDisposable if (mustRebuild || forceRebuild) { // Free any old body - DereferenceBody(prim.BSBody, true, bodyCallback); + DereferenceBody(prim.PhysBody, true, bodyCallback); BulletBody aBody; IntPtr bodyPtr = IntPtr.Zero; @@ -816,7 +816,7 @@ public sealed class BSShapeCollection : IDisposable ReferenceBody(aBody, true); - prim.BSBody = aBody; + prim.PhysBody = aBody; ret = true; }