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BulletSim: Remove use of shapeData in ShapeCollection and rely on the available BSPhysObject varaiables. Fix line endings in BSLinksetCompound.

integration
Robert Adams 2012-11-01 10:23:37 -07:00
parent 364a7c3088
commit 39c02dcc8c
7 changed files with 256 additions and 266 deletions
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19
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
View File

@ -99,26 +99,12 @@ public sealed class BSCharacter : BSPhysObject
DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
LocalID, _size, Scale, _avatarDensity, _avatarVolume, MassRaw);
ShapeData shapeData = new ShapeData();
shapeData.ID = LocalID;
shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR;
shapeData.Position = _position;
shapeData.Rotation = _orientation;
shapeData.Velocity = _velocity;
shapeData.Size = Scale; // capsule is a native shape but scale is not just <1,1,1>
shapeData.Scale = Scale;
shapeData.Mass = _mass;
shapeData.Buoyancy = _buoyancy;
shapeData.Static = ShapeData.numericFalse;
shapeData.Friction = PhysicsScene.Params.avatarStandingFriction;
shapeData.Restitution = PhysicsScene.Params.avatarRestitution;
// do actual create at taint time
PhysicsScene.TaintedObject("BSCharacter.create", delegate()
{
DetailLog("{0},BSCharacter.create,taint", LocalID);
// New body and shape into BSBody and BSShape
PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);
PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, null, null);
SetPhysicalProperties();
});
@ -212,6 +198,9 @@ public sealed class BSCharacter : BSPhysObject
{
set { BaseShape = value; }
}
// I want the physics engine to make an avatar capsule
public override ShapeData.PhysicsShapeType PreferredPhysicalShape
{ get { return ShapeData.PhysicsShapeType.SHAPE_AVATAR; } }
public override bool Grabbed {
set { _grabbed = value; }

5
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
View File

@ -68,6 +68,11 @@ public abstract class BSLinkset
// to the physical representation is done via the tainting mechenism.
protected object m_linksetActivityLock = new Object();
// Some linksets have a preferred physical shape.
// Returns SHAPE_UNKNOWN if there is no preference.
public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape
{ get { return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; } }
// We keep the prim's mass in the linkset structure since it could be dependent on other prims
protected float m_mass;
public float LinksetMass

347
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
View File

@ -1,173 +1,176 @@
/*
* 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);
}
}
/*
* 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()
{
// Release the existing shape
PhysicsScene.Shapes.DereferenceShape(LinksetRoot.PhysShape, true, null);
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);
}
}
}

4
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
View File

@ -78,6 +78,10 @@ public abstract class BSPhysObject : PhysicsActor
// The objects base shape information. Null if not a prim type shape.
public PrimitiveBaseShape BaseShape { get; protected set; }
// Some types of objects have preferred physical representations.
// Returns SHAPE_UNKNOWN if there is no preference.
public virtual ShapeData.PhysicsShapeType PreferredPhysicalShape
{ get { return ShapeData.PhysicsShapeType.SHAPE_UNKNOWN; } }
// When the physical properties are updated, an EntityProperty holds the update values.
// Keep the current and last EntityProperties to enable computation of differences

30
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -171,6 +171,10 @@ public sealed class BSPrim : BSPhysObject
ForceBodyShapeRebuild(false);
}
}
// Whatever the linkset wants is what I want.
public override ShapeData.PhysicsShapeType PreferredPhysicalShape
{ get { return Linkset.PreferredPhysicalShape; } }
public override bool ForceBodyShapeRebuild(bool inTaintTime)
{
LastAssetBuildFailed = false;
@ -1310,34 +1314,11 @@ public sealed class BSPrim : BSPhysObject
}// end CalculateMass
#endregion Mass Calculation
// Copy prim's info into the BulletSim shape description structure
public void FillShapeInfo(out ShapeData shape)
{
shape.ID = LocalID;
shape.Type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
shape.Position = _position;
shape.Rotation = _orientation;
shape.Velocity = _velocity;
shape.Size = _size;
shape.Scale = Scale;
shape.Mass = _isPhysical ? _mass : 0f;
shape.Buoyancy = _buoyancy;
shape.HullKey = 0;
shape.MeshKey = 0;
shape.Friction = _friction;
shape.Restitution = _restitution;
shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue;
}
// Rebuild the geometry and object.
// This is called when the shape changes so we need to recreate the mesh/hull.
// Called at taint-time!!!
private void CreateGeomAndObject(bool forceRebuild)
{
ShapeData shapeData;
FillShapeInfo(out shapeData);
// If this prim is part of a linkset, we must remove and restore the physical
// links if the body is rebuilt.
bool needToRestoreLinkset = false;
@ -1346,8 +1327,7 @@ public sealed class BSPrim : BSPhysObject
// Updates BSBody and BSShape with the new information.
// Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
// Returns 'true' if either the body or the shape was changed.
PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape,
null, delegate(BulletBody dBody)
PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
{
// Called if the current prim body is about to be destroyed.
// Remove all the physical dependencies on the old body.

116
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
View File

@ -90,7 +90,6 @@ public sealed class BSShapeCollection : IDisposable
// remove the physical constraints before the body is destroyed.
// Called at taint-time!!
public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim,
ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
{
bool ret = false;
@ -101,12 +100,12 @@ public sealed class BSShapeCollection : IDisposable
// Do we have the correct geometry for this type of object?
// Updates prim.BSShape with information/pointers to shape.
// CreateGeom returns 'true' of BSShape as changed to a new shape.
bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, shapeCallback);
bool newGeom = CreateGeom(forceRebuild, prim, shapeCallback);
// If we had to select a new shape geometry for the object,
// rebuild the body around it.
// Updates prim.BSBody with information/pointers to requested body
bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World,
prim.PhysShape, shapeData, bodyCallback);
prim.PhysShape, bodyCallback);
ret = newGeom || newBody;
}
DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
@ -261,6 +260,9 @@ public sealed class BSShapeCollection : IDisposable
case ShapeData.PhysicsShapeType.SHAPE_MESH:
DereferenceMesh(shape, shapeCallback);
break;
case ShapeData.PhysicsShapeType.SHAPE_COMPOUND:
DereferenceCompound(shape, shapeCallback);
break;
case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
break;
default:
@ -317,6 +319,13 @@ public sealed class BSShapeCollection : IDisposable
}
}
// Remove a reference to a compound shape.
// Called at taint-time.
private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback)
{
// Compound shape is made of a bunch of meshes and natives.
}
// Create the geometry information in Bullet for later use.
// The objects needs a hull if it's physical otherwise a mesh is enough.
// if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls,
@ -325,17 +334,17 @@ public sealed class BSShapeCollection : IDisposable
// Info in prim.BSShape is updated to the new shape.
// Returns 'true' if the geometry was rebuilt.
// Called at taint-time!
private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeData shapeData,
PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback)
private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
{
bool ret = false;
bool haveShape = false;
bool nativeShapePossible = true;
PrimitiveBaseShape pbs = prim.BaseShape;
if (shapeData.Type == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
if (prim.PreferredPhysicalShape == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
{
// an avatar capsule is close to a native shape (it is not shared)
ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR,
ret = GetReferenceToNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_AVATAR,
ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
ret = true;
@ -359,11 +368,11 @@ public sealed class BSShapeCollection : IDisposable
{
haveShape = true;
if (forceRebuild
|| prim.Scale != shapeData.Size
|| prim.Scale != prim.Size
|| prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE
)
{
ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE,
ret = GetReferenceToNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_SPHERE,
ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
prim.LocalID, forceRebuild, prim.PhysShape);
@ -373,11 +382,11 @@ public sealed class BSShapeCollection : IDisposable
{
haveShape = true;
if (forceRebuild
|| prim.Scale != shapeData.Size
|| prim.Scale != prim.Size
|| prim.PhysShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX
)
{
ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX,
ret = GetReferenceToNativeShape( prim, ShapeData.PhysicsShapeType.SHAPE_BOX,
ShapeData.FixedShapeKey.KEY_BOX, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
prim.LocalID, forceRebuild, prim.PhysShape);
@ -392,15 +401,15 @@ public sealed class BSShapeCollection : IDisposable
if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects)
{
// Update prim.BSShape to reference a hull of this shape.
ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback);
ret = GetReferenceToHull(prim,shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
shapeData.ID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
}
else
{
ret = GetReferenceToMesh(prim, shapeData, pbs, shapeCallback);
ret = GetReferenceToMesh(prim, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
shapeData.ID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
}
}
return ret;
@ -408,44 +417,45 @@ public sealed class BSShapeCollection : IDisposable
// Creates a native shape and assignes it to prim.BSShape.
// "Native" shapes are never shared. they are created here and destroyed in DereferenceShape().
private bool GetReferenceToNativeShape(BSPhysObject prim, ShapeData shapeData,
private bool GetReferenceToNativeShape(BSPhysObject prim,
ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey,
ShapeDestructionCallback shapeCallback)
{
// release any previous shape
DereferenceShape(prim.PhysShape, true, shapeCallback);
shapeData.Type = shapeType;
// Bullet native objects are scaled by the Bullet engine so pass the size in
prim.Scale = shapeData.Size;
shapeData.Scale = shapeData.Size;
prim.Scale = prim.Size;
BulletShape newShape = BuildPhysicalNativeShape(shapeType, shapeData, shapeKey);
BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
// Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
shapeData.ID, newShape, shapeData.Scale);
prim.LocalID, newShape, prim.Scale);
prim.PhysShape = newShape;
return true;
}
private BulletShape BuildPhysicalNativeShape(ShapeData.PhysicsShapeType shapeType,
ShapeData shapeData, ShapeData.FixedShapeKey shapeKey)
private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, ShapeData.PhysicsShapeType shapeType,
ShapeData.FixedShapeKey shapeKey)
{
BulletShape newShape;
// Need to make sure the passed shape information is for the native type.
ShapeData nativeShapeData = shapeData;
ShapeData nativeShapeData = new ShapeData();
nativeShapeData.Type = shapeType;
nativeShapeData.ID = prim.LocalID;
nativeShapeData.Scale = prim.Scale;
nativeShapeData.Size = prim.Scale;
nativeShapeData.MeshKey = (ulong)shapeKey;
nativeShapeData.HullKey = (ulong)shapeKey;
if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
{
newShape = new BulletShape(
BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, nativeShapeData.Scale)
BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale)
, shapeType);
DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", nativeShapeData.ID, nativeShapeData.Scale);
DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
}
else
{
@ -454,7 +464,7 @@ public sealed class BSShapeCollection : IDisposable
if (newShape.ptr == IntPtr.Zero)
{
PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
LogHeader, nativeShapeData.ID, nativeShapeData.Type);
LogHeader, prim.LocalID, shapeType);
}
newShape.shapeKey = (System.UInt64)shapeKey;
newShape.isNativeShape = true;
@ -466,13 +476,12 @@ public sealed class BSShapeCollection : IDisposable
// Dereferences previous shape in BSShape and adds a reference for this new shape.
// Returns 'true' of a mesh was actually built. Otherwise .
// Called at taint-time!
private bool GetReferenceToMesh(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback)
private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
{
BulletShape newShape = new BulletShape(IntPtr.Zero);
float lod;
System.UInt64 newMeshKey = ComputeShapeKey(shapeData, pbs, out lod);
System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
// if this new shape is the same as last time, don't recreate the mesh
if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH)
@ -484,9 +493,9 @@ public sealed class BSShapeCollection : IDisposable
// Since we're recreating new, get rid of the reference to the previous shape
DereferenceShape(prim.PhysShape, true, shapeCallback);
newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod);
newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod);
// Take evasive action if the mesh was not constructed.
newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
newShape = VerifyMeshCreated(newShape, prim);
ReferenceShape(newShape);
@ -541,13 +550,12 @@ public sealed class BSShapeCollection : IDisposable
// See that hull shape exists in the physical world and update prim.BSShape.
// We could be creating the hull because scale changed or whatever.
private bool GetReferenceToHull(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback)
private bool GetReferenceToHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
{
BulletShape newShape;
float lod;
System.UInt64 newHullKey = ComputeShapeKey(shapeData, pbs, out lod);
System.UInt64 newHullKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
// if the hull hasn't changed, don't rebuild it
if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL)
@ -559,8 +567,8 @@ public sealed class BSShapeCollection : IDisposable
// Remove usage of the previous shape.
DereferenceShape(prim.PhysShape, true, shapeCallback);
newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod);
newShape = VerifyMeshCreated(newShape, prim);
ReferenceShape(newShape);
@ -687,7 +695,7 @@ public sealed class BSShapeCollection : IDisposable
// Create a hash of all the shape parameters to be used as a key
// for this particular shape.
private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod)
private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
{
// level of detail based on size and type of the object
float lod = PhysicsScene.MeshLOD;
@ -695,40 +703,40 @@ public sealed class BSShapeCollection : IDisposable
lod = PhysicsScene.SculptLOD;
// Mega prims usually get more detail because one can interact with shape approximations at this size.
float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z));
float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z));
if (maxAxis > PhysicsScene.MeshMegaPrimThreshold)
lod = PhysicsScene.MeshMegaPrimLOD;
retLod = lod;
return pbs.GetMeshKey(shapeData.Size, lod);
return pbs.GetMeshKey(size, lod);
}
// For those who don't want the LOD
private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs)
private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs)
{
float lod;
return ComputeShapeKey(shapeData, pbs, out lod);
return ComputeShapeKey(size, pbs, out lod);
}
// The creation of a mesh or hull can fail if an underlying asset is not available.
// There are two cases: 1) the asset is not in the cache and it needs to be fetched;
// and 2) the asset cannot be converted (like decompressing JPEG2000s).
// The first case causes the asset to be fetched. The second case just requires
// and 2) the asset cannot be converted (like failed decompression of JPEG2000s).
// The first case causes the asset to be fetched. The second case requires
// us to not loop forever.
// Called after creating a physical mesh or hull. If the physical shape was created,
// just return.
private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs)
private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim)
{
// If the shape was successfully created, nothing more to do
if (newShape.ptr != IntPtr.Zero)
return newShape;
// If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
if (pbs.SculptEntry && !prim.LastAssetBuildFailed && pbs.SculptTexture != OMV.UUID.Zero)
if (prim.BaseShape.SculptEntry && !prim.LastAssetBuildFailed && prim.BaseShape.SculptTexture != OMV.UUID.Zero)
{
prim.LastAssetBuildFailed = true;
BSPhysObject xprim = prim;
DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}",
LogHeader, shapeData.ID.ToString("X"), prim.LastAssetBuildFailed);
LogHeader, prim.LocalID, prim.LastAssetBuildFailed);
Util.FireAndForget(delegate
{
RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
@ -745,7 +753,7 @@ public sealed class BSShapeCollection : IDisposable
yprim.BaseShape.SculptData = asset.Data;
// This will cause the prim to see that the filler shape is not the right
// one and try again to build the object.
// No race condition with the native sphere setting since the rebuild is at taint time.
// No race condition with the normal shape setting since the rebuild is at taint time.
yprim.ForceBodyShapeRebuild(false);
});
@ -757,13 +765,13 @@ public sealed class BSShapeCollection : IDisposable
if (prim.LastAssetBuildFailed)
{
PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}",
LogHeader, shapeData.ID, pbs.SculptTexture);
LogHeader, prim.LocalID, prim.BaseShape.SculptTexture);
}
}
// While we figure out the real problem, stick a simple native shape on the object.
BulletShape fillinShape =
BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_BOX, shapeData, ShapeData.FixedShapeKey.KEY_BOX);
BuildPhysicalNativeShape(prim, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX);
return fillinShape;
}
@ -773,7 +781,7 @@ public sealed class BSShapeCollection : IDisposable
// Returns 'true' if an object was actually created.
// Called at taint-time.
private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape,
ShapeData shapeData, BodyDestructionCallback bodyCallback)
BodyDestructionCallback bodyCallback)
{
bool ret = false;
@ -803,16 +811,16 @@ public sealed class BSShapeCollection : IDisposable
if (prim.IsSolid)
{
bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
shapeData.ID, shapeData.Position, shapeData.Rotation);
prim.LocalID, prim.ForcePosition, prim.ForceOrientation);
DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
}
else
{
bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
shapeData.ID, shapeData.Position, shapeData.Rotation);
prim.LocalID, prim.ForcePosition, prim.ForceOrientation);
DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
}
aBody = new BulletBody(shapeData.ID, bodyPtr);
aBody = new BulletBody(prim.LocalID, bodyPtr);
ReferenceBody(aBody, true);

1
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
View File

@ -194,6 +194,7 @@ public struct ShapeData
// following defined by BulletSim
SHAPE_GROUNDPLANE = 20,
SHAPE_TERRAIN = 21,
SHAPE_COMPOUND = 22,
};
public uint ID;
public PhysicsShapeType Type;