From 890cb6a29373a54dde2d06b13e42d07676710dc2 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 27 Apr 2013 14:00:58 -0700 Subject: [PATCH 01/19] BulletSim: complete BSShape classes. --- .../BulletSPlugin/BSShapeCollection.cs | 2 +- .../Region/Physics/BulletSPlugin/BSShapes.cs | 327 +++++++++++++++++- .../Physics/BulletSPlugin/BulletSimTODO.txt | 6 +- 3 files changed, 316 insertions(+), 19 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index bc264602ef..0f9b3c3bf3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -499,7 +499,7 @@ public sealed class BSShapeCollection : IDisposable } // return 'true' if this shape description does not include any cutting or twisting. - private bool PrimHasNoCuts(PrimitiveBaseShape pbs) + public static bool PrimHasNoCuts(PrimitiveBaseShape pbs) { return pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 && pbs.ProfileHollow == 0 diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index dd5ae1ae60..e427dbce0d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -31,6 +31,7 @@ using System.Text; using OpenSim.Framework; using OpenSim.Region.Physics.Manager; +using OpenSim.Region.Physics.ConvexDecompositionDotNet; using OMV = OpenMetaverse; @@ -73,7 +74,7 @@ public abstract class BSShape if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND) { // Getting a reference to a compound shape gets you the compound shape with the root prim shape added - ret = BSShapeCompound.GetReference(prim); + ret = BSShapeCompound.GetReference(physicsScene, prim); physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret); } @@ -92,6 +93,7 @@ public abstract class BSShape } private static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) { + // TODO: work needed here!! BSShapeMesh.GetReference(physicsScene, forceRebuild, prim); BSShapeHull.GetReference(physicsScene, forceRebuild, prim); return null; @@ -209,7 +211,7 @@ public class BSShapeNative : BSShape public class BSShapeMesh : BSShape { private static string LogHeader = "[BULLETSIM SHAPE MESH]"; - private static Dictionary Meshes = new Dictionary(); + public static Dictionary Meshes = new Dictionary(); public BSShapeMesh(BulletShape pShape) : base(pShape) { @@ -219,10 +221,10 @@ public class BSShapeMesh : BSShape float lod; System.UInt64 newMeshKey = BSShapeCollection.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); - physicsScene.DetailLog("{0},BSShapeMesh,create,oldKey={1},newKey={2},size={3},lod={4}", + physicsScene.DetailLog("{0},BSShapeMesh,getReference,oldKey={1},newKey={2},size={3},lod={4}", prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"), prim.Size, lod); - BSShapeMesh retMesh; + BSShapeMesh retMesh = new BSShapeMesh(new BulletShape()); lock (Meshes) { if (Meshes.TryGetValue(newMeshKey, out retMesh)) @@ -233,13 +235,17 @@ public class BSShapeMesh : BSShape else { // An instance of this mesh has not been created. Build and remember same. - BulletShape newShape = CreatePhysicalMesh(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod); - // Take evasive action if the mesh was not constructed. + BulletShape newShape = retMesh.CreatePhysicalMesh(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod); + + // Check to see if mesh was created (might require an asset). newShape = BSShapeCollection.VerifyMeshCreated(physicsScene, newShape, prim); + if (newShape.type == BSPhysicsShapeType.SHAPE_MESH) + { + // If a mesh was what was created, remember the built shape for later sharing. + Meshes.Add(newMeshKey, retMesh); + } - retMesh = new BSShapeMesh(newShape); - - Meshes.Add(newMeshKey, retMesh); + retMesh.physShapeInfo = newShape; } } return retMesh; @@ -252,8 +258,28 @@ public class BSShapeMesh : BSShape // TODO: schedule aging and destruction of unused meshes. } } + // Loop through all the known meshes and return the description based on the physical address. + public static bool TryGetMeshByPtr(BulletShape pShape, out BSShapeMesh outMesh) + { + bool ret = false; + BSShapeMesh foundDesc = null; + lock (Meshes) + { + foreach (BSShapeMesh sm in Meshes.Values) + { + if (sm.physShapeInfo.ReferenceSame(pShape)) + { + foundDesc = sm; + ret = true; + break; + } - private static BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey, + } + } + outMesh = foundDesc; + return ret; + } + private BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { BulletShape newShape = null; @@ -326,32 +352,301 @@ public class BSShapeMesh : BSShape public class BSShapeHull : BSShape { private static string LogHeader = "[BULLETSIM SHAPE HULL]"; - private static Dictionary Hulls = new Dictionary(); + public static Dictionary Hulls = new Dictionary(); public BSShapeHull(BulletShape pShape) : base(pShape) { } public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) { - return new BSShapeNull(); + float lod; + System.UInt64 newHullKey = BSShapeCollection.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); + + physicsScene.DetailLog("{0},BSShapeHull,getReference,oldKey={1},newKey={2},size={3},lod={4}", + prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X"), prim.Size, lod); + + BSShapeHull retHull = new BSShapeHull(new BulletShape()); + lock (Hulls) + { + if (Hulls.TryGetValue(newHullKey, out retHull)) + { + // The mesh has already been created. Return a new reference to same. + retHull.IncrementReference(); + } + else + { + // An instance of this mesh has not been created. Build and remember same. + BulletShape newShape = retHull.CreatePhysicalHull(physicsScene, prim, newHullKey, prim.BaseShape, prim.Size, lod); + + // Check to see if mesh was created (might require an asset). + newShape = BSShapeCollection.VerifyMeshCreated(physicsScene, newShape, prim); + if (newShape.type == BSPhysicsShapeType.SHAPE_MESH) + { + // If a mesh was what was created, remember the built shape for later sharing. + Hulls.Add(newHullKey, retHull); + } + + retHull = new BSShapeHull(newShape); + retHull.physShapeInfo = newShape; + } + } + return retHull; } public override void Dereference(BSScene physicsScene) { } + List m_hulls; + private BulletShape CreatePhysicalHull(BSScene physicsScene, BSPhysObject prim, System.UInt64 newHullKey, + PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) + { + BulletShape newShape = new BulletShape(); + IntPtr hullPtr = IntPtr.Zero; + + if (BSParam.ShouldUseBulletHACD) + { + physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,entry", prim.LocalID); + BSShape meshShape = BSShapeMesh.GetReference(physicsScene, true, prim); + + if (meshShape.physShapeInfo.HasPhysicalShape) + { + HACDParams parms; + parms.maxVerticesPerHull = BSParam.BHullMaxVerticesPerHull; + parms.minClusters = BSParam.BHullMinClusters; + parms.compacityWeight = BSParam.BHullCompacityWeight; + parms.volumeWeight = BSParam.BHullVolumeWeight; + parms.concavity = BSParam.BHullConcavity; + parms.addExtraDistPoints = BSParam.NumericBool(BSParam.BHullAddExtraDistPoints); + parms.addNeighboursDistPoints = BSParam.NumericBool(BSParam.BHullAddNeighboursDistPoints); + parms.addFacesPoints = BSParam.NumericBool(BSParam.BHullAddFacesPoints); + parms.shouldAdjustCollisionMargin = BSParam.NumericBool(BSParam.BHullShouldAdjustCollisionMargin); + + physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape); + newShape = physicsScene.PE.BuildHullShapeFromMesh(physicsScene.World, meshShape.physShapeInfo, parms); + physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,hullFromMesh,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); + } + // Now done with the mesh shape. + meshShape.DecrementReference(); + physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); + } + if (!newShape.HasPhysicalShape) + { + // Build a new hull in the physical world. + // Pass true for physicalness as this prevents the creation of bounding box which is not needed + IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */); + if (meshData != null) + { + int[] indices = meshData.getIndexListAsInt(); + List vertices = meshData.getVertexList(); + + //format conversion from IMesh format to DecompDesc format + List convIndices = new List(); + List convVertices = new List(); + for (int ii = 0; ii < indices.GetLength(0); ii++) + { + convIndices.Add(indices[ii]); + } + foreach (OMV.Vector3 vv in vertices) + { + convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); + } + + uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit; + if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes) + { + // Simple primitive shapes we know are convex so they are better implemented with + // fewer hulls. + // Check for simple shape (prim without cuts) and reduce split parameter if so. + if (BSShapeCollection.PrimHasNoCuts(pbs)) + { + maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes; + } + } + + // setup and do convex hull conversion + m_hulls = new List(); + DecompDesc dcomp = new DecompDesc(); + dcomp.mIndices = convIndices; + dcomp.mVertices = convVertices; + dcomp.mDepth = maxDepthSplit; + dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent; + dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent; + dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices; + dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth; + ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn); + // create the hull into the _hulls variable + convexBuilder.process(dcomp); + + physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}", + BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count); + + // Convert the vertices and indices for passing to unmanaged. + // The hull information is passed as a large floating point array. + // The format is: + // convHulls[0] = number of hulls + // convHulls[1] = number of vertices in first hull + // convHulls[2] = hull centroid X coordinate + // convHulls[3] = hull centroid Y coordinate + // convHulls[4] = hull centroid Z coordinate + // convHulls[5] = first hull vertex X + // convHulls[6] = first hull vertex Y + // convHulls[7] = first hull vertex Z + // convHulls[8] = second hull vertex X + // ... + // convHulls[n] = number of vertices in second hull + // convHulls[n+1] = second hull centroid X coordinate + // ... + // + // TODO: is is very inefficient. Someday change the convex hull generator to return + // data structures that do not need to be converted in order to pass to Bullet. + // And maybe put the values directly into pinned memory rather than marshaling. + int hullCount = m_hulls.Count; + int totalVertices = 1; // include one for the count of the hulls + foreach (ConvexResult cr in m_hulls) + { + totalVertices += 4; // add four for the vertex count and centroid + totalVertices += cr.HullIndices.Count * 3; // we pass just triangles + } + float[] convHulls = new float[totalVertices]; + + convHulls[0] = (float)hullCount; + int jj = 1; + foreach (ConvexResult cr in m_hulls) + { + // copy vertices for index access + float3[] verts = new float3[cr.HullVertices.Count]; + int kk = 0; + foreach (float3 ff in cr.HullVertices) + { + verts[kk++] = ff; + } + + // add to the array one hull's worth of data + convHulls[jj++] = cr.HullIndices.Count; + convHulls[jj++] = 0f; // centroid x,y,z + convHulls[jj++] = 0f; + convHulls[jj++] = 0f; + foreach (int ind in cr.HullIndices) + { + convHulls[jj++] = verts[ind].x; + convHulls[jj++] = verts[ind].y; + convHulls[jj++] = verts[ind].z; + } + } + // create the hull data structure in Bullet + newShape = physicsScene.PE.CreateHullShape(physicsScene.World, hullCount, convHulls); + } + newShape.shapeKey = newHullKey; + } + return newShape; + } + // Callback from convex hull creater with a newly created hull. + // Just add it to our collection of hulls for this shape. + private void HullReturn(ConvexResult result) + { + m_hulls.Add(result); + return; + } + // Loop through all the known hulls and return the description based on the physical address. + public static bool TryGetHullByPtr(BulletShape pShape, out BSShapeHull outHull) + { + bool ret = false; + BSShapeHull foundDesc = null; + lock (Hulls) + { + foreach (BSShapeHull sh in Hulls.Values) + { + if (sh.physShapeInfo.ReferenceSame(pShape)) + { + foundDesc = sh; + ret = true; + break; + } + + } + } + outHull = foundDesc; + return ret; + } } + // ============================================================================================================ public class BSShapeCompound : BSShape { private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]"; - public BSShapeCompound() : base() + public BSShapeCompound(BulletShape pShape) : base(pShape) { } - public static BSShape GetReference(BSPhysObject prim) + public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim) { - return new BSShapeNull(); + // Compound shapes are not shared so a new one is created every time. + return new BSShapeCompound(CreatePhysicalCompoundShape(physicsScene, prim)); + } + // Dereferencing a compound shape releases the hold on all the child shapes. + public override void Dereference(BSScene physicsScene) + { + if (!physicsScene.PE.IsCompound(physShapeInfo)) + { + // Failed the sanity check!! + physicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}", + LogHeader, physShapeInfo.type, physShapeInfo.AddrString); + physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", + BSScene.DetailLogZero, physShapeInfo.type, physShapeInfo.AddrString); + return; + } + + int numChildren = physicsScene.PE.GetNumberOfCompoundChildren(physShapeInfo); + physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", + BSScene.DetailLogZero, physShapeInfo, numChildren); + + // Loop through all the children dereferencing each. + for (int ii = numChildren - 1; ii >= 0; ii--) + { + BulletShape childShape = physicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(physShapeInfo, ii); + DereferenceAnonCollisionShape(physicsScene, childShape); + } + physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo); + } + private static BulletShape CreatePhysicalCompoundShape(BSScene physicsScene, BSPhysObject prim) + { + BulletShape cShape = physicsScene.PE.CreateCompoundShape(physicsScene.World, false); + return cShape; + } + // Sometimes we have a pointer to a collision shape but don't know what type it is. + // Figure out type and call the correct dereference routine. + // Called at taint-time. + private void DereferenceAnonCollisionShape(BSScene physicsScene, BulletShape pShape) + { + BSShapeMesh meshDesc; + if (BSShapeMesh.TryGetMeshByPtr(pShape, out meshDesc)) + { + meshDesc.Dereference(physicsScene); + } + else + { + BSShapeHull hullDesc; + if (BSShapeHull.TryGetHullByPtr(pShape, out hullDesc)) + { + hullDesc.Dereference(physicsScene); + } + else + { + if (physicsScene.PE.IsCompound(pShape)) + { + BSShapeCompound recursiveCompound = new BSShapeCompound(pShape); + recursiveCompound.Dereference(physicsScene); + } + else + { + if (physicsScene.PE.IsNativeShape(pShape)) + { + BSShapeNative nativeShape = new BSShapeNative(pShape); + nativeShape.Dereference(physicsScene); + } + } + } + } } - public override void Dereference(BSScene physicsScene) { } } // ============================================================================================================ diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 1284ae7307..c67081a68a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -11,6 +11,8 @@ Deleting a linkset while standing on the root will leave the physical shape of t Linkset child rotations. Nebadon spiral tube has middle sections which are rotated wrong. Select linked spiral tube. Delink and note where the middle section ends up. +Refarb compound linkset creation to create a pseudo-root for center-of-mass + Let children change their shape to physical indendently and just add shapes to compound Vehicle angular vertical attraction vehicle angular banking Center-of-gravity @@ -27,14 +29,13 @@ llLookAt Avatars walking up stairs (HALF DONE) Avatar movement flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE) - walking up stairs is not calibrated correctly (stairs out of Kepler cabin) + walking up stairs is not calibrated correctly (stairs out of Kepler cabin) (DONE) avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution) Vehicle script tuning/debugging Avanti speed script Weapon shooter script Move material definitions (friction, ...) into simulator. Add material densities to the material types. -Terrain detail: double terrain mesh detail One sided meshes? Should terrain be built into a closed shape? When meshes get partially wedged into the terrain, they cannot push themselves out. It is possible that Bullet processes collisions whether entering or leaving a mesh. @@ -347,4 +348,5 @@ Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE. DONE 20130120: BulletSim properly applies force in vehicle relative coordinates. Nebadon vehicles turning funny in arena (DONE) Lock axis (DONE 20130401) +Terrain detail: double terrain mesh detail (DONE) From e5582939fd8d78b61c6f1eeda6de45d94f4b4926 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 28 Apr 2013 14:44:21 -0700 Subject: [PATCH 02/19] BulletSim: massive refactor of shape classes. Removed shape specific code from BSShapeCollection. Using BSShape* classes to hold references to shape. Simplified shape dependency callbacks. Remove 'PreferredShape' methods and have each class specify shape type. Disable compound shape linkset for a later commit that will simplify linkset implementation. --- .../Physics/BulletSPlugin/BSAPIUnman.cs | 6 +- .../Region/Physics/BulletSPlugin/BSAPIXNA.cs | 4 +- .../BulletSPlugin/BSActorAvatarMove.cs | 4 +- .../Physics/BulletSPlugin/BSActorHover.cs | 4 +- .../Physics/BulletSPlugin/BSActorLockAxis.cs | 4 +- .../BulletSPlugin/BSActorMoveToTarget.cs | 4 +- .../Physics/BulletSPlugin/BSActorSetForce.cs | 4 +- .../Physics/BulletSPlugin/BSActorSetTorque.cs | 4 +- .../Region/Physics/BulletSPlugin/BSActors.cs | 6 +- .../Physics/BulletSPlugin/BSCharacter.cs | 19 +- .../Physics/BulletSPlugin/BSDynamics.cs | 4 +- .../Region/Physics/BulletSPlugin/BSLinkset.cs | 9 +- .../BulletSPlugin/BSLinksetCompound.cs | 35 +- .../BulletSPlugin/BSLinksetConstraints.cs | 4 +- .../Physics/BulletSPlugin/BSPhysObject.cs | 11 +- .../Region/Physics/BulletSPlugin/BSPrim.cs | 34 +- .../Physics/BulletSPlugin/BSPrimLinkable.cs | 9 +- .../BulletSPlugin/BSShapeCollection.cs | 972 ++---------------- .../Region/Physics/BulletSPlugin/BSShapes.cs | 203 +++- .../Physics/BulletSPlugin/BulletSimData.cs | 6 +- 20 files changed, 293 insertions(+), 1053 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index fdf2cb98f4..8a22bc7b2a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -79,7 +79,7 @@ private sealed class BulletShapeUnman : BulletShape : base() { ptr = xx; - type = typ; + shapeType = typ; } public override bool HasPhysicalShape { @@ -91,7 +91,7 @@ private sealed class BulletShapeUnman : BulletShape } public override BulletShape Clone() { - return new BulletShapeUnman(ptr, type); + return new BulletShapeUnman(ptr, shapeType); } public override bool ReferenceSame(BulletShape other) { @@ -375,7 +375,7 @@ public override BulletShape DuplicateCollisionShape(BulletWorld world, BulletSha { BulletWorldUnman worldu = world as BulletWorldUnman; BulletShapeUnman srcShapeu = srcShape as BulletShapeUnman; - return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.type); + return new BulletShapeUnman(BSAPICPP.DuplicateCollisionShape2(worldu.ptr, srcShapeu.ptr, id), srcShape.shapeType); } public override bool DeleteCollisionShape(BulletWorld world, BulletShape shape) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index b37265a46f..1ef8b1714f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -85,7 +85,7 @@ private sealed class BulletShapeXNA : BulletShape : base() { shape = xx; - type = typ; + shapeType = typ; } public override bool HasPhysicalShape { @@ -97,7 +97,7 @@ private sealed class BulletShapeXNA : BulletShape } public override BulletShape Clone() { - return new BulletShapeXNA(shape, type); + return new BulletShapeXNA(shape, shapeType); } public override bool ReferenceSame(BulletShape other) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index bd5ee0b17f..ac059792d6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -87,8 +87,8 @@ public class BSActorAvatarMove : BSActor // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). // Register a prestep action to restore physical requirements before the next simulation step. // Called at taint-time. - // BSActor.RemoveBodyDependencies() - public override void RemoveBodyDependencies() + // BSActor.RemoveDependencies() + public override void RemoveDependencies() { // Nothing to do for the hoverer since it is all software at pre-step action time. } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs index 92ace66789..3630ca8e67 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs @@ -87,8 +87,8 @@ public class BSActorHover : BSActor // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). // Register a prestep action to restore physical requirements before the next simulation step. // Called at taint-time. - // BSActor.RemoveBodyDependencies() - public override void RemoveBodyDependencies() + // BSActor.RemoveDependencies() + public override void RemoveDependencies() { // Nothing to do for the hoverer since it is all software at pre-step action time. } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs index 09ee32b07f..6059af5563 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs @@ -85,8 +85,8 @@ public class BSActorLockAxis : BSActor // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). // Register a prestep action to restore physical requirements before the next simulation step. // Called at taint-time. - // BSActor.RemoveBodyDependencies() - public override void RemoveBodyDependencies() + // BSActor.RemoveDependencies() + public override void RemoveDependencies() { if (LockAxisConstraint != null) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs index 56aacc560b..1b598fdfba 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs @@ -88,8 +88,8 @@ public class BSActorMoveToTarget : BSActor // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). // Register a prestep action to restore physical requirements before the next simulation step. // Called at taint-time. - // BSActor.RemoveBodyDependencies() - public override void RemoveBodyDependencies() + // BSActor.RemoveDependencies() + public override void RemoveDependencies() { // Nothing to do for the moveToTarget since it is all software at pre-step action time. } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs index 3ad138d25d..c0f40fdd0a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs @@ -89,8 +89,8 @@ public class BSActorSetForce : BSActor // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). // Register a prestep action to restore physical requirements before the next simulation step. // Called at taint-time. - // BSActor.RemoveBodyDependencies() - public override void RemoveBodyDependencies() + // BSActor.RemoveDependencies() + public override void RemoveDependencies() { // Nothing to do for the hoverer since it is all software at pre-step action time. } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs index 7a791ec770..b3806e17ad 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs @@ -89,8 +89,8 @@ public class BSActorSetTorque : BSActor // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). // Register a prestep action to restore physical requirements before the next simulation step. // Called at taint-time. - // BSActor.RemoveBodyDependencies() - public override void RemoveBodyDependencies() + // BSActor.RemoveDependencies() + public override void RemoveDependencies() { // Nothing to do for the hoverer since it is all software at pre-step action time. } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs index 12a88177a3..5e3f1c4097 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs @@ -106,9 +106,9 @@ public class BSActorCollection { ForEachActor(a => a.Refresh()); } - public void RemoveBodyDependencies() + public void RemoveDependencies() { - ForEachActor(a => a.RemoveBodyDependencies()); + ForEachActor(a => a.RemoveDependencies()); } } @@ -154,7 +154,7 @@ public abstract class BSActor public abstract void Refresh(); // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). // Register a prestep action to restore physical requirements before the next simulation step. - public abstract void RemoveBodyDependencies(); + public abstract void RemoveDependencies(); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index a0d58d3fa3..da23a26226 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -123,8 +123,8 @@ public sealed class BSCharacter : BSPhysObject { PhysicsScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */); PhysBody.Clear(); - PhysicsScene.Shapes.DereferenceShape(PhysShape, null /* bodyCallback */); - PhysShape.Clear(); + PhysShape.Dereference(PhysicsScene); + PhysShape = new BSShapeNull(); }); } @@ -146,8 +146,8 @@ public sealed class BSCharacter : BSPhysObject Flying = _flying; PhysicsScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution); - PhysicsScene.PE.SetMargin(PhysShape, PhysicsScene.Params.collisionMargin); - PhysicsScene.PE.SetLocalScaling(PhysShape, Scale); + PhysicsScene.PE.SetMargin(PhysShape.physShapeInfo, PhysicsScene.Params.collisionMargin); + PhysicsScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale); PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); if (BSParam.CcdMotionThreshold > 0f) { @@ -205,9 +205,9 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { - if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape) + if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape) { - PhysicsScene.PE.SetLocalScaling(PhysShape, Scale); + PhysicsScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale); UpdatePhysicalMassProperties(RawMass, true); // Make sure this change appears as a property update event PhysicsScene.PE.PushUpdate(PhysBody); @@ -221,11 +221,6 @@ public sealed class BSCharacter : BSPhysObject { set { BaseShape = value; } } - // I want the physics engine to make an avatar capsule - public override BSPhysicsShapeType PreferredPhysicalShape - { - get {return BSPhysicsShapeType.SHAPE_CAPSULE; } - } public override bool Grabbed { set { _grabbed = value; } @@ -381,7 +376,7 @@ public sealed class BSCharacter : BSPhysObject } public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) { - OMV.Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass); + OMV.Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass); PhysicsScene.PE.SetMassProps(PhysBody, physMass, localInertia); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 612c68b913..e2e807ed05 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -625,7 +625,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Vehicles report collision events so we know when it's on the ground m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); - ControllingPrim.Inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape, m_vehicleMass); + ControllingPrim.Inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass); m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia); m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody); @@ -649,7 +649,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } // BSActor.RemoveBodyDependencies - public override void RemoveBodyDependencies() + public override void RemoveDependencies() { Refresh(); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 4ece1eb496..df1dd347dc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -93,13 +93,6 @@ 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. Causes the correct shape to be selected. - public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor) - { - return BSPhysicsShapeType.SHAPE_UNKNOWN; - } - // We keep the prim's mass in the linkset structure since it could be dependent on other prims public float LinksetMass { get; protected set; } @@ -263,7 +256,7 @@ public abstract class BSLinkset // This is called when the root body is changing. // Returns 'true' of something was actually removed and would need restoring // Called at taint-time!! - public abstract bool RemoveBodyDependencies(BSPrimLinkable child); + public abstract bool RemoveDependencies(BSPrimLinkable child); // ================================================================ protected virtual float ComputeLinksetMass() diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index e05562a2c9..a20bbc3956 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -98,19 +98,6 @@ public sealed class BSLinksetCompound : BSLinkset { } - // For compound implimented linksets, if there are children, use compound shape for the root. - public override BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor) - { - // Returning 'unknown' means we don't have a preference. - BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN; - if (IsRoot(requestor) && HasAnyChildren) - { - ret = BSPhysicsShapeType.SHAPE_COMPOUND; - } - // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret); - return ret; - } - // When physical properties are changed the linkset needs to recalculate // its internal properties. public override void Refresh(BSPrimLinkable requestor) @@ -218,22 +205,22 @@ public sealed class BSLinksetCompound : BSLinkset // and that is caused by us updating the object. if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0) { - // Find the physical instance of the child - if (LinksetRoot.PhysShape.HasPhysicalShape && PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape)) + // Find the physical instance of the child + if (LinksetRoot.PhysShape.HasPhysicalShape && PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo)) { // It is possible that the linkset is still under construction and the child is not yet // inserted into the compound shape. A rebuild of the linkset in a pre-step action will // build the whole thing with the new position or rotation. // The index must be checked because Bullet references the child array but does no validity // checking of the child index passed. - int numLinksetChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape); + int numLinksetChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape.physShapeInfo); if (updated.LinksetChildIndex < numLinksetChildren) { - BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, updated.LinksetChildIndex); + BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex); if (linksetChildShape.HasPhysicalShape) { // Found the child shape within the compound shape - PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, updated.LinksetChildIndex, + PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex, updated.RawPosition - LinksetRoot.RawPosition, updated.RawOrientation * OMV.Quaternion.Inverse(LinksetRoot.RawOrientation), true /* shouldRecalculateLocalAabb */); @@ -278,7 +265,7 @@ public sealed class BSLinksetCompound : BSLinkset // Since we don't keep in world relationships, do nothing unless it's a child changing. // Returns 'true' of something was actually removed and would need restoring // Called at taint-time!! - public override bool RemoveBodyDependencies(BSPrimLinkable child) + public override bool RemoveDependencies(BSPrimLinkable child) { bool ret = false; @@ -404,11 +391,12 @@ public sealed class BSLinksetCompound : BSLinkset { try { + /* // Suppress rebuilding while rebuilding. (We know rebuilding is on only one thread.) Rebuilding = true; // Cause the root shape to be rebuilt as a compound object with just the root in it - LinksetRoot.ForceBodyShapeRebuild(true /* inTaintTime */); + LinksetRoot.ForceBodyShapeRebuild(true /* inTaintTime ); // The center of mass for the linkset is the geometric center of the group. // Compute a displacement for each component so it is relative to the center-of-mass. @@ -430,10 +418,10 @@ public sealed class BSLinksetCompound : BSLinkset LinksetRoot.ForcePosition = LinksetRoot.RawPosition; // Update the local transform for the root child shape so it is offset from the <0,0,0> which is COM - PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0 /* childIndex */, + PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape.physShapeInfo, 0 /* childIndex , -centerDisplacement, OMV.Quaternion.Identity, // LinksetRoot.RawOrientation, - false /* shouldRecalculateLocalAabb (is done later after linkset built) */); + false /* shouldRecalculateLocalAabb (is done later after linkset built) ); DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}", LinksetRoot.LocalID, centerOfMassW, LinksetRoot.RawPosition, centerDisplacement); @@ -501,6 +489,7 @@ public sealed class BSLinksetCompound : BSLinkset // Enable the physical position updator to return the position and rotation of the root shape PhysicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); + */ } finally { @@ -508,7 +497,7 @@ public sealed class BSLinksetCompound : BSLinkset } // See that the Aabb surrounds the new shape - PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape); + PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo); } } } \ No newline at end of file diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 6d252caab2..1811772cbc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -93,11 +93,11 @@ public sealed class BSLinksetConstraints : BSLinkset // 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(BSPrimLinkable child) + public override bool RemoveDependencies(BSPrimLinkable child) { bool ret = false; - DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}", + DetailLog("{0},BSLinksetConstraint.RemoveDependencies,removeChildrenForRoot,rID={1},rBody={2}", child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString); lock (m_linksetActivityLock) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 309d004274..b6eb619ff2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -88,7 +88,7 @@ public abstract class BSPhysObject : PhysicsActor // We don't have any physical representation yet. PhysBody = new BulletBody(localID); - PhysShape = new BulletShape(); + PhysShape = new BSShapeNull(); PrimAssetState = PrimAssetCondition.Unknown; @@ -138,7 +138,7 @@ public abstract class BSPhysObject : PhysicsActor // Reference to the physical body (btCollisionObject) of this object public BulletBody PhysBody; // Reference to the physical shape (btCollisionShape) of this object - public BulletShape PhysShape; + public BSShape PhysShape; // The physical representation of the prim might require an asset fetch. // The asset state is first 'Unknown' then 'Waiting' then either 'Failed' or 'Fetched'. @@ -151,13 +151,6 @@ 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 BSPhysicsShapeType PreferredPhysicalShape - { - get { return BSPhysicsShapeType.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 // between the current update and the previous values. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4bc266bea7..5d1233854b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -134,8 +134,8 @@ public class BSPrim : BSPhysObject // If there are physical body and shape, release my use of same. PhysicsScene.Shapes.DereferenceBody(PhysBody, null); PhysBody.Clear(); - PhysicsScene.Shapes.DereferenceShape(PhysShape, null); - PhysShape.Clear(); + PhysShape.Dereference(PhysicsScene); + PhysShape = new BSShapeNull(); }); } @@ -161,25 +161,13 @@ public class BSPrim : BSPhysObject ForceBodyShapeRebuild(false); } } - // 'unknown' says to choose the best type - public override BSPhysicsShapeType PreferredPhysicalShape - { get { return BSPhysicsShapeType.SHAPE_UNKNOWN; } } - public override bool ForceBodyShapeRebuild(bool inTaintTime) { - if (inTaintTime) + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate() { _mass = CalculateMass(); // changing the shape changes the mass CreateGeomAndObject(true); - } - else - { - PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", delegate() - { - _mass = CalculateMass(); // changing the shape changes the mass - CreateGeomAndObject(true); - }); - } + }); return true; } public override bool Grabbed { @@ -462,7 +450,7 @@ public class BSPrim : BSPhysObject Gravity = ComputeGravity(Buoyancy); PhysicsScene.PE.SetGravity(PhysBody, Gravity); - Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape, physMass); + Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass); PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia); PhysicsScene.PE.UpdateInertiaTensor(PhysBody); @@ -805,7 +793,8 @@ public class BSPrim : BSPhysObject PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody); DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}", - LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape); + LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), + CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape); } // "Making dynamic" means changing to and from static. @@ -1463,12 +1452,13 @@ public class BSPrim : BSPhysObject // Create the correct physical representation for this type of object. // Updates base.PhysBody and base.PhysShape with the new information. // Ignore 'forceRebuild'. 'GetBodyAndShape' makes the right choices and changes of necessary. - PhysicsScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysicsScene.World, this, null, delegate(BulletBody dBody) + PhysicsScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysicsScene.World, this, delegate(BulletBody pBody, BulletShape pShape) { // Called if the current prim body is about to be destroyed. // Remove all the physical dependencies on the old body. // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...) - RemoveBodyDependencies(); + // Note: this virtual function is overloaded by BSPrimLinkable to remove linkset constraints. + RemoveDependencies(); }); // Make sure the properties are set on the new object @@ -1477,9 +1467,9 @@ public class BSPrim : BSPhysObject } // Called at taint-time - protected virtual void RemoveBodyDependencies() + protected virtual void RemoveDependencies() { - PhysicalActors.RemoveBodyDependencies(); + PhysicalActors.RemoveDependencies(); } // The physics engine says that properties have updated. Update same and inform diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 28242d4ba0..81104ec1ad 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -61,9 +61,6 @@ public class BSPrimLinkable : BSPrimDisplaced base.Destroy(); } - public override BSPhysicsShapeType PreferredPhysicalShape - { get { return Linkset.PreferredPhysicalShape(this); } } - public override void link(Manager.PhysicsActor obj) { BSPrimLinkable parent = obj as BSPrimLinkable; @@ -149,10 +146,10 @@ public class BSPrimLinkable : BSPrimDisplaced } // Body is being taken apart. Remove physical dependencies and schedule a rebuild. - protected override void RemoveBodyDependencies() + protected override void RemoveDependencies() { - Linkset.RemoveBodyDependencies(this); - base.RemoveBodyDependencies(); + Linkset.RemoveDependencies(this); + base.RemoveDependencies(); } public override void UpdateProperties(EntityProperties entprop) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 0f9b3c3bf3..3c23509f84 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -38,38 +38,15 @@ public sealed class BSShapeCollection : IDisposable { private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; - private BSScene PhysicsScene { get; set; } + private BSScene m_physicsScene { get; set; } private Object m_collectionActivityLock = new Object(); - // Description of a Mesh - private struct MeshDesc - { - public BulletShape shape; - public int referenceCount; - public DateTime lastReferenced; - public UInt64 shapeKey; - } - - // Description of a hull. - // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations. - private struct HullDesc - { - public BulletShape shape; - public int referenceCount; - public DateTime lastReferenced; - public UInt64 shapeKey; - } - - // The sharable set of meshes and hulls. Indexed by their shape hash. - private Dictionary Meshes = new Dictionary(); - private Dictionary Hulls = new Dictionary(); - private bool DDetail = false; public BSShapeCollection(BSScene physScene) { - PhysicsScene = physScene; + m_physicsScene = physScene; // Set the next to 'true' for very detailed shape update detailed logging (detailed details?) // While detailed debugging is still active, this is better than commenting out all the // DetailLog statements. When debugging slows down, this and the protected logging @@ -86,22 +63,18 @@ public sealed class BSShapeCollection : IDisposable // Mostly used for changing bodies out from under Linksets. // Useful for other cases where parameters need saving. // Passing 'null' says no callback. - public delegate void ShapeDestructionCallback(BulletShape shape); - public delegate void BodyDestructionCallback(BulletBody body); + public delegate void PhysicalDestructionCallback(BulletBody pBody, BulletShape pShape); // Called to update/change the body and shape for an object. - // First checks the shape and updates that if necessary then makes - // sure the body is of the right type. + // The object has some shape and body on it. Here we decide if that is the correct shape + // for the current state of the object (static/dynamic/...). + // If bodyCallback is not null, it is called if either the body or the shape are changed + // so dependencies (like constraints) can be removed before the physical object is dereferenced. // Return 'true' if either the body or the shape changed. - // 'shapeCallback' and 'bodyCallback' are, if non-null, functions called just before - // the current shape or body is destroyed. This allows the caller to remove any - // higher level dependencies on the shape or body. Mostly used for LinkSets to - // remove the physical constraints before the body is destroyed. - // Called at taint-time!! - public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim, - ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback) + // Called at taint-time. + public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim, PhysicalDestructionCallback bodyCallback) { - PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape"); + m_physicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape"); bool ret = false; @@ -111,12 +84,12 @@ public sealed class BSShapeCollection : IDisposable // Do we have the correct geometry for this type of object? // Updates prim.BSShape with information/pointers to shape. // Returns 'true' of BSShape is changed to a new shape. - bool newGeom = CreateGeom(forceRebuild, prim, shapeCallback); + bool newGeom = CreateGeom(forceRebuild, prim, bodyCallback); // 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 // Returns 'true' if BSBody was changed. - bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, bodyCallback); + bool newBody = CreateBody((newGeom || forceRebuild), prim, m_physicsScene.World, bodyCallback); ret = newGeom || newBody; } DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}", @@ -127,271 +100,20 @@ public sealed class BSShapeCollection : IDisposable public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim) { - return GetBodyAndShape(forceRebuild, sim, prim, null, null); + return GetBodyAndShape(forceRebuild, sim, prim, null); } - // Track another user of a body. - // We presume the caller has allocated the body. - // Bodies only have one user so the body is just put into the world if not already there. - private void ReferenceBody(BulletBody body) + // If the existing prim's shape is to be replaced, remove the tie to the existing shape + // before replacing it. + private void DereferenceExistingShape(BSPhysObject prim, PhysicalDestructionCallback shapeCallback) { - lock (m_collectionActivityLock) + if (prim.PhysShape.HasPhysicalShape) { - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); - if (!PhysicsScene.PE.IsInWorld(PhysicsScene.World, body)) - { - PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body); - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); - } - } - } - - // Release the usage of a body. - // Called when releasing use of a BSBody. BSShape is handled separately. - // Called in taint time. - public void DereferenceBody(BulletBody body, BodyDestructionCallback bodyCallback ) - { - if (!body.HasPhysicalBody) - return; - - PhysicsScene.AssertInTaintTime("BSShapeCollection.DereferenceBody"); - - lock (m_collectionActivityLock) - { - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1}", body.ID, body); - // If the caller needs to know the old body is going away, pass the event up. - if (bodyCallback != null) bodyCallback(body); - - // Removing an object not in the world is a NOOP - PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body); - - // Zero any reference to the shape so it is not freed when the body is deleted. - PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, null); - PhysicsScene.PE.DestroyObject(PhysicsScene.World, body); - } - } - - // Track the datastructures and use count for a shape. - // When creating a hull, this is called first to reference the mesh - // and then again to reference the hull. - // Meshes and hulls for the same shape have the same hash key. - // NOTE that native shapes are not added to the mesh list or removed. - // Returns 'true' if this is the initial reference to the shape. Otherwise reused. - public bool ReferenceShape(BulletShape shape) - { - bool ret = false; - switch (shape.type) - { - case BSPhysicsShapeType.SHAPE_MESH: - MeshDesc meshDesc; - if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) - { - // There is an existing instance of this mesh. - meshDesc.referenceCount++; - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); - } - else - { - // This is a new reference to a mesh - meshDesc.shape = shape.Clone(); - meshDesc.shapeKey = shape.shapeKey; - // We keep a reference to the underlying IMesh data so a hull can be built - meshDesc.referenceCount = 1; - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount); - ret = true; - } - meshDesc.lastReferenced = System.DateTime.Now; - Meshes[shape.shapeKey] = meshDesc; - break; - case BSPhysicsShapeType.SHAPE_HULL: - HullDesc hullDesc; - if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) - { - // There is an existing instance of this hull. - hullDesc.referenceCount++; - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); - } - else - { - // This is a new reference to a hull - hullDesc.shape = shape.Clone(); - hullDesc.shapeKey = shape.shapeKey; - hullDesc.referenceCount = 1; - if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}", - BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount); - ret = true; - - } - hullDesc.lastReferenced = System.DateTime.Now; - Hulls[shape.shapeKey] = hullDesc; - break; - case BSPhysicsShapeType.SHAPE_UNKNOWN: - break; - default: - // Native shapes are not tracked and they don't go into any list - break; - } - return ret; - } - - // Release the usage of a shape. - public void DereferenceShape(BulletShape shape, ShapeDestructionCallback shapeCallback) - { - if (!shape.HasPhysicalShape) - return; - - PhysicsScene.AssertInTaintTime("BSShapeCollection.DereferenceShape"); - - if (shape.HasPhysicalShape) - { - if (shape.isNativeShape) - { - // Native shapes are not tracked and are released immediately - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1}", - BSScene.DetailLogZero, shape.AddrString); - if (shapeCallback != null) shapeCallback(shape); - PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape); - } - else - { - switch (shape.type) - { - case BSPhysicsShapeType.SHAPE_HULL: - DereferenceHull(shape, shapeCallback); - break; - case BSPhysicsShapeType.SHAPE_MESH: - DereferenceMesh(shape, shapeCallback); - break; - case BSPhysicsShapeType.SHAPE_COMPOUND: - DereferenceCompound(shape, shapeCallback); - break; - case BSPhysicsShapeType.SHAPE_UNKNOWN: - break; - default: - break; - } - } - } - } - - // Count down the reference count for a mesh shape - // Called at taint-time. - private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback) - { - MeshDesc meshDesc; - if (Meshes.TryGetValue(shape.shapeKey, out meshDesc)) - { - meshDesc.referenceCount--; - // TODO: release the Bullet storage - if (shapeCallback != null) shapeCallback(shape); - meshDesc.lastReferenced = System.DateTime.Now; - Meshes[shape.shapeKey] = meshDesc; - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}", - BSScene.DetailLogZero, shape, meshDesc.referenceCount); - - } - } - - // Count down the reference count for a hull shape - // Called at taint-time. - private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback) - { - HullDesc hullDesc; - if (Hulls.TryGetValue(shape.shapeKey, out hullDesc)) - { - hullDesc.referenceCount--; - // TODO: release the Bullet storage (aging old entries?) - - // Tell upper layers that, if they have dependencies on this shape, this link is going away - if (shapeCallback != null) shapeCallback(shape); - - hullDesc.lastReferenced = System.DateTime.Now; - Hulls[shape.shapeKey] = hullDesc; - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}", - BSScene.DetailLogZero, shape, hullDesc.referenceCount); - } - } - - // Remove a reference to a compound shape. - // Taking a compound shape apart is a little tricky because if you just delete the - // physical shape, it will free all the underlying children. We can't do that because - // they could be shared. So, this removes each of the children from the compound and - // dereferences them separately before destroying the compound collision object itself. - // Called at taint-time. - private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback) - { - if (!PhysicsScene.PE.IsCompound(shape)) - { - // Failed the sanity check!! - PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}", - LogHeader, shape.type, shape.AddrString); - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", - BSScene.DetailLogZero, shape.type, shape.AddrString); - return; - } - - int numChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(shape); - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren); - - for (int ii = numChildren - 1; ii >= 0; ii--) - { - BulletShape childShape = PhysicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(shape, ii); - DereferenceAnonCollisionShape(childShape); - } - PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape); - } - - // Sometimes we have a pointer to a collision shape but don't know what type it is. - // Figure out type and call the correct dereference routine. - // Called at taint-time. - private void DereferenceAnonCollisionShape(BulletShape shapeInfo) - { - MeshDesc meshDesc; - HullDesc hullDesc; - - if (TryGetMeshByPtr(shapeInfo, out meshDesc)) - { - shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH; - shapeInfo.shapeKey = meshDesc.shapeKey; - } - else - { - if (TryGetHullByPtr(shapeInfo, out hullDesc)) - { - shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL; - shapeInfo.shapeKey = hullDesc.shapeKey; - } - else - { - if (PhysicsScene.PE.IsCompound(shapeInfo)) - { - shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND; - } - else - { - if (PhysicsScene.PE.IsNativeShape(shapeInfo)) - { - shapeInfo.isNativeShape = true; - shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter) - } - } - } - } - - if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo); - - if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN) - { - DereferenceShape(shapeInfo, null); - } - else - { - PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}", - LogHeader, PhysicsScene.RegionName, shapeInfo.AddrString); + if (shapeCallback != null) + shapeCallback(prim.PhysBody, prim.PhysShape.physShapeInfo); + prim.PhysShape.Dereference(m_physicsScene); } + prim.PhysShape = new BSShapeNull(); } // Create the geometry information in Bullet for later use. @@ -402,40 +124,7 @@ 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, ShapeDestructionCallback shapeCallback) - { - bool ret = false; - bool haveShape = false; - - if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE) - { - // an avatar capsule is close to a native shape (it is not shared) - GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE, shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape); - ret = true; - haveShape = true; - } - - // Compound shapes are handled special as they are rebuilt from scratch. - // This isn't too great a hardship since most of the child shapes will have already been created. - if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND) - { - ret = GetReferenceToCompoundShape(prim, shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape); - haveShape = true; - } - - if (!haveShape) - { - ret = CreateGeomNonSpecial(forceRebuild, prim, shapeCallback); - } - - return ret; - } - - // Create a mesh, hull or native shape. - // Return 'true' if the prim's shape was changed. - public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) + private bool CreateGeom(bool forceRebuild, BSPhysObject prim, PhysicalDestructionCallback shapeCallback) { bool ret = false; bool haveShape = false; @@ -443,19 +132,21 @@ public sealed class BSShapeCollection : IDisposable PrimitiveBaseShape pbs = prim.BaseShape; // If the prim attributes are simple, this could be a simple Bullet native shape + // Native shapes work whether to object is static or physical. if (!haveShape && nativeShapePossible && pbs != null - && !pbs.SculptEntry - && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim) || PrimHasNoCuts(pbs)) ) + && PrimHasNoCuts(pbs) + && ( !pbs.SculptEntry || (pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim) ) + ) { // Get the scale of any existing shape so we can see if the new shape is same native type and same size. OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero; if (prim.PhysShape.HasPhysicalShape) - scaleOfExistingShape = PhysicsScene.PE.GetLocalScaling(prim.PhysShape); + scaleOfExistingShape = m_physicsScene.PE.GetLocalScaling(prim.PhysShape.physShapeInfo); if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}", - prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type); + prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.physShapeInfo.shapeType); // It doesn't look like Bullet scales native spheres so make sure the scales are all equal if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) @@ -463,26 +154,28 @@ public sealed class BSShapeCollection : IDisposable { haveShape = true; if (forceRebuild - || prim.Scale != scaleOfExistingShape - || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE - ) + || prim.PhysShape.ShapeType != BSPhysicsShapeType.SHAPE_SPHERE + ) { - ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE, - FixedShapeKey.KEY_SPHERE, shapeCallback); + DereferenceExistingShape(prim, shapeCallback); + prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim, + BSPhysicsShapeType.SHAPE_SPHERE, FixedShapeKey.KEY_SPHERE); } if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},rebuilt={2},shape={3}", prim.LocalID, forceRebuild, ret, prim.PhysShape); } + // If we didn't make a sphere, maybe a box will work. if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) { haveShape = true; if (forceRebuild || prim.Scale != scaleOfExistingShape - || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX + || prim.PhysShape.ShapeType != BSPhysicsShapeType.SHAPE_BOX ) { - ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX, - FixedShapeKey.KEY_BOX, shapeCallback); + DereferenceExistingShape(prim, shapeCallback); + prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim, + BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); } if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},rebuilt={2},shape={3}", prim.LocalID, forceRebuild, ret, prim.PhysShape); @@ -511,7 +204,7 @@ public sealed class BSShapeCollection : IDisposable } // return 'true' if the prim's shape was changed. - public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) + private bool CreateGeomMeshOrHull(BSPhysObject prim, PhysicalDestructionCallback shapeCallback) { bool ret = false; @@ -520,537 +213,70 @@ public sealed class BSShapeCollection : IDisposable if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects) { // Update prim.BSShape to reference a hull of this shape. - ret = GetReferenceToHull(prim, shapeCallback); + DereferenceExistingShape(prim, shapeCallback); + prim.PhysShape = BSShapeMesh.GetReference(m_physicsScene, false /*forceRebuild*/, prim); if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", - prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); + prim.LocalID, prim.PhysShape, prim.PhysShape.physShapeInfo.shapeKey.ToString("X")); } else { - ret = GetReferenceToMesh(prim, shapeCallback); + // Update prim.BSShape to reference a mesh of this shape. + DereferenceExistingShape(prim, shapeCallback); + prim.PhysShape = BSShapeHull.GetReference(m_physicsScene, false /*forceRebuild*/, prim); if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", - prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X")); + prim.LocalID, prim.PhysShape, prim.PhysShape.physShapeInfo.shapeKey.ToString("X")); } return ret; } - // 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, - BSPhysicsShapeType shapeType, FixedShapeKey shapeKey, - ShapeDestructionCallback shapeCallback) + // Track another user of a body. + // We presume the caller has allocated the body. + // Bodies only have one user so the body is just put into the world if not already there. + private void ReferenceBody(BulletBody body) { - // release any previous shape - DereferenceShape(prim.PhysShape, shapeCallback); - - BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey); - - // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. - if (DDetail) DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", - prim.LocalID, newShape, prim.Scale); - - // native shapes are scaled by Bullet - prim.PhysShape = newShape; - return true; - } - - private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, BSPhysicsShapeType shapeType, - FixedShapeKey shapeKey) - { - BulletShape newShape; - // Need to make sure the passed shape information is for the native type. - ShapeData nativeShapeData = new ShapeData(); - nativeShapeData.Type = shapeType; - nativeShapeData.ID = prim.LocalID; - nativeShapeData.Scale = prim.Scale; - nativeShapeData.Size = prim.Scale; // unneeded, I think. - nativeShapeData.MeshKey = (ulong)shapeKey; - nativeShapeData.HullKey = (ulong)shapeKey; - - if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE) + lock (m_collectionActivityLock) { - - newShape = PhysicsScene.PE.BuildCapsuleShape(PhysicsScene.World, 1f, 1f, prim.Scale); - if (DDetail) DetailLog("{0},BSShapeCollection.BuildPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); - } - else - { - // Native shapes are scaled in Bullet so set the scaling to the size - newShape = PhysicsScene.PE.BuildNativeShape(PhysicsScene.World, nativeShapeData); - - } - if (!newShape.HasPhysicalShape) - { - PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", - LogHeader, prim.LocalID, shapeType); - } - newShape.shapeKey = (System.UInt64)shapeKey; - newShape.isNativeShape = true; - - return newShape; - } - - // Builds a mesh shape in the physical world and updates prim.BSShape. - // 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, ShapeDestructionCallback shapeCallback) - { - BulletShape newShape = new BulletShape(); - - float 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 == BSPhysicsShapeType.SHAPE_MESH) - return false; - - if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2},size={3},lod={4}", - prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"), prim.Size, lod); - - // Since we're recreating new, get rid of the reference to the previous shape - DereferenceShape(prim.PhysShape, shapeCallback); - - newShape = CreatePhysicalMesh(prim, newMeshKey, prim.BaseShape, prim.Size, lod); - // Take evasive action if the mesh was not constructed. - newShape = VerifyMeshCreated(PhysicsScene, newShape, prim); - - ReferenceShape(newShape); - - prim.PhysShape = newShape; - - return true; // 'true' means a new shape has been added to this prim - } - - private BulletShape CreatePhysicalMesh(BSPhysObject prim, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) - { - BulletShape newShape = new BulletShape(); - - MeshDesc meshDesc; - if (Meshes.TryGetValue(newMeshKey, out meshDesc)) - { - // If the mesh has already been built just use it. - newShape = meshDesc.shape.Clone(); - } - else - { - IMesh meshData = PhysicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, - false, // say it is not physical so a bounding box is not built - false // do not cache the mesh and do not use previously built versions - ); - - if (meshData != null) + if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body); + if (!m_physicsScene.PE.IsInWorld(m_physicsScene.World, body)) { - - int[] indices = meshData.getIndexListAsInt(); - int realIndicesIndex = indices.Length; - float[] verticesAsFloats = meshData.getVertexListAsFloat(); - - if (BSParam.ShouldRemoveZeroWidthTriangles) - { - // Remove degenerate triangles. These are triangles with two of the vertices - // are the same. This is complicated by the problem that vertices are not - // made unique in sculpties so we have to compare the values in the vertex. - realIndicesIndex = 0; - for (int tri = 0; tri < indices.Length; tri += 3) - { - // Compute displacements into vertex array for each vertex of the triangle - int v1 = indices[tri + 0] * 3; - int v2 = indices[tri + 1] * 3; - int v3 = indices[tri + 2] * 3; - // Check to see if any two of the vertices are the same - if (!( ( verticesAsFloats[v1 + 0] == verticesAsFloats[v2 + 0] - && verticesAsFloats[v1 + 1] == verticesAsFloats[v2 + 1] - && verticesAsFloats[v1 + 2] == verticesAsFloats[v2 + 2]) - || ( verticesAsFloats[v2 + 0] == verticesAsFloats[v3 + 0] - && verticesAsFloats[v2 + 1] == verticesAsFloats[v3 + 1] - && verticesAsFloats[v2 + 2] == verticesAsFloats[v3 + 2]) - || ( verticesAsFloats[v1 + 0] == verticesAsFloats[v3 + 0] - && verticesAsFloats[v1 + 1] == verticesAsFloats[v3 + 1] - && verticesAsFloats[v1 + 2] == verticesAsFloats[v3 + 2]) ) - ) - { - // None of the vertices of the triangles are the same. This is a good triangle; - indices[realIndicesIndex + 0] = indices[tri + 0]; - indices[realIndicesIndex + 1] = indices[tri + 1]; - indices[realIndicesIndex + 2] = indices[tri + 2]; - realIndicesIndex += 3; - } - } - } - DetailLog("{0},BSShapeCollection.CreatePhysicalMesh,origTri={1},realTri={2},numVerts={3}", - BSScene.DetailLogZero, indices.Length / 3, realIndicesIndex / 3, verticesAsFloats.Length / 3); - - if (realIndicesIndex != 0) - { - newShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, - realIndicesIndex, indices, verticesAsFloats.Length / 3, verticesAsFloats); - } - else - { - PhysicsScene.Logger.DebugFormat("{0} All mesh triangles degenerate. Prim {1} at {2} in {3}", - LogHeader, prim.PhysObjectName, prim.RawPosition, PhysicsScene.Name); - } + m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, body); + if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body); } } - newShape.shapeKey = newMeshKey; - - return newShape; } - // See that hull shape exists in the physical world and update prim.BSShape. - // We could be creating the hull because scale changed or whatever. - // Return 'true' if a new hull was built. Otherwise, returning a shared hull instance. - private bool GetReferenceToHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) + // Release the usage of a body. + // Called when releasing use of a BSBody. BSShape is handled separately. + // Called in taint time. + public void DereferenceBody(BulletBody body, PhysicalDestructionCallback bodyCallback ) { - BulletShape newShape; + if (!body.HasPhysicalBody) + return; - float lod; - System.UInt64 newHullKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod); + m_physicsScene.AssertInTaintTime("BSShapeCollection.DereferenceBody"); - // if the hull hasn't changed, don't rebuild it - if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_HULL) - return false; - - if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}", - prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X")); - - // Remove usage of the previous shape. - DereferenceShape(prim.PhysShape, shapeCallback); - - newShape = CreatePhysicalHull(prim, newHullKey, prim.BaseShape, prim.Size, lod); - // It might not have been created if we're waiting for an asset. - newShape = VerifyMeshCreated(PhysicsScene, newShape, prim); - - ReferenceShape(newShape); - - prim.PhysShape = newShape; - return true; // 'true' means a new shape has been added to this prim - } - - List m_hulls; - private BulletShape CreatePhysicalHull(BSPhysObject prim, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) - { - - BulletShape newShape = new BulletShape(); - IntPtr hullPtr = IntPtr.Zero; - - HullDesc hullDesc; - if (Hulls.TryGetValue(newHullKey, out hullDesc)) + lock (m_collectionActivityLock) { - // If the hull shape already has been created, just use the one shared instance. - newShape = hullDesc.shape.Clone(); + if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1}", body.ID, body); + // If the caller needs to know the old body is going away, pass the event up. + if (bodyCallback != null) + bodyCallback(body, null); + + // Removing an object not in the world is a NOOP + m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, body); + + // Zero any reference to the shape so it is not freed when the body is deleted. + m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, body, null); + + m_physicsScene.PE.DestroyObject(m_physicsScene.World, body); } - else - { - if (BSParam.ShouldUseBulletHACD) - { - DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,entry", prim.LocalID); - MeshDesc meshDesc; - if (!Meshes.TryGetValue(newHullKey, out meshDesc)) - { - // That's odd because the mesh should have been created before the hull - // but, since it doesn't exist, create it. - newShape = CreatePhysicalMesh(prim, newHullKey, prim.BaseShape, prim.Size, lod); - DetailLog("{0},BSShapeCollection.CreatePhysicalHull,noMeshBuiltNew,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); - - if (newShape.HasPhysicalShape) - { - ReferenceShape(newShape); - Meshes.TryGetValue(newHullKey, out meshDesc); - } - } - if (meshDesc.shape.HasPhysicalShape) - { - HACDParams parms; - parms.maxVerticesPerHull = BSParam.BHullMaxVerticesPerHull; - parms.minClusters = BSParam.BHullMinClusters; - parms.compacityWeight = BSParam.BHullCompacityWeight; - parms.volumeWeight = BSParam.BHullVolumeWeight; - parms.concavity = BSParam.BHullConcavity; - parms.addExtraDistPoints = BSParam.NumericBool(BSParam.BHullAddExtraDistPoints); - parms.addNeighboursDistPoints = BSParam.NumericBool(BSParam.BHullAddNeighboursDistPoints); - parms.addFacesPoints = BSParam.NumericBool(BSParam.BHullAddFacesPoints); - parms.shouldAdjustCollisionMargin = BSParam.NumericBool(BSParam.BHullShouldAdjustCollisionMargin); - - DetailLog("{0},BSShapeCollection.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape); - newShape = PhysicsScene.PE.BuildHullShapeFromMesh(PhysicsScene.World, meshDesc.shape, parms); - DetailLog("{0},BSShapeCollection.CreatePhysicalHull,hullFromMesh,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); - } - DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); - } - if (!newShape.HasPhysicalShape) - { - // Build a new hull in the physical world. - // Pass true for physicalness as this prevents the creation of bounding box which is not needed - IMesh meshData = PhysicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */); - if (meshData != null) - { - int[] indices = meshData.getIndexListAsInt(); - List vertices = meshData.getVertexList(); - - //format conversion from IMesh format to DecompDesc format - List convIndices = new List(); - List convVertices = new List(); - for (int ii = 0; ii < indices.GetLength(0); ii++) - { - convIndices.Add(indices[ii]); - } - foreach (OMV.Vector3 vv in vertices) - { - convVertices.Add(new float3(vv.X, vv.Y, vv.Z)); - } - - uint maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplit; - if (BSParam.CSHullMaxDepthSplit != BSParam.CSHullMaxDepthSplitForSimpleShapes) - { - // Simple primitive shapes we know are convex so they are better implemented with - // fewer hulls. - // Check for simple shape (prim without cuts) and reduce split parameter if so. - if (PrimHasNoCuts(pbs)) - { - maxDepthSplit = (uint)BSParam.CSHullMaxDepthSplitForSimpleShapes; - } - } - - // setup and do convex hull conversion - m_hulls = new List(); - DecompDesc dcomp = new DecompDesc(); - dcomp.mIndices = convIndices; - dcomp.mVertices = convVertices; - dcomp.mDepth = maxDepthSplit; - dcomp.mCpercent = BSParam.CSHullConcavityThresholdPercent; - dcomp.mPpercent = BSParam.CSHullVolumeConservationThresholdPercent; - dcomp.mMaxVertices = (uint)BSParam.CSHullMaxVertices; - dcomp.mSkinWidth = BSParam.CSHullMaxSkinWidth; - ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn); - // create the hull into the _hulls variable - convexBuilder.process(dcomp); - - DetailLog("{0},BSShapeCollection.CreatePhysicalHull,key={1},inVert={2},inInd={3},split={4},hulls={5}", - BSScene.DetailLogZero, newHullKey, indices.GetLength(0), vertices.Count, maxDepthSplit, m_hulls.Count); - - // Convert the vertices and indices for passing to unmanaged. - // The hull information is passed as a large floating point array. - // The format is: - // convHulls[0] = number of hulls - // convHulls[1] = number of vertices in first hull - // convHulls[2] = hull centroid X coordinate - // convHulls[3] = hull centroid Y coordinate - // convHulls[4] = hull centroid Z coordinate - // convHulls[5] = first hull vertex X - // convHulls[6] = first hull vertex Y - // convHulls[7] = first hull vertex Z - // convHulls[8] = second hull vertex X - // ... - // convHulls[n] = number of vertices in second hull - // convHulls[n+1] = second hull centroid X coordinate - // ... - // - // TODO: is is very inefficient. Someday change the convex hull generator to return - // data structures that do not need to be converted in order to pass to Bullet. - // And maybe put the values directly into pinned memory rather than marshaling. - int hullCount = m_hulls.Count; - int totalVertices = 1; // include one for the count of the hulls - foreach (ConvexResult cr in m_hulls) - { - totalVertices += 4; // add four for the vertex count and centroid - totalVertices += cr.HullIndices.Count * 3; // we pass just triangles - } - float[] convHulls = new float[totalVertices]; - - convHulls[0] = (float)hullCount; - int jj = 1; - foreach (ConvexResult cr in m_hulls) - { - // copy vertices for index access - float3[] verts = new float3[cr.HullVertices.Count]; - int kk = 0; - foreach (float3 ff in cr.HullVertices) - { - verts[kk++] = ff; - } - - // add to the array one hull's worth of data - convHulls[jj++] = cr.HullIndices.Count; - convHulls[jj++] = 0f; // centroid x,y,z - convHulls[jj++] = 0f; - convHulls[jj++] = 0f; - foreach (int ind in cr.HullIndices) - { - convHulls[jj++] = verts[ind].x; - convHulls[jj++] = verts[ind].y; - convHulls[jj++] = verts[ind].z; - } - } - // create the hull data structure in Bullet - newShape = PhysicsScene.PE.CreateHullShape(PhysicsScene.World, hullCount, convHulls); - } - } - newShape.shapeKey = newHullKey; - } - - return newShape; - } - - // Callback from convex hull creater with a newly created hull. - // Just add it to our collection of hulls for this shape. - private void HullReturn(ConvexResult result) - { - m_hulls.Add(result); - return; - } - - // Compound shapes are always built from scratch. - // This shouldn't be to bad since most of the parts will be meshes that had been built previously. - private bool GetReferenceToCompoundShape(BSPhysObject prim, ShapeDestructionCallback shapeCallback) - { - // Remove reference to the old shape - // Don't need to do this as the shape is freed when the new root shape is created below. - // DereferenceShape(prim.PhysShape, true, shapeCallback); - - BulletShape cShape = PhysicsScene.PE.CreateCompoundShape(PhysicsScene.World, false); - - // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape. - CreateGeomMeshOrHull(prim, shapeCallback); - PhysicsScene.PE.AddChildShapeToCompoundShape(cShape, prim.PhysShape, OMV.Vector3.Zero, OMV.Quaternion.Identity); - if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}", - prim.LocalID, cShape, prim.PhysShape); - - prim.PhysShape = cShape; - - return true; - } - - // Create a hash of all the shape parameters to be used as a key - // for this particular shape. - public static System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod) - { - // level of detail based on size and type of the object - float lod = BSParam.MeshLOD; - - // prims with curvy internal cuts need higher lod - if (pbs.HollowShape == HollowShape.Circle) - lod = BSParam.MeshCircularLOD; - - if (pbs.SculptEntry) - lod = BSParam.SculptLOD; - - // Mega prims usually get more detail because one can interact with shape approximations at this size. - float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z)); - if (maxAxis > BSParam.MeshMegaPrimThreshold) - lod = BSParam.MeshMegaPrimLOD; - - retLod = lod; - return pbs.GetMeshKey(size, lod); - } - // For those who don't want the LOD - public static System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs) - { - float 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 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. - public static BulletShape VerifyMeshCreated(BSScene physicsScene, BulletShape newShape, BSPhysObject prim) - { - // If the shape was successfully created, nothing more to do - if (newShape.HasPhysicalShape) - return newShape; - - // VerifyMeshCreated is called after trying to create the mesh. If we think the asset had been - // fetched but we end up here again, the meshing of the asset must have failed. - // Prevent trying to keep fetching the mesh by declaring failure. - if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) - { - prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; - physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. {1}, texture={2}", - LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture); - } - else - { - // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset - if (prim.BaseShape.SculptEntry - && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Failed - && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Waiting - && prim.BaseShape.SculptTexture != OMV.UUID.Zero - ) - { - physicsScene.DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset", prim.LocalID); - // Multiple requestors will know we're waiting for this asset - prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Waiting; - - BSPhysObject xprim = prim; - Util.FireAndForget(delegate - { - RequestAssetDelegate assetProvider = physicsScene.RequestAssetMethod; - if (assetProvider != null) - { - BSPhysObject yprim = xprim; // probably not necessary, but, just in case. - assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset) - { - bool assetFound = false; - string mismatchIDs = String.Empty; // DEBUG DEBUG - if (asset != null && yprim.BaseShape.SculptEntry) - { - if (yprim.BaseShape.SculptTexture.ToString() == asset.ID) - { - 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 normal shape setting since the rebuild is at taint time. - yprim.ForceBodyShapeRebuild(false /* inTaintTime */); - assetFound = true; - } - else - { - mismatchIDs = yprim.BaseShape.SculptTexture.ToString() + "/" + asset.ID; - } - } - if (assetFound) - yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched; - else - yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; - physicsScene.DetailLog("{0},BSShapeCollection,fetchAssetCallback,found={1},isSculpt={2},ids={3}", - yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs ); - - }); - } - else - { - xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; - physicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}", - LogHeader, physicsScene.Name); - } - }); - } - else - { - if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed) - { - physicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. obj={1}, texture={2}", - LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture); - } - } - } - - // While we wait for the mesh defining asset to be loaded, stick in a simple box for the object. - BulletShape fillinShape = physicsScene.Shapes.BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); - physicsScene.DetailLog("{0},BSShapeCollection.VerifyMeshCreated,boxTempShape", prim.LocalID); - - return fillinShape; } // Create a body object in Bullet. // Updates prim.BSBody with the information about the new body if one is created. // Returns 'true' if an object was actually created. // Called at taint-time. - private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BodyDestructionCallback bodyCallback) + private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, PhysicalDestructionCallback bodyCallback) { bool ret = false; @@ -1061,7 +287,7 @@ public sealed class BSShapeCollection : IDisposable // If not a solid object, body is a GhostObject. Otherwise a RigidBody. if (!mustRebuild) { - CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysicsScene.PE.GetBodyType(prim.PhysBody); + CollisionObjectTypes bodyType = (CollisionObjectTypes)m_physicsScene.PE.GetBodyType(prim.PhysBody); if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT) { @@ -1079,12 +305,12 @@ public sealed class BSShapeCollection : IDisposable BulletBody aBody; if (prim.IsSolid) { - aBody = PhysicsScene.PE.CreateBodyFromShape(sim, prim.PhysShape, prim.LocalID, prim.RawPosition, prim.RawOrientation); + aBody = m_physicsScene.PE.CreateBodyFromShape(sim, prim.PhysShape.physShapeInfo, prim.LocalID, prim.RawPosition, prim.RawOrientation); if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,body={1}", prim.LocalID, aBody); } else { - aBody = PhysicsScene.PE.CreateGhostFromShape(sim, prim.PhysShape, prim.LocalID, prim.RawPosition, prim.RawOrientation); + aBody = m_physicsScene.PE.CreateGhostFromShape(sim, prim.PhysShape.physShapeInfo, prim.LocalID, prim.RawPosition, prim.RawOrientation); if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody); } @@ -1098,46 +324,10 @@ public sealed class BSShapeCollection : IDisposable return ret; } - private bool TryGetMeshByPtr(BulletShape shape, out MeshDesc outDesc) - { - bool ret = false; - MeshDesc foundDesc = new MeshDesc(); - foreach (MeshDesc md in Meshes.Values) - { - if (md.shape.ReferenceSame(shape)) - { - foundDesc = md; - ret = true; - break; - } - - } - outDesc = foundDesc; - return ret; - } - - private bool TryGetHullByPtr(BulletShape shape, out HullDesc outDesc) - { - bool ret = false; - HullDesc foundDesc = new HullDesc(); - foreach (HullDesc hd in Hulls.Values) - { - if (hd.shape.ReferenceSame(shape)) - { - foundDesc = hd; - ret = true; - break; - } - - } - outDesc = foundDesc; - return ret; - } - private void DetailLog(string msg, params Object[] args) { - if (PhysicsScene.PhysicsLogging.Enabled) - PhysicsScene.DetailLog(msg, args); + if (m_physicsScene.PhysicsLogging.Enabled) + m_physicsScene.DetailLog(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index e427dbce0d..a7b3f02bd1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -39,6 +39,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public abstract class BSShape { + private static string LogHeader = "[BULLETSIM SHAPE]"; + public int referenceCount { get; set; } public DateTime lastReferenced { get; set; } public BulletShape physShapeInfo { get; set; } @@ -56,49 +58,6 @@ public abstract class BSShape physShapeInfo = pShape; } - // Get a reference to a physical shape. Create if it doesn't exist - public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) - { - BSShape ret = null; - - if (prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE) - { - // an avatar capsule is close to a native shape (it is not shared) - ret = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_CAPSULE, - FixedShapeKey.KEY_CAPSULE); - physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret); - } - - // Compound shapes are handled special as they are rebuilt from scratch. - // This isn't too great a hardship since most of the child shapes will have already been created. - if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND) - { - // Getting a reference to a compound shape gets you the compound shape with the root prim shape added - ret = BSShapeCompound.GetReference(physicsScene, prim); - physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret); - } - - // Avatars have their own unique shape - if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_AVATAR) - { - // Getting a reference to a compound shape gets you the compound shape with the root prim shape added - ret = BSShapeAvatar.GetReference(prim); - physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,avatarShape,shape={1}", prim.LocalID, ret); - } - - if (ret == null) - ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim); - - return ret; - } - private static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) - { - // TODO: work needed here!! - BSShapeMesh.GetReference(physicsScene, forceRebuild, prim); - BSShapeHull.GetReference(physicsScene, forceRebuild, prim); - return null; - } - // Called when this shape is being used again. public virtual void IncrementReference() { @@ -116,6 +75,27 @@ public abstract class BSShape // Release the use of a physical shape. public abstract void Dereference(BSScene physicsScene); + // Return 'true' if there is an allocated physics physical shape under this class instance. + public virtual bool HasPhysicalShape + { + get + { + if (physShapeInfo != null) + return physShapeInfo.HasPhysicalShape; + return false; + } + } + public virtual BSPhysicsShapeType ShapeType + { + get + { + BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN; + if (physShapeInfo != null && physShapeInfo.HasPhysicalShape) + ret = physShapeInfo.shapeType; + return ret; + } + } + // Returns a string for debugging that uniquily identifies the memory used by this instance public virtual string AddrString { @@ -132,6 +112,119 @@ public abstract class BSShape buff.Append(">"); return buff.ToString(); } + + // Create a hash of all the shape parameters to be used as a key for this particular shape. + public static System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod) + { + // level of detail based on size and type of the object + float lod = BSParam.MeshLOD; + if (pbs.SculptEntry) + lod = BSParam.SculptLOD; + + // Mega prims usually get more detail because one can interact with shape approximations at this size. + float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z)); + if (maxAxis > BSParam.MeshMegaPrimThreshold) + lod = BSParam.MeshMegaPrimLOD; + + retLod = lod; + return pbs.GetMeshKey(size, 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 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. + public static BulletShape VerifyMeshCreated(BSScene physicsScene, BulletShape newShape, BSPhysObject prim) + { + // If the shape was successfully created, nothing more to do + if (newShape.HasPhysicalShape) + return newShape; + + // VerifyMeshCreated is called after trying to create the mesh. If we think the asset had been + // fetched but we end up here again, the meshing of the asset must have failed. + // Prevent trying to keep fetching the mesh by declaring failure. + if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) + { + prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; + physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. {1}, texture={2}", + LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture); + } + else + { + // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset + if (prim.BaseShape.SculptEntry + && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Failed + && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Waiting + && prim.BaseShape.SculptTexture != OMV.UUID.Zero + ) + { + physicsScene.DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset", prim.LocalID); + // Multiple requestors will know we're waiting for this asset + prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Waiting; + + BSPhysObject xprim = prim; + Util.FireAndForget(delegate + { + RequestAssetDelegate assetProvider = physicsScene.RequestAssetMethod; + if (assetProvider != null) + { + BSPhysObject yprim = xprim; // probably not necessary, but, just in case. + assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset) + { + bool assetFound = false; + string mismatchIDs = String.Empty; // DEBUG DEBUG + if (asset != null && yprim.BaseShape.SculptEntry) + { + if (yprim.BaseShape.SculptTexture.ToString() == asset.ID) + { + 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 normal shape setting since the rebuild is at taint time. + yprim.ForceBodyShapeRebuild(false /* inTaintTime */); + assetFound = true; + } + else + { + mismatchIDs = yprim.BaseShape.SculptTexture.ToString() + "/" + asset.ID; + } + } + if (assetFound) + yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched; + else + yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; + physicsScene.DetailLog("{0},BSShapeCollection,fetchAssetCallback,found={1},isSculpt={2},ids={3}", + yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs ); + }); + } + else + { + xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; + physicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}", + LogHeader, physicsScene.Name); + } + }); + } + else + { + if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed) + { + physicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. obj={1}, texture={2}", + LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture); + } + } + } + + // While we wait for the mesh defining asset to be loaded, stick in a simple box for the object. + BSShape fillShape = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); + physicsScene.DetailLog("{0},BSShapeCollection.VerifyMeshCreated,boxTempShape", prim.LocalID); + + return fillShape.physShapeInfo; + } + } // ============================================================================================================ @@ -199,7 +292,7 @@ public class BSShapeNative : BSShape physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", LogHeader, prim.LocalID, shapeType); } - newShape.type = shapeType; + newShape.shapeType = shapeType; newShape.isNativeShape = true; newShape.shapeKey = (UInt64)shapeKey; return newShape; @@ -219,10 +312,11 @@ public class BSShapeMesh : BSShape public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) { float lod; - System.UInt64 newMeshKey = BSShapeCollection.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); + System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); physicsScene.DetailLog("{0},BSShapeMesh,getReference,oldKey={1},newKey={2},size={3},lod={4}", - prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"), prim.Size, lod); + prim.LocalID, prim.PhysShape.physShapeInfo.shapeKey.ToString("X"), + newMeshKey.ToString("X"), prim.Size, lod); BSShapeMesh retMesh = new BSShapeMesh(new BulletShape()); lock (Meshes) @@ -238,8 +332,8 @@ public class BSShapeMesh : BSShape BulletShape newShape = retMesh.CreatePhysicalMesh(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod); // Check to see if mesh was created (might require an asset). - newShape = BSShapeCollection.VerifyMeshCreated(physicsScene, newShape, prim); - if (newShape.type == BSPhysicsShapeType.SHAPE_MESH) + newShape = VerifyMeshCreated(physicsScene, newShape, prim); + if (newShape.shapeType == BSPhysicsShapeType.SHAPE_MESH) { // If a mesh was what was created, remember the built shape for later sharing. Meshes.Add(newMeshKey, retMesh); @@ -360,10 +454,10 @@ public class BSShapeHull : BSShape public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) { float lod; - System.UInt64 newHullKey = BSShapeCollection.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); + System.UInt64 newHullKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); physicsScene.DetailLog("{0},BSShapeHull,getReference,oldKey={1},newKey={2},size={3},lod={4}", - prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X"), prim.Size, lod); + prim.LocalID, prim.PhysShape.physShapeInfo.shapeKey.ToString("X"), newHullKey.ToString("X"), prim.Size, lod); BSShapeHull retHull = new BSShapeHull(new BulletShape()); lock (Hulls) @@ -379,8 +473,8 @@ public class BSShapeHull : BSShape BulletShape newShape = retHull.CreatePhysicalHull(physicsScene, prim, newHullKey, prim.BaseShape, prim.Size, lod); // Check to see if mesh was created (might require an asset). - newShape = BSShapeCollection.VerifyMeshCreated(physicsScene, newShape, prim); - if (newShape.type == BSPhysicsShapeType.SHAPE_MESH) + newShape = VerifyMeshCreated(physicsScene, newShape, prim); + if (newShape.shapeType == BSPhysicsShapeType.SHAPE_MESH) { // If a mesh was what was created, remember the built shape for later sharing. Hulls.Add(newHullKey, retHull); @@ -569,7 +663,6 @@ public class BSShapeHull : BSShape } } - // ============================================================================================================ public class BSShapeCompound : BSShape { @@ -589,9 +682,9 @@ public class BSShapeCompound : BSShape { // Failed the sanity check!! physicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}", - LogHeader, physShapeInfo.type, physShapeInfo.AddrString); + LogHeader, physShapeInfo.shapeType, physShapeInfo.AddrString); physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", - BSScene.DetailLogZero, physShapeInfo.type, physShapeInfo.AddrString); + BSScene.DetailLogZero, physShapeInfo.shapeType, physShapeInfo.AddrString); return; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index 8012d91e2f..906e4f9f40 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -104,11 +104,11 @@ public class BulletShape { public BulletShape() { - type = BSPhysicsShapeType.SHAPE_UNKNOWN; + shapeType = BSPhysicsShapeType.SHAPE_UNKNOWN; shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE; isNativeShape = false; } - public BSPhysicsShapeType type; + public BSPhysicsShapeType shapeType; public System.UInt64 shapeKey; public bool isNativeShape; @@ -133,7 +133,7 @@ public class BulletShape buff.Append(" Date: Sun, 28 Apr 2013 17:03:03 -0700 Subject: [PATCH 04/19] BulletSim: fix crash when creating new hull. --- .../Region/Physics/BulletSPlugin/BSShapes.cs | 27 ++++++++++--------- 1 file changed, 14 insertions(+), 13 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index a7b3f02bd1..bfc7ae7735 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -161,7 +161,7 @@ public abstract class BSShape && prim.BaseShape.SculptTexture != OMV.UUID.Zero ) { - physicsScene.DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset", prim.LocalID); + physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAsset", prim.LocalID); // Multiple requestors will know we're waiting for this asset prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Waiting; @@ -196,7 +196,7 @@ public abstract class BSShape yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched; else yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; - physicsScene.DetailLog("{0},BSShapeCollection,fetchAssetCallback,found={1},isSculpt={2},ids={3}", + physicsScene.DetailLog("{0},BSShape,fetchAssetCallback,found={1},isSculpt={2},ids={3}", yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs ); }); } @@ -220,7 +220,7 @@ public abstract class BSShape // While we wait for the mesh defining asset to be loaded, stick in a simple box for the object. BSShape fillShape = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); - physicsScene.DetailLog("{0},BSShapeCollection.VerifyMeshCreated,boxTempShape", prim.LocalID); + physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,boxTempShape", prim.LocalID); return fillShape.physShapeInfo; } @@ -318,7 +318,7 @@ public class BSShapeMesh : BSShape prim.LocalID, prim.PhysShape.physShapeInfo.shapeKey.ToString("X"), newMeshKey.ToString("X"), prim.Size, lod); - BSShapeMesh retMesh = new BSShapeMesh(new BulletShape()); + BSShapeMesh retMesh = null; lock (Meshes) { if (Meshes.TryGetValue(newMeshKey, out retMesh)) @@ -328,6 +328,7 @@ public class BSShapeMesh : BSShape } else { + retMesh = new BSShapeMesh(new BulletShape()); // An instance of this mesh has not been created. Build and remember same. BulletShape newShape = retMesh.CreatePhysicalMesh(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod); @@ -422,7 +423,7 @@ public class BSShapeMesh : BSShape } } } - physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalMesh,origTri={1},realTri={2},numVerts={3}", + physicsScene.DetailLog("{0},BSShapeMesh.CreatePhysicalMesh,origTri={1},realTri={2},numVerts={3}", BSScene.DetailLogZero, indices.Length / 3, realIndicesIndex / 3, verticesAsFloats.Length / 3); if (realIndicesIndex != 0) @@ -459,7 +460,7 @@ public class BSShapeHull : BSShape physicsScene.DetailLog("{0},BSShapeHull,getReference,oldKey={1},newKey={2},size={3},lod={4}", prim.LocalID, prim.PhysShape.physShapeInfo.shapeKey.ToString("X"), newHullKey.ToString("X"), prim.Size, lod); - BSShapeHull retHull = new BSShapeHull(new BulletShape()); + BSShapeHull retHull = null; lock (Hulls) { if (Hulls.TryGetValue(newHullKey, out retHull)) @@ -469,18 +470,18 @@ public class BSShapeHull : BSShape } else { + retHull = new BSShapeHull(new BulletShape()); // An instance of this mesh has not been created. Build and remember same. BulletShape newShape = retHull.CreatePhysicalHull(physicsScene, prim, newHullKey, prim.BaseShape, prim.Size, lod); - // Check to see if mesh was created (might require an asset). + // Check to see if hull was created (might require an asset). newShape = VerifyMeshCreated(physicsScene, newShape, prim); - if (newShape.shapeType == BSPhysicsShapeType.SHAPE_MESH) + if (newShape.shapeType == BSPhysicsShapeType.SHAPE_HULL) { // If a mesh was what was created, remember the built shape for later sharing. Hulls.Add(newHullKey, retHull); } - retHull = new BSShapeHull(newShape); retHull.physShapeInfo = newShape; } } @@ -498,7 +499,7 @@ public class BSShapeHull : BSShape if (BSParam.ShouldUseBulletHACD) { - physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,entry", prim.LocalID); + physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,entry", prim.LocalID); BSShape meshShape = BSShapeMesh.GetReference(physicsScene, true, prim); if (meshShape.physShapeInfo.HasPhysicalShape) @@ -514,13 +515,13 @@ public class BSShapeHull : BSShape parms.addFacesPoints = BSParam.NumericBool(BSParam.BHullAddFacesPoints); parms.shouldAdjustCollisionMargin = BSParam.NumericBool(BSParam.BHullShouldAdjustCollisionMargin); - physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape); + physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape); newShape = physicsScene.PE.BuildHullShapeFromMesh(physicsScene.World, meshShape.physShapeInfo, parms); - physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,hullFromMesh,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); + physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } // Now done with the mesh shape. meshShape.DecrementReference(); - physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); + physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } if (!newShape.HasPhysicalShape) { From 21ec4346884d6cc02f67bbbdafa49f3b5db5426e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 28 Apr 2013 21:44:06 -0700 Subject: [PATCH 05/19] BulletSim: first cut at new linksetCompound shape building. --- .../BulletSPlugin/BSLinksetCompound.cs | 90 ++++++------------- 1 file changed, 27 insertions(+), 63 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index a20bbc3956..be01808a6b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -93,9 +93,12 @@ public sealed class BSLinksetCompound : BSLinkset { private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; + private BSShape LinksetShape; + public BSLinksetCompound(BSScene scene, BSPrimLinkable parent) : base(scene, parent) { + LinksetShape = new BSShapeNull(); } // When physical properties are changed the linkset needs to recalculate @@ -391,22 +394,21 @@ public sealed class BSLinksetCompound : BSLinkset { try { - /* - // Suppress rebuilding while rebuilding. (We know rebuilding is on only one thread.) - Rebuilding = true; + // This replaces the physical shape of the root prim with a compound shape made up of the root + // shape and all the children. - // Cause the root shape to be rebuilt as a compound object with just the root in it - LinksetRoot.ForceBodyShapeRebuild(true /* inTaintTime ); + // RootPrim.PhysShape is the shape of the root prim. + // Here we build the compound shape made up of all the children. + + // Free up any shape we'd previously built. + LinksetShape.Dereference(PhysicsScene); + + LinksetShape = BSShapeCompound.GetReference(PhysicsScene, LinksetRoot); // The center of mass for the linkset is the geometric center of the group. // Compute a displacement for each component so it is relative to the center-of-mass. // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass - OMV.Vector3 centerOfMassW = LinksetRoot.RawPosition; - if (!disableCOM) // DEBUG DEBUG - { - // Compute a center-of-mass in world coordinates. - centerOfMassW = ComputeLinksetCenterOfMass(); - } + OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass(); OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); @@ -414,20 +416,7 @@ public sealed class BSLinksetCompound : BSLinkset OMV.Vector3 centerDisplacement = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation; LinksetRoot.SetEffectiveCenterOfMassW(centerDisplacement); - // This causes the physical position of the root prim to be offset to accomodate for the displacements - LinksetRoot.ForcePosition = LinksetRoot.RawPosition; - - // Update the local transform for the root child shape so it is offset from the <0,0,0> which is COM - PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape.physShapeInfo, 0 /* childIndex , - -centerDisplacement, - OMV.Quaternion.Identity, // LinksetRoot.RawOrientation, - false /* shouldRecalculateLocalAabb (is done later after linkset built) ); - - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}", - LinksetRoot.LocalID, centerOfMassW, LinksetRoot.RawPosition, centerDisplacement); - - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}", - LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren); + // TODO: add phantom root shape to be the center-of-mass // Add a shape for each of the other children in the linkset int memberIndex = 1; @@ -440,56 +429,31 @@ public sealed class BSLinksetCompound : BSLinkset else { cPrim.LinksetChildIndex = memberIndex; + } - if (cPrim.PhysShape.isNativeShape) - { - // A native shape is turned into a hull collision shape because native - // shapes are not shared so we have to hullify it so it will be tracked - // and freed at the correct time. This also solves the scaling problem - // (native shapes scale but hull/meshes are assumed to not be). - // TODO: decide of the native shape can just be used in the compound shape. - // Use call to CreateGeomNonSpecial(). - BulletShape saveShape = cPrim.PhysShape; - cPrim.PhysShape.Clear(); // Don't let the create free the child's shape - PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); - BulletShape newShape = cPrim.PhysShape; - cPrim.PhysShape = saveShape; - - OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; - OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; - PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, offsetPos, offsetRot); - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}", - LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, newShape, offsetPos, offsetRot); - } - else - { - // For the shared shapes (meshes and hulls), just use the shape in the child. - // The reference count added here will be decremented when the compound shape - // is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced). - if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape)) - { - PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", - LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); - } - OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; - OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; - PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot); - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNonNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}", + BSShape childShape = cPrim.PhysShape; + childShape.IncrementReference(); + OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; + OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; + PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}", LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot); - } - memberIndex++; - } + memberIndex++; + return false; // 'false' says to move onto the next child in the list }); + // Sneak the built compound shape in as the shape of the root prim. + // Note this doesn't touch the root prim's PhysShape so be sure the manage the difference. + PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo); + // With all of the linkset packed into the root prim, it has the mass of everyone. LinksetMass = ComputeLinksetMass(); LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); // Enable the physical position updator to return the position and rotation of the root shape PhysicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); - */ } finally { From ad1787770ed02f71feaa002ab689467e187803bb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 28 Apr 2013 21:50:47 -0700 Subject: [PATCH 06/19] BulletSim: rename variable 'PhysicsScene' to be either 'PhysScene' or 'm_physicsScene' to match coding conventions and reduce confusion. --- .../Physics/BulletSPlugin/BSCharacter.cs | 112 +++++------ .../Physics/BulletSPlugin/BSDynamics.cs | 8 +- .../Region/Physics/BulletSPlugin/BSLinkset.cs | 10 +- .../BulletSPlugin/BSLinksetCompound.cs | 34 ++-- .../BulletSPlugin/BSLinksetConstraints.cs | 16 +- .../Physics/BulletSPlugin/BSPhysObject.cs | 52 ++--- .../Region/Physics/BulletSPlugin/BSPrim.cs | 188 +++++++++--------- .../Physics/BulletSPlugin/BSPrimLinkable.cs | 8 +- .../BulletSPlugin/BSTerrainHeightmap.cs | 28 +-- .../Physics/BulletSPlugin/BSTerrainManager.cs | 56 +++--- .../Physics/BulletSPlugin/BSTerrainMesh.cs | 52 ++--- 11 files changed, 282 insertions(+), 282 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index da23a26226..e12fc8e032 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -95,18 +95,18 @@ public sealed class BSCharacter : BSPhysObject // the avatar seeking to reach the motor's target speed. // This motor runs as a prestep action for the avatar so it will keep the avatar // standing as well as moving. Destruction of the avatar will destroy the pre-step action. - m_moveActor = new BSActorAvatarMove(PhysicsScene, this, AvatarMoveActorName); + m_moveActor = new BSActorAvatarMove(PhysScene, this, AvatarMoveActorName); PhysicalActors.Add(AvatarMoveActorName, m_moveActor); DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", LocalID, _size, Scale, Density, _avatarVolume, RawMass); // do actual creation in taint time - PhysicsScene.TaintedObject("BSCharacter.create", delegate() + PhysScene.TaintedObject("BSCharacter.create", delegate() { DetailLog("{0},BSCharacter.create,taint", LocalID); // New body and shape into PhysBody and PhysShape - PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this); + PhysScene.Shapes.GetBodyAndShape(true, PhysScene.World, this); SetPhysicalProperties(); }); @@ -119,18 +119,18 @@ public sealed class BSCharacter : BSPhysObject base.Destroy(); DetailLog("{0},BSCharacter.Destroy", LocalID); - PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() + PhysScene.TaintedObject("BSCharacter.destroy", delegate() { - PhysicsScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */); + PhysScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */); PhysBody.Clear(); - PhysShape.Dereference(PhysicsScene); + PhysShape.Dereference(PhysScene); PhysShape = new BSShapeNull(); }); } private void SetPhysicalProperties() { - PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody); + PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody); ZeroMotion(true); ForcePosition = _position; @@ -145,35 +145,35 @@ public sealed class BSCharacter : BSPhysObject // Needs to be reset especially when an avatar is recreated after crossing a region boundry. Flying = _flying; - PhysicsScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution); - PhysicsScene.PE.SetMargin(PhysShape.physShapeInfo, PhysicsScene.Params.collisionMargin); - PhysicsScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale); - PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); + PhysScene.PE.SetRestitution(PhysBody, BSParam.AvatarRestitution); + PhysScene.PE.SetMargin(PhysShape.physShapeInfo, PhysScene.Params.collisionMargin); + PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale); + PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); if (BSParam.CcdMotionThreshold > 0f) { - PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); - PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); + PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); + PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); } UpdatePhysicalMassProperties(RawMass, false); // Make so capsule does not fall over - PhysicsScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero); + PhysScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero); // The avatar mover sets some parameters. PhysicalActors.Refresh(); - PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT); + PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT); - PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); + PhysScene.PE.AddObjectToWorld(PhysScene.World, PhysBody); // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); - PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION); - PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody); + PhysScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_DEACTIVATION); + PhysScene.PE.UpdateSingleAabb(PhysScene.World, PhysBody); // Do this after the object has been added to the world PhysBody.collisionType = CollisionType.Avatar; - PhysBody.ApplyCollisionMask(PhysicsScene); + PhysBody.ApplyCollisionMask(PhysScene); } @@ -203,14 +203,14 @@ public sealed class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}", LocalID, _size, Scale, Density, _avatarVolume, RawMass); - PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() + PhysScene.TaintedObject("BSCharacter.setSize", delegate() { if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape) { - PhysicsScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale); + PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale); UpdatePhysicalMassProperties(RawMass, true); // Make sure this change appears as a property update event - PhysicsScene.PE.PushUpdate(PhysBody); + PhysScene.PE.PushUpdate(PhysBody); } }); @@ -247,24 +247,24 @@ public sealed class BSCharacter : BSPhysObject _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties directly into the physics engine - PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() + PhysScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() { if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.ClearAllForces(PhysBody); + PhysScene.PE.ClearAllForces(PhysBody); }); } public override void ZeroAngularMotion(bool inTaintTime) { _rotationalVelocity = OMV.Vector3.Zero; - PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() + PhysScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() { if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero); - PhysicsScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero); + PhysScene.PE.SetInterpolationAngularVelocity(PhysBody, OMV.Vector3.Zero); + PhysScene.PE.SetAngularVelocity(PhysBody, OMV.Vector3.Zero); // The next also get rid of applied linear force but the linear velocity is untouched. - PhysicsScene.PE.ClearForces(PhysBody); + PhysScene.PE.ClearForces(PhysBody); } }); } @@ -286,7 +286,7 @@ public sealed class BSCharacter : BSPhysObject set { _position = value; - PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() + PhysScene.TaintedObject("BSCharacter.setPosition", delegate() { DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); PositionSanityCheck(); @@ -296,14 +296,14 @@ public sealed class BSCharacter : BSPhysObject } public override OMV.Vector3 ForcePosition { get { - _position = PhysicsScene.PE.GetPosition(PhysBody); + _position = PhysScene.PE.GetPosition(PhysBody); return _position; } set { _position = value; if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); } } } @@ -317,18 +317,18 @@ public sealed class BSCharacter : BSPhysObject bool ret = false; // TODO: check for out of bounds - if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition)) + if (!PhysScene.TerrainManager.IsWithinKnownTerrain(RawPosition)) { // The character is out of the known/simulated area. // Force the avatar position to be within known. ScenePresence will use the position // plus the velocity to decide if the avatar is moving out of the region. - RawPosition = PhysicsScene.TerrainManager.ClampPositionIntoKnownTerrain(RawPosition); + RawPosition = PhysScene.TerrainManager.ClampPositionIntoKnownTerrain(RawPosition); DetailLog("{0},BSCharacter.PositionSanityCheck,notWithinKnownTerrain,clampedPos={1}", LocalID, RawPosition); return true; } // If below the ground, move the avatar up - float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); + float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); if (Position.Z < terrainHeight) { DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, _position, terrainHeight); @@ -337,7 +337,7 @@ public sealed class BSCharacter : BSPhysObject } if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { - float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position); + float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(_position); if (Position.Z < waterHeight) { _position.Z = waterHeight; @@ -358,7 +358,7 @@ public sealed class BSCharacter : BSPhysObject { // 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(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() + PhysScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() { DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); ForcePosition = _position; @@ -376,8 +376,8 @@ public sealed class BSCharacter : BSPhysObject } public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) { - OMV.Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass); - PhysicsScene.PE.SetMassProps(PhysBody, physMass, localInertia); + OMV.Vector3 localInertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass); + PhysScene.PE.SetMassProps(PhysBody, physMass, localInertia); } public override OMV.Vector3 Force { @@ -385,11 +385,11 @@ public sealed class BSCharacter : BSPhysObject set { RawForce = value; // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); - PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate() + PhysScene.TaintedObject("BSCharacter.SetForce", delegate() { DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, RawForce); if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.SetObjectForce(PhysBody, RawForce); + PhysScene.PE.SetObjectForce(PhysBody, RawForce); }); } } @@ -432,7 +432,7 @@ public sealed class BSCharacter : BSPhysObject set { RawVelocity = value; // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, RawVelocity); - PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() + PhysScene.TaintedObject("BSCharacter.setVelocity", delegate() { if (m_moveActor != null) m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, true /* inTaintTime */); @@ -445,11 +445,11 @@ public sealed class BSCharacter : BSPhysObject public override OMV.Vector3 ForceVelocity { get { return RawVelocity; } set { - PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity"); + PhysScene.AssertInTaintTime("BSCharacter.ForceVelocity"); RawVelocity = value; - PhysicsScene.PE.SetLinearVelocity(PhysBody, RawVelocity); - PhysicsScene.PE.Activate(PhysBody, true); + PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity); + PhysScene.PE.Activate(PhysBody, true); } } public override OMV.Vector3 Torque { @@ -479,7 +479,7 @@ public sealed class BSCharacter : BSPhysObject if (_orientation != value) { _orientation = value; - PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() + PhysScene.TaintedObject("BSCharacter.setOrientation", delegate() { ForceOrientation = _orientation; }); @@ -491,7 +491,7 @@ public sealed class BSCharacter : BSPhysObject { get { - _orientation = PhysicsScene.PE.GetOrientation(PhysBody); + _orientation = PhysScene.PE.GetOrientation(PhysBody); return _orientation; } set @@ -500,7 +500,7 @@ public sealed class BSCharacter : BSPhysObject if (PhysBody.HasPhysicalBody) { // _position = PhysicsScene.PE.GetPosition(BSBody); - PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); } } } @@ -549,14 +549,14 @@ public sealed class BSCharacter : BSPhysObject public override bool FloatOnWater { set { _floatOnWater = value; - PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() + PhysScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() { if (PhysBody.HasPhysicalBody) { if (_floatOnWater) - CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); else - CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); } }); } @@ -577,7 +577,7 @@ public sealed class BSCharacter : BSPhysObject public override float Buoyancy { get { return _buoyancy; } set { _buoyancy = value; - PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate() + PhysScene.TaintedObject("BSCharacter.setBuoyancy", delegate() { DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); ForceBuoyancy = _buoyancy; @@ -587,7 +587,7 @@ public sealed class BSCharacter : BSPhysObject public override float ForceBuoyancy { get { return _buoyancy; } set { - PhysicsScene.AssertInTaintTime("BSCharacter.ForceBuoyancy"); + PhysScene.AssertInTaintTime("BSCharacter.ForceBuoyancy"); _buoyancy = value; DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); @@ -595,7 +595,7 @@ public sealed class BSCharacter : BSPhysObject float grav = BSParam.Gravity * (1f - _buoyancy); Gravity = new OMV.Vector3(0f, 0f, grav); if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.SetGravity(PhysBody, Gravity); + PhysScene.PE.SetGravity(PhysBody, Gravity); } } @@ -613,7 +613,7 @@ public sealed class BSCharacter : BSPhysObject public override void AddForce(OMV.Vector3 force, bool pushforce) { // Since this force is being applied in only one step, make this a force per second. - OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep; + OMV.Vector3 addForce = force / PhysScene.LastTimeStep; AddForce(addForce, pushforce, false); } private void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { @@ -622,13 +622,13 @@ public sealed class BSCharacter : BSPhysObject OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); // DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce); - PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate() + PhysScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate() { // Bullet adds this central force to the total force for this tick // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce); if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce); + PhysScene.PE.ApplyCentralForce(PhysBody, addForce); } }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index e2e807ed05..56d24152cb 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -789,7 +789,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos) { lastRememberedHeightPos = pos; - m_knownTerrainHeight = ControllingPrim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); + m_knownTerrainHeight = ControllingPrim.PhysScene.TerrainManager.GetTerrainHeightAtXYZ(pos); m_knownHas |= m_knownChangedTerrainHeight; } return m_knownTerrainHeight; @@ -801,7 +801,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if ((m_knownHas & m_knownChangedWaterLevel) == 0) { - m_knownWaterLevel = ControllingPrim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos); + m_knownWaterLevel = ControllingPrim.PhysScene.TerrainManager.GetWaterLevelAtXYZ(pos); m_knownHas |= m_knownChangedWaterLevel; } return (float)m_knownWaterLevel; @@ -1637,8 +1637,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Invoke the detailed logger and output something if it's enabled. private void VDetailLog(string msg, params Object[] args) { - if (ControllingPrim.PhysicsScene.VehicleLoggingEnabled) - ControllingPrim.PhysicsScene.DetailLog(msg, args); + if (ControllingPrim.PhysScene.VehicleLoggingEnabled) + ControllingPrim.PhysScene.DetailLog(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index df1dd347dc..6d0d0eb382 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -80,7 +80,7 @@ public abstract class BSLinkset public BSPrimLinkable LinksetRoot { get; protected set; } - public BSScene PhysicsScene { get; private set; } + protected BSScene m_physicsScene { get; private set; } static int m_nextLinksetID = 1; public int LinksetID { get; private set; } @@ -115,7 +115,7 @@ public abstract class BSLinkset // We create LOTS of linksets. if (m_nextLinksetID <= 0) m_nextLinksetID = 1; - PhysicsScene = scene; + m_physicsScene = scene; LinksetRoot = parent; m_children = new HashSet(); LinksetMass = parent.RawMass; @@ -158,7 +158,7 @@ public abstract class BSLinkset } // The child is down to a linkset of just itself - return BSLinkset.Factory(PhysicsScene, child); + return BSLinkset.Factory(m_physicsScene, child); } // Return 'true' if the passed object is the root object of this linkset @@ -316,8 +316,8 @@ public abstract class BSLinkset // Invoke the detailed logger and output something if it's enabled. protected void DetailLog(string msg, params Object[] args) { - if (PhysicsScene.PhysicsLogging.Enabled) - PhysicsScene.DetailLog(msg, args); + if (m_physicsScene.PhysicsLogging.Enabled) + m_physicsScene.DetailLog(msg, args); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index be01808a6b..01ada3f4c2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -121,7 +121,7 @@ public sealed class BSLinksetCompound : BSLinkset // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. if (!Rebuilding && HasAnyChildren) { - PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate() + m_physicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate() { if (HasAnyChildren) RecomputeLinksetCompound(); @@ -147,10 +147,10 @@ public sealed class BSLinksetCompound : BSLinkset { // The origional prims are removed from the world as the shape of the root compound // shape takes over. - PhysicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); - PhysicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION); + m_physicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); + m_physicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION); // We don't want collisions from the old linkset children. - PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + m_physicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); child.PhysBody.collisionType = CollisionType.LinksetChild; @@ -175,12 +175,12 @@ public sealed class BSLinksetCompound : BSLinkset else { // The non-physical children can come back to life. - PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); + m_physicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); child.PhysBody.collisionType = CollisionType.LinksetChild; // Don't force activation so setting of DISABLE_SIMULATION can stay if used. - PhysicsScene.PE.Activate(child.PhysBody, false); + m_physicsScene.PE.Activate(child.PhysBody, false); ret = true; } return ret; @@ -196,7 +196,7 @@ public sealed class BSLinksetCompound : BSLinkset // but it also means all the child positions get updated. // What would cause an unnecessary rebuild so we make sure the linkset is in a // region before bothering to do a rebuild. - if (!IsRoot(updated) && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) + if (!IsRoot(updated) && m_physicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) { // If a child of the linkset is updating only the position or rotation, that can be done // without rebuilding the linkset. @@ -209,21 +209,21 @@ public sealed class BSLinksetCompound : BSLinkset if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0) { // Find the physical instance of the child - if (LinksetRoot.PhysShape.HasPhysicalShape && PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo)) + if (LinksetRoot.PhysShape.HasPhysicalShape && m_physicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo)) { // It is possible that the linkset is still under construction and the child is not yet // inserted into the compound shape. A rebuild of the linkset in a pre-step action will // build the whole thing with the new position or rotation. // The index must be checked because Bullet references the child array but does no validity // checking of the child index passed. - int numLinksetChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape.physShapeInfo); + int numLinksetChildren = m_physicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape.physShapeInfo); if (updated.LinksetChildIndex < numLinksetChildren) { - BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex); + BulletShape linksetChildShape = m_physicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex); if (linksetChildShape.HasPhysicalShape) { // Found the child shape within the compound shape - PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex, + m_physicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex, updated.RawPosition - LinksetRoot.RawPosition, updated.RawOrientation * OMV.Quaternion.Inverse(LinksetRoot.RawOrientation), true /* shouldRecalculateLocalAabb */); @@ -401,9 +401,9 @@ public sealed class BSLinksetCompound : BSLinkset // Here we build the compound shape made up of all the children. // Free up any shape we'd previously built. - LinksetShape.Dereference(PhysicsScene); + LinksetShape.Dereference(m_physicsScene); - LinksetShape = BSShapeCompound.GetReference(PhysicsScene, LinksetRoot); + LinksetShape = BSShapeCompound.GetReference(m_physicsScene, LinksetRoot); // The center of mass for the linkset is the geometric center of the group. // Compute a displacement for each component so it is relative to the center-of-mass. @@ -435,7 +435,7 @@ public sealed class BSLinksetCompound : BSLinkset childShape.IncrementReference(); OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; - PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); + m_physicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}", LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot); @@ -446,14 +446,14 @@ public sealed class BSLinksetCompound : BSLinkset // Sneak the built compound shape in as the shape of the root prim. // Note this doesn't touch the root prim's PhysShape so be sure the manage the difference. - PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo); + m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo); // With all of the linkset packed into the root prim, it has the mass of everyone. LinksetMass = ComputeLinksetMass(); LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); // Enable the physical position updator to return the position and rotation of the root shape - PhysicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); + m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); } finally { @@ -461,7 +461,7 @@ public sealed class BSLinksetCompound : BSLinkset } // See that the Aabb surrounds the new shape - PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo); + m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo); } } } \ No newline at end of file diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 1811772cbc..a06a44d33f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -51,7 +51,7 @@ public sealed class BSLinksetConstraints : BSLinkset if (HasAnyChildren && IsRoot(requestor)) { // Queue to happen after all the other taint processing - PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() + m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() { if (HasAnyChildren && IsRoot(requestor)) RecomputeLinksetConstraints(); @@ -142,7 +142,7 @@ public sealed class BSLinksetConstraints : BSLinkset rootx.LocalID, rootx.PhysBody.AddrString, childx.LocalID, childx.PhysBody.AddrString); - PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate() + m_physicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate() { PhysicallyUnlinkAChildFromRoot(rootx, childx); }); @@ -187,7 +187,7 @@ public sealed class BSLinksetConstraints : BSLinkset // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 BSConstraint6Dof constrain = new BSConstraint6Dof( - PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true ); + m_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. @@ -216,7 +216,7 @@ public sealed class BSLinksetConstraints : BSLinkset // ================================================================================== */ - PhysicsScene.Constraints.AddConstraint(constrain); + m_physicsScene.Constraints.AddConstraint(constrain); // zero linear and angular limits makes the objects unable to move in relation to each other constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); @@ -248,10 +248,10 @@ public sealed class BSLinksetConstraints : BSLinkset childPrim.LocalID, childPrim.PhysBody.AddrString); // Find the constraint for this link and get rid of it from the overall collection and from my list - if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) + if (m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody)) { // Make the child refresh its location - PhysicsScene.PE.PushUpdate(childPrim.PhysBody); + m_physicsScene.PE.PushUpdate(childPrim.PhysBody); ret = true; } @@ -265,7 +265,7 @@ public sealed class BSLinksetConstraints : BSLinkset { DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID); - return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody); + return m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody); } // Call each of the constraints that make up this linkset and recompute the @@ -289,7 +289,7 @@ public sealed class BSLinksetConstraints : BSLinkset child.UpdatePhysicalMassProperties(linksetMass, true); BSConstraint constrain; - if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) + if (!m_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 b6eb619ff2..6a3ada2975 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -72,14 +72,14 @@ public abstract class BSPhysObject : PhysicsActor } protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName) { - PhysicsScene = parentScene; + PhysScene = parentScene; LocalID = localID; PhysObjectName = name; Name = name; // PhysicsActor also has the name of the object. Someday consolidate. TypeName = typeName; // The collection of things that push me around - PhysicalActors = new BSActorCollection(PhysicsScene); + PhysicalActors = new BSActorCollection(PhysScene); // Initialize variables kept in base. GravModifier = 1.0f; @@ -112,13 +112,13 @@ public abstract class BSPhysObject : PhysicsActor public virtual void Destroy() { PhysicalActors.Enable(false); - PhysicsScene.TaintedObject("BSPhysObject.Destroy", delegate() + PhysScene.TaintedObject("BSPhysObject.Destroy", delegate() { PhysicalActors.Dispose(); }); } - public BSScene PhysicsScene { get; protected set; } + public BSScene PhysScene { get; protected set; } // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor public string PhysObjectName { get; protected set; } public string TypeName { get; protected set; } @@ -270,7 +270,7 @@ public abstract class BSPhysObject : PhysicsActor public void ActivateIfPhysical(bool forceIt) { if (IsPhysical && PhysBody.HasPhysicalBody) - PhysicsScene.PE.Activate(PhysBody, forceIt); + PhysScene.PE.Activate(PhysBody, forceIt); } // 'actors' act on the physical object to change or constrain its motion. These can range from @@ -333,29 +333,29 @@ public abstract class BSPhysObject : PhysicsActor protected long CollisionAccumulation { get; set; } public override bool IsColliding { - get { return (CollidingStep == PhysicsScene.SimulationStep); } + get { return (CollidingStep == PhysScene.SimulationStep); } set { if (value) - CollidingStep = PhysicsScene.SimulationStep; + CollidingStep = PhysScene.SimulationStep; else CollidingStep = 0; } } public override bool CollidingGround { - get { return (CollidingGroundStep == PhysicsScene.SimulationStep); } + get { return (CollidingGroundStep == PhysScene.SimulationStep); } set { if (value) - CollidingGroundStep = PhysicsScene.SimulationStep; + CollidingGroundStep = PhysScene.SimulationStep; else CollidingGroundStep = 0; } } public override bool CollidingObj { - get { return (CollidingObjectStep == PhysicsScene.SimulationStep); } + get { return (CollidingObjectStep == PhysScene.SimulationStep); } set { if (value) - CollidingObjectStep = PhysicsScene.SimulationStep; + CollidingObjectStep = PhysScene.SimulationStep; else CollidingObjectStep = 0; } @@ -380,14 +380,14 @@ public abstract class BSPhysObject : PhysicsActor bool ret = false; // The following lines make IsColliding(), CollidingGround() and CollidingObj work - CollidingStep = PhysicsScene.SimulationStep; - if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID) + CollidingStep = PhysScene.SimulationStep; + if (collidingWith <= PhysScene.TerrainManager.HighestTerrainID) { - CollidingGroundStep = PhysicsScene.SimulationStep; + CollidingGroundStep = PhysScene.SimulationStep; } else { - CollidingObjectStep = PhysicsScene.SimulationStep; + CollidingObjectStep = PhysScene.SimulationStep; } CollisionAccumulation++; @@ -397,10 +397,10 @@ public abstract class BSPhysObject : PhysicsActor // Make a collection of the collisions that happened the last simulation tick. // This is different than the collection created for sending up to the simulator as it is cleared every tick. - if (CollisionsLastTickStep != PhysicsScene.SimulationStep) + if (CollisionsLastTickStep != PhysScene.SimulationStep) { CollisionsLastTick = new CollisionEventUpdate(); - CollisionsLastTickStep = PhysicsScene.SimulationStep; + CollisionsLastTickStep = PhysScene.SimulationStep; } CollisionsLastTick.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); @@ -427,9 +427,9 @@ public abstract class BSPhysObject : PhysicsActor bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0); // throttle the collisions to the number of milliseconds specified in the subscription - if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime)) + if (force || (PhysScene.SimulationNowTime >= NextCollisionOkTime)) { - NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs; + NextCollisionOkTime = PhysScene.SimulationNowTime + SubscribedEventsMs; // We are called if we previously had collisions. If there are no collisions // this time, send up one last empty event so OpenSim can sense collision end. @@ -464,10 +464,10 @@ public abstract class BSPhysObject : PhysicsActor // make sure first collision happens NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs); - PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate() + PhysScene.TaintedObject(TypeName+".SubscribeEvents", delegate() { if (PhysBody.HasPhysicalBody) - CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } else @@ -479,11 +479,11 @@ public abstract class BSPhysObject : PhysicsActor public override void UnSubscribeEvents() { // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName); SubscribedEventsMs = 0; - PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() + PhysScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() { // Make sure there is a body there because sometimes destruction happens in an un-ideal order. if (PhysBody.HasPhysicalBody) - CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } // Return 'true' if the simulator wants collision events @@ -497,7 +497,7 @@ public abstract class BSPhysObject : PhysicsActor { // Scale the collision count by the time since the last collision. // The "+1" prevents dividing by zero. - long timeAgo = PhysicsScene.SimulationStep - CollidingStep + 1; + long timeAgo = PhysScene.SimulationStep - CollidingStep + 1; CollisionScore = CollisionAccumulation / timeAgo; } public override float CollisionScore { get; set; } @@ -524,8 +524,8 @@ public abstract class BSPhysObject : PhysicsActor // High performance detailed logging routine used by the physical objects. protected void DetailLog(string msg, params Object[] args) { - if (PhysicsScene.PhysicsLogging.Enabled) - PhysicsScene.DetailLog(msg, args); + if (PhysScene.PhysicsLogging.Enabled) + PhysScene.DetailLog(msg, args); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 5d1233854b..0d455794aa 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -101,21 +101,21 @@ public class BSPrim : BSPhysObject _isVolumeDetect = false; // We keep a handle to the vehicle actor so we can set vehicle parameters later. - VehicleActor = new BSDynamics(PhysicsScene, this, VehicleActorName); + VehicleActor = new BSDynamics(PhysScene, this, VehicleActorName); PhysicalActors.Add(VehicleActorName, VehicleActor); _mass = CalculateMass(); // DetailLog("{0},BSPrim.constructor,call", LocalID); // do the actual object creation at taint time - PhysicsScene.TaintedObject("BSPrim.create", delegate() + PhysScene.TaintedObject("BSPrim.create", delegate() { // Make sure the object is being created with some sanity. ExtremeSanityCheck(true /* inTaintTime */); CreateGeomAndObject(true); - CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody); + CurrentCollisionFlags = PhysScene.PE.GetCollisionFlags(PhysBody); }); } @@ -128,13 +128,13 @@ public class BSPrim : BSPhysObject // Undo any vehicle properties this.VehicleType = (int)Vehicle.TYPE_NONE; - PhysicsScene.TaintedObject("BSPrim.Destroy", delegate() + PhysScene.TaintedObject("BSPrim.Destroy", delegate() { DetailLog("{0},BSPrim.Destroy,taint,", LocalID); // If there are physical body and shape, release my use of same. - PhysicsScene.Shapes.DereferenceBody(PhysBody, null); + PhysScene.Shapes.DereferenceBody(PhysBody, null); PhysBody.Clear(); - PhysShape.Dereference(PhysicsScene); + PhysShape.Dereference(PhysScene); PhysShape = new BSShapeNull(); }); } @@ -163,7 +163,7 @@ public class BSPrim : BSPhysObject } public override bool ForceBodyShapeRebuild(bool inTaintTime) { - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate() + PhysScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate() { _mass = CalculateMass(); // changing the shape changes the mass CreateGeomAndObject(true); @@ -180,7 +180,7 @@ public class BSPrim : BSPhysObject if (value != _isSelected) { _isSelected = value; - PhysicsScene.TaintedObject("BSPrim.setSelected", delegate() + PhysScene.TaintedObject("BSPrim.setSelected", delegate() { DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected); SetObjectDynamic(false); @@ -226,23 +226,23 @@ public class BSPrim : BSPhysObject _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties in the physics engine - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() + PhysScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() { if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.ClearAllForces(PhysBody); + PhysScene.PE.ClearAllForces(PhysBody); }); } public override void ZeroAngularMotion(bool inTaintTime) { _rotationalVelocity = OMV.Vector3.Zero; // Zero some other properties in the physics engine - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() + PhysScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() { // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity); if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity); - PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); + PhysScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity); + PhysScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); } }); } @@ -260,11 +260,11 @@ public class BSPrim : BSPhysObject EnableActor(LockedAxis != LockedAxisFree, LockedAxisActorName, delegate() { - return new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName); + return new BSActorLockAxis(PhysScene, this, LockedAxisActorName); }); // Update parameters so the new actor's Refresh() action is called at the right time. - PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate() + PhysScene.TaintedObject("BSPrim.LockAngularMotion", delegate() { UpdatePhysicalParameters(); }); @@ -294,7 +294,7 @@ public class BSPrim : BSPhysObject _position = value; PositionSanityCheck(false); - PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() + PhysScene.TaintedObject("BSPrim.setPosition", delegate() { DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); ForcePosition = _position; @@ -304,14 +304,14 @@ public class BSPrim : BSPhysObject public override OMV.Vector3 ForcePosition { get { - _position = PhysicsScene.PE.GetPosition(PhysBody); + _position = PhysScene.PE.GetPosition(PhysBody); return _position; } set { _position = value; if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); ActivateIfPhysical(false); } } @@ -328,7 +328,7 @@ public class BSPrim : BSPhysObject if (!IsPhysicallyActive) return ret; - if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition)) + if (!PhysScene.TerrainManager.IsWithinKnownTerrain(RawPosition)) { // The physical object is out of the known/simulated area. // Upper levels of code will handle the transition to other areas so, for @@ -336,7 +336,7 @@ public class BSPrim : BSPhysObject return ret; } - float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); + float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); OMV.Vector3 upForce = OMV.Vector3.Zero; float approxSize = Math.Max(Size.X, Math.Max(Size.Y, Size.Z)); if ((RawPosition.Z + approxSize / 2f) < terrainHeight) @@ -357,7 +357,7 @@ public class BSPrim : BSPhysObject if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { - float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position); + float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(_position); // TODO: a floating motor so object will bob in the water if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f) { @@ -365,7 +365,7 @@ public class BSPrim : BSPhysObject upForce.Z = (waterHeight - RawPosition.Z) * 1f; // Apply upforce and overcome gravity. - OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity; + OMV.Vector3 correctionForce = upForce - PhysScene.DefaultGravity; DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce); AddForce(correctionForce, false, inTaintTime); ret = true; @@ -431,10 +431,10 @@ public class BSPrim : BSPhysObject { if (IsStatic) { - PhysicsScene.PE.SetGravity(PhysBody, PhysicsScene.DefaultGravity); + PhysScene.PE.SetGravity(PhysBody, PhysScene.DefaultGravity); Inertia = OMV.Vector3.Zero; - PhysicsScene.PE.SetMassProps(PhysBody, 0f, Inertia); - PhysicsScene.PE.UpdateInertiaTensor(PhysBody); + PhysScene.PE.SetMassProps(PhysBody, 0f, Inertia); + PhysScene.PE.UpdateInertiaTensor(PhysBody); } else { @@ -443,16 +443,16 @@ public class BSPrim : BSPhysObject // Changing interesting properties doesn't change proxy and collision cache // information. The Bullet solution is to re-add the object to the world // after parameters are changed. - PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody); + PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody); } // The computation of mass props requires gravity to be set on the object. Gravity = ComputeGravity(Buoyancy); - PhysicsScene.PE.SetGravity(PhysBody, Gravity); + PhysScene.PE.SetGravity(PhysBody, Gravity); - Inertia = PhysicsScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass); - PhysicsScene.PE.SetMassProps(PhysBody, physMass, Inertia); - PhysicsScene.PE.UpdateInertiaTensor(PhysBody); + Inertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass); + PhysScene.PE.SetMassProps(PhysBody, physMass, Inertia); + PhysScene.PE.UpdateInertiaTensor(PhysBody); DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, Gravity, inWorld); @@ -468,7 +468,7 @@ public class BSPrim : BSPhysObject // Return what gravity should be set to this very moment public OMV.Vector3 ComputeGravity(float buoyancy) { - OMV.Vector3 ret = PhysicsScene.DefaultGravity; + OMV.Vector3 ret = PhysScene.DefaultGravity; if (!IsStatic) { @@ -497,7 +497,7 @@ public class BSPrim : BSPhysObject RawForce = value; EnableActor(RawForce != OMV.Vector3.Zero, SetForceActorName, delegate() { - return new BSActorSetForce(PhysicsScene, this, SetForceActorName); + return new BSActorSetForce(PhysScene, this, SetForceActorName); }); } } @@ -509,7 +509,7 @@ public class BSPrim : BSPhysObject set { Vehicle type = (Vehicle)value; - PhysicsScene.TaintedObject("setVehicleType", delegate() + PhysScene.TaintedObject("setVehicleType", delegate() { // Vehicle code changes the parameters for this vehicle type. VehicleActor.ProcessTypeChange(type); @@ -519,7 +519,7 @@ public class BSPrim : BSPhysObject } public override void VehicleFloatParam(int param, float value) { - PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() + PhysScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() { VehicleActor.ProcessFloatVehicleParam((Vehicle)param, value); ActivateIfPhysical(false); @@ -527,7 +527,7 @@ public class BSPrim : BSPhysObject } public override void VehicleVectorParam(int param, OMV.Vector3 value) { - PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() + PhysScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() { VehicleActor.ProcessVectorVehicleParam((Vehicle)param, value); ActivateIfPhysical(false); @@ -535,7 +535,7 @@ public class BSPrim : BSPhysObject } public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { - PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() + PhysScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() { VehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation); ActivateIfPhysical(false); @@ -543,7 +543,7 @@ public class BSPrim : BSPhysObject } public override void VehicleFlags(int param, bool remove) { - PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate() + PhysScene.TaintedObject("BSPrim.VehicleFlags", delegate() { VehicleActor.ProcessVehicleFlags(param, remove); }); @@ -555,7 +555,7 @@ public class BSPrim : BSPhysObject if (_isVolumeDetect != newValue) { _isVolumeDetect = newValue; - PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate() + PhysScene.TaintedObject("BSPrim.SetVolumeDetect", delegate() { // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect); SetObjectDynamic(true); @@ -566,7 +566,7 @@ public class BSPrim : BSPhysObject public override void SetMaterial(int material) { base.SetMaterial(material); - PhysicsScene.TaintedObject("BSPrim.SetMaterial", delegate() + PhysScene.TaintedObject("BSPrim.SetMaterial", delegate() { UpdatePhysicalParameters(); }); @@ -579,7 +579,7 @@ public class BSPrim : BSPhysObject if (base.Friction != value) { base.Friction = value; - PhysicsScene.TaintedObject("BSPrim.setFriction", delegate() + PhysScene.TaintedObject("BSPrim.setFriction", delegate() { UpdatePhysicalParameters(); }); @@ -594,7 +594,7 @@ public class BSPrim : BSPhysObject if (base.Restitution != value) { base.Restitution = value; - PhysicsScene.TaintedObject("BSPrim.setRestitution", delegate() + PhysScene.TaintedObject("BSPrim.setRestitution", delegate() { UpdatePhysicalParameters(); }); @@ -611,7 +611,7 @@ public class BSPrim : BSPhysObject if (base.Density != value) { base.Density = value; - PhysicsScene.TaintedObject("BSPrim.setDensity", delegate() + PhysScene.TaintedObject("BSPrim.setDensity", delegate() { UpdatePhysicalParameters(); }); @@ -626,7 +626,7 @@ public class BSPrim : BSPhysObject if (base.GravModifier != value) { base.GravModifier = value; - PhysicsScene.TaintedObject("BSPrim.setGravityModifier", delegate() + PhysScene.TaintedObject("BSPrim.setGravityModifier", delegate() { UpdatePhysicalParameters(); }); @@ -637,7 +637,7 @@ public class BSPrim : BSPhysObject get { return RawVelocity; } set { RawVelocity = value; - PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() + PhysScene.TaintedObject("BSPrim.setVelocity", delegate() { // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, RawVelocity); ForceVelocity = RawVelocity; @@ -647,13 +647,13 @@ public class BSPrim : BSPhysObject public override OMV.Vector3 ForceVelocity { get { return RawVelocity; } set { - PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity"); + PhysScene.AssertInTaintTime("BSPrim.ForceVelocity"); RawVelocity = Util.ClampV(value, BSParam.MaxLinearVelocity); if (PhysBody.HasPhysicalBody) { DetailLog("{0},BSPrim.ForceVelocity,taint,vel={1}", LocalID, RawVelocity); - PhysicsScene.PE.SetLinearVelocity(PhysBody, RawVelocity); + PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity); ActivateIfPhysical(false); } } @@ -664,7 +664,7 @@ public class BSPrim : BSPhysObject RawTorque = value; EnableActor(RawTorque != OMV.Vector3.Zero, SetTorqueActorName, delegate() { - return new BSActorSetTorque(PhysicsScene, this, SetTorqueActorName); + return new BSActorSetTorque(PhysScene, this, SetTorqueActorName); }); DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, RawTorque); } @@ -687,7 +687,7 @@ public class BSPrim : BSPhysObject return; _orientation = value; - PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() + PhysScene.TaintedObject("BSPrim.setOrientation", delegate() { ForceOrientation = _orientation; }); @@ -698,14 +698,14 @@ public class BSPrim : BSPhysObject { get { - _orientation = PhysicsScene.PE.GetOrientation(PhysBody); + _orientation = PhysScene.PE.GetOrientation(PhysBody); return _orientation; } set { _orientation = value; if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); } } public override int PhysicsActorType { @@ -718,7 +718,7 @@ public class BSPrim : BSPhysObject if (_isPhysical != value) { _isPhysical = value; - PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate() + PhysScene.TaintedObject("BSPrim.setIsPhysical", delegate() { DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); SetObjectDynamic(true); @@ -773,7 +773,7 @@ public 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). - PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, PhysBody); + PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody); // Set up the object physicalness (does gravity and collisions move this object) MakeDynamic(IsStatic); @@ -790,7 +790,7 @@ public class BSPrim : BSPhysObject AddObjectToPhysicalWorld(); // Rebuild its shape - PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody); + PhysScene.PE.UpdateSingleAabb(PhysScene.World, PhysBody); DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}", LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), @@ -807,28 +807,28 @@ public class BSPrim : BSPhysObject if (makeStatic) { // Become a Bullet 'static' object type - CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT); + CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT); // Stop all movement ZeroMotion(true); // Set various physical properties so other object interact properly - PhysicsScene.PE.SetFriction(PhysBody, Friction); - PhysicsScene.PE.SetRestitution(PhysBody, Restitution); - PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); + PhysScene.PE.SetFriction(PhysBody, Friction); + PhysScene.PE.SetRestitution(PhysBody, Restitution); + PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); // Mass is zero which disables a bunch of physics stuff in Bullet UpdatePhysicalMassProperties(0f, false); // Set collision detection parameters if (BSParam.CcdMotionThreshold > 0f) { - PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); - PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); + PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); + PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); } // The activation state is 'disabled' so Bullet will not try to act on it. // PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.DISABLE_SIMULATION); // Start it out sleeping and physical actions could wake it up. - PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING); + PhysScene.PE.ForceActivationState(PhysBody, ActivationState.ISLAND_SLEEPING); // This collides like a static object PhysBody.collisionType = CollisionType.Static; @@ -836,11 +836,11 @@ public class BSPrim : BSPhysObject else { // Not a Bullet static object - CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT); + CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_STATIC_OBJECT); // Set various physical properties so other object interact properly - PhysicsScene.PE.SetFriction(PhysBody, Friction); - PhysicsScene.PE.SetRestitution(PhysBody, Restitution); + PhysScene.PE.SetFriction(PhysBody, Friction); + PhysScene.PE.SetRestitution(PhysBody, Restitution); // DetailLog("{0},BSPrim.MakeDynamic,frict={1},rest={2}", LocalID, Friction, Restitution); // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 @@ -858,22 +858,22 @@ public class BSPrim : BSPhysObject // Set collision detection parameters if (BSParam.CcdMotionThreshold > 0f) { - PhysicsScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); - PhysicsScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); + PhysScene.PE.SetCcdMotionThreshold(PhysBody, BSParam.CcdMotionThreshold); + PhysScene.PE.SetCcdSweptSphereRadius(PhysBody, BSParam.CcdSweptSphereRadius); } // Various values for simulation limits - PhysicsScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping); - PhysicsScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime); - PhysicsScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold); - PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); + PhysScene.PE.SetDamping(PhysBody, BSParam.LinearDamping, BSParam.AngularDamping); + PhysScene.PE.SetDeactivationTime(PhysBody, BSParam.DeactivationTime); + PhysScene.PE.SetSleepingThresholds(PhysBody, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold); + PhysScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); // This collides like an object. PhysBody.collisionType = CollisionType.Dynamic; // Force activation of the object so Bullet will act on it. // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects. - PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); + PhysScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG); } } @@ -883,7 +883,7 @@ public 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)PhysicsScene.PE.GetBodyType(PhysBody); + CollisionObjectTypes bodyType = (CollisionObjectTypes)PhysScene.PE.GetBodyType(PhysBody); if (makeSolid) { // Verify the previous code created the correct shape for this type of thing. @@ -891,7 +891,7 @@ public class BSPrim : BSPhysObject { m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType); } - CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); + CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); } else { @@ -899,7 +899,7 @@ public class BSPrim : BSPhysObject { m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); } - CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); + CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); // Change collision info from a static object to a ghosty collision object PhysBody.collisionType = CollisionType.VolumeDetect; @@ -911,11 +911,11 @@ public class BSPrim : BSPhysObject { if (wantsCollisionEvents) { - CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); } else { - CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); } } @@ -926,7 +926,7 @@ public class BSPrim : BSPhysObject { if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); + PhysScene.PE.AddObjectToWorld(PhysScene.World, PhysBody); } else { @@ -961,12 +961,12 @@ public class BSPrim : BSPhysObject public override bool FloatOnWater { set { _floatOnWater = value; - PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate() + PhysScene.TaintedObject("BSPrim.setFloatOnWater", delegate() { if (_floatOnWater) - CurrentCollisionFlags = PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); else - CurrentCollisionFlags = PhysicsScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); + CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_FLOATS_ON_WATER); }); } } @@ -978,7 +978,7 @@ public class BSPrim : BSPhysObject _rotationalVelocity = value; Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity); // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); - PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() + PhysScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() { ForceRotationalVelocity = _rotationalVelocity; }); @@ -993,7 +993,7 @@ public class BSPrim : BSPhysObject if (PhysBody.HasPhysicalBody) { DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); - PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); + PhysScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); // PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity); ActivateIfPhysical(false); } @@ -1009,7 +1009,7 @@ public class BSPrim : BSPhysObject get { return _buoyancy; } set { _buoyancy = value; - PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate() + PhysScene.TaintedObject("BSPrim.setBuoyancy", delegate() { ForceBuoyancy = _buoyancy; }); @@ -1032,7 +1032,7 @@ public class BSPrim : BSPhysObject base.MoveToTargetActive = value; EnableActor(MoveToTargetActive, MoveToTargetActorName, delegate() { - return new BSActorMoveToTarget(PhysicsScene, this, MoveToTargetActorName); + return new BSActorMoveToTarget(PhysScene, this, MoveToTargetActorName); }); } } @@ -1044,7 +1044,7 @@ public class BSPrim : BSPhysObject base.HoverActive = value; EnableActor(HoverActive, HoverActorName, delegate() { - return new BSActorHover(PhysicsScene, this, HoverActorName); + return new BSActorHover(PhysScene, this, HoverActorName); }); } } @@ -1054,7 +1054,7 @@ public class BSPrim : BSPhysObject OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); // Since this force is being applied in only one step, make this a force per second. - addForce /= PhysicsScene.LastTimeStep; + addForce /= PhysScene.LastTimeStep; AddForce(addForce, pushforce, false /* inTaintTime */); } @@ -1069,13 +1069,13 @@ public class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); OMV.Vector3 addForce = force; - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() + PhysScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() { // Bullet adds this central force to the total force for this tick DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce); + PhysScene.PE.ApplyCentralForce(PhysBody, addForce); ActivateIfPhysical(false); } }); @@ -1097,13 +1097,13 @@ public class BSPrim : BSPhysObject OMV.Vector3 addImpulse = Util.ClampV(impulse, BSParam.MaxAddForceMagnitude); // DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse); - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate() + PhysScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate() { // Bullet adds this impulse immediately to the velocity DetailLog("{0},BSPrim.addForceImpulse,taint,impulseforce={1}", LocalID, addImpulse); if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.ApplyCentralImpulse(PhysBody, addImpulse); + PhysScene.PE.ApplyCentralImpulse(PhysBody, addImpulse); ActivateIfPhysical(false); } }); @@ -1122,12 +1122,12 @@ public class BSPrim : BSPhysObject if (force.IsFinite()) { OMV.Vector3 angForce = force; - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate() + PhysScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate() { if (PhysBody.HasPhysicalBody) { DetailLog("{0},BSPrim.AddAngularForce,taint,angForce={1}", LocalID, angForce); - PhysicsScene.PE.ApplyTorque(PhysBody, angForce); + PhysScene.PE.ApplyTorque(PhysBody, angForce); ActivateIfPhysical(false); } }); @@ -1146,11 +1146,11 @@ public class BSPrim : BSPhysObject public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime) { OMV.Vector3 applyImpulse = impulse; - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate() + PhysScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate() { if (PhysBody.HasPhysicalBody) { - PhysicsScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse); + PhysScene.PE.ApplyTorqueImpulse(PhysBody, applyImpulse); ActivateIfPhysical(false); } }); @@ -1452,7 +1452,7 @@ public class BSPrim : BSPhysObject // Create the correct physical representation for this type of object. // Updates base.PhysBody and base.PhysShape with the new information. // Ignore 'forceRebuild'. 'GetBodyAndShape' makes the right choices and changes of necessary. - PhysicsScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysicsScene.World, this, delegate(BulletBody pBody, BulletShape pShape) + PhysScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysScene.World, this, delegate(BulletBody pBody, BulletShape pShape) { // Called if the current prim body is about to be destroyed. // Remove all the physical dependencies on the old body. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 81104ec1ad..5236909163 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -47,9 +47,9 @@ public class BSPrimLinkable : BSPrimDisplaced OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) : base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical) { - Linkset = BSLinkset.Factory(PhysicsScene, this); + Linkset = BSLinkset.Factory(PhysScene, this); - PhysicsScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate() + PhysScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate() { Linkset.Refresh(this); }); @@ -99,7 +99,7 @@ public class BSPrimLinkable : BSPrimDisplaced set { base.Position = value; - PhysicsScene.TaintedObject("BSPrimLinkset.setPosition", delegate() + PhysScene.TaintedObject("BSPrimLinkset.setPosition", delegate() { Linkset.UpdateProperties(UpdatedProperties.Position, this); }); @@ -113,7 +113,7 @@ public class BSPrimLinkable : BSPrimDisplaced set { base.Orientation = value; - PhysicsScene.TaintedObject("BSPrimLinkset.setOrientation", delegate() + PhysScene.TaintedObject("BSPrimLinkset.setOrientation", delegate() { Linkset.UpdateProperties(UpdatedProperties.Orientation, this); }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index e4fecc3aaf..5a197974b7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -92,7 +92,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys private void BuildHeightmapTerrain() { // Create the terrain shape from the mapInfo - m_mapInfo.terrainShape = PhysicsScene.PE.CreateTerrainShape( m_mapInfo.ID, + m_mapInfo.terrainShape = m_physicsScene.PE.CreateTerrainShape( m_mapInfo.ID, new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ, m_mapInfo.heightMap, 1f, BSParam.TerrainCollisionMargin); @@ -103,26 +103,26 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f); centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f); - m_mapInfo.terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape, + m_mapInfo.terrainBody = m_physicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape, m_mapInfo.ID, centerPos, Quaternion.Identity); // Set current terrain attributes - PhysicsScene.PE.SetFriction(m_mapInfo.terrainBody, BSParam.TerrainFriction); - PhysicsScene.PE.SetHitFraction(m_mapInfo.terrainBody, BSParam.TerrainHitFraction); - PhysicsScene.PE.SetRestitution(m_mapInfo.terrainBody, BSParam.TerrainRestitution); - PhysicsScene.PE.SetCollisionFlags(m_mapInfo.terrainBody, CollisionFlags.CF_STATIC_OBJECT); + m_physicsScene.PE.SetFriction(m_mapInfo.terrainBody, BSParam.TerrainFriction); + m_physicsScene.PE.SetHitFraction(m_mapInfo.terrainBody, BSParam.TerrainHitFraction); + m_physicsScene.PE.SetRestitution(m_mapInfo.terrainBody, BSParam.TerrainRestitution); + m_physicsScene.PE.SetCollisionFlags(m_mapInfo.terrainBody, CollisionFlags.CF_STATIC_OBJECT); // Return the new terrain to the world of physical objects - PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_mapInfo.terrainBody); + m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_mapInfo.terrainBody); // redo its bounding box now that it is in the world - PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_mapInfo.terrainBody); + m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_mapInfo.terrainBody); m_mapInfo.terrainBody.collisionType = CollisionType.Terrain; - m_mapInfo.terrainBody.ApplyCollisionMask(PhysicsScene); + m_mapInfo.terrainBody.ApplyCollisionMask(m_physicsScene); // Make it so the terrain will not move or be considered for movement. - PhysicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION); + m_physicsScene.PE.ForceActivationState(m_mapInfo.terrainBody, ActivationState.DISABLE_SIMULATION); return; } @@ -134,9 +134,9 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys { if (m_mapInfo.terrainBody.HasPhysicalBody) { - PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_mapInfo.terrainBody); + m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, m_mapInfo.terrainBody); // Frees both the body and the shape. - PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_mapInfo.terrainBody); + m_physicsScene.PE.DestroyObject(m_physicsScene.World, m_mapInfo.terrainBody); } } m_mapInfo = null; @@ -155,7 +155,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys catch { // Sometimes they give us wonky values of X and Y. Give a warning and return something. - PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", + m_physicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", LogHeader, m_mapInfo.terrainRegionBase, pos); ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; } @@ -165,7 +165,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys // The passed position is relative to the base of the region. public override float GetWaterLevelAtXYZ(Vector3 pos) { - return PhysicsScene.SimpleWaterLevel; + return m_physicsScene.SimpleWaterLevel; } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 5240ad8220..0d16eda97a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -50,14 +50,14 @@ public abstract class BSTerrainPhys : IDisposable Mesh = 1 } - public BSScene PhysicsScene { get; private set; } + protected BSScene m_physicsScene { get; private set; } // Base of the region in world coordinates. Coordinates inside the region are relative to this. public Vector3 TerrainBase { get; private set; } public uint ID { get; private set; } public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id) { - PhysicsScene = physicsScene; + m_physicsScene = physicsScene; TerrainBase = regionBase; ID = id; } @@ -86,7 +86,7 @@ public sealed class BSTerrainManager : IDisposable public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); // The scene that I am part of - private BSScene PhysicsScene { get; set; } + private BSScene m_physicsScene { get; set; } // The ground plane created to keep thing from falling to infinity. private BulletBody m_groundPlane; @@ -113,7 +113,7 @@ public sealed class BSTerrainManager : IDisposable public BSTerrainManager(BSScene physicsScene) { - PhysicsScene = physicsScene; + m_physicsScene = physicsScene; m_terrains = new Dictionary(); // Assume one region of default size @@ -132,21 +132,21 @@ public sealed class BSTerrainManager : IDisposable // safe to call Bullet in real time. We hope no one is moving prims around yet. public void CreateInitialGroundPlaneAndTerrain() { - DetailLog("{0},BSTerrainManager.CreateInitialGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, PhysicsScene.RegionName); + DetailLog("{0},BSTerrainManager.CreateInitialGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName); // The ground plane is here to catch things that are trying to drop to negative infinity - BulletShape groundPlaneShape = PhysicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin); - m_groundPlane = PhysicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, + BulletShape groundPlaneShape = m_physicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin); + m_groundPlane = m_physicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity); - PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_groundPlane); - PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_groundPlane); + m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_groundPlane); + m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_groundPlane); // Ground plane does not move - PhysicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION); + m_physicsScene.PE.ForceActivationState(m_groundPlane, ActivationState.DISABLE_SIMULATION); // Everything collides with the ground plane. m_groundPlane.collisionType = CollisionType.Groundplane; - m_groundPlane.ApplyCollisionMask(PhysicsScene); + m_groundPlane.ApplyCollisionMask(m_physicsScene); - BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); + BSTerrainPhys initialTerrain = new BSTerrainHeightmap(m_physicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); lock (m_terrains) { // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. @@ -157,12 +157,12 @@ public sealed class BSTerrainManager : IDisposable // Release all the terrain structures we might have allocated public void ReleaseGroundPlaneAndTerrain() { - DetailLog("{0},BSTerrainManager.ReleaseGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, PhysicsScene.RegionName); + DetailLog("{0},BSTerrainManager.ReleaseGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName); if (m_groundPlane.HasPhysicalBody) { - if (PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_groundPlane)) + if (m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, m_groundPlane)) { - PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_groundPlane); + m_physicsScene.PE.DestroyObject(m_physicsScene.World, m_groundPlane); } m_groundPlane.Clear(); } @@ -188,7 +188,7 @@ public sealed class BSTerrainManager : IDisposable float[] localHeightMap = heightMap; // If there are multiple requests for changes to the same terrain between ticks, // only do that last one. - PhysicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate() + m_physicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate() { if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null) { @@ -219,7 +219,7 @@ public sealed class BSTerrainManager : IDisposable private void AddMegaRegionChildTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) { // Since we are called by another region's thread, the action must be rescheduled onto our processing thread. - PhysicsScene.PostTaintObject("TerrainManager.AddMegaRegionChild" + minCoords.ToString(), id, delegate() + m_physicsScene.PostTaintObject("TerrainManager.AddMegaRegionChild" + minCoords.ToString(), id, delegate() { UpdateTerrain(id, heightMap, minCoords, maxCoords); }); @@ -318,26 +318,26 @@ public sealed class BSTerrainManager : IDisposable // TODO: redo terrain implementation selection to allow other base types than heightMap. private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) { - PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", - LogHeader, PhysicsScene.RegionName, terrainRegionBase, + m_physicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", + LogHeader, m_physicsScene.RegionName, terrainRegionBase, (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation); BSTerrainPhys newTerrainPhys = null; switch ((int)BSParam.TerrainImplementation) { case (int)BSTerrainPhys.TerrainImplementation.Heightmap: - newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id, + newTerrainPhys = new BSTerrainHeightmap(m_physicsScene, terrainRegionBase, id, heightMap, minCoords, maxCoords); break; case (int)BSTerrainPhys.TerrainImplementation.Mesh: - newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id, + newTerrainPhys = new BSTerrainMesh(m_physicsScene, terrainRegionBase, id, heightMap, minCoords, maxCoords); break; default: - PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}", + m_physicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}", LogHeader, (int)BSParam.TerrainImplementation, BSParam.TerrainImplementation, - PhysicsScene.RegionName, terrainRegionBase); + m_physicsScene.RegionName, terrainRegionBase); break; } return newTerrainPhys; @@ -429,8 +429,8 @@ public sealed class BSTerrainManager : IDisposable } else { - PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", - LogHeader, PhysicsScene.RegionName, tX, tY); + m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", + LogHeader, m_physicsScene.RegionName, tX, tY); DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}", BSScene.DetailLogZero, pos, terrainBaseXYZ); } @@ -451,8 +451,8 @@ public sealed class BSTerrainManager : IDisposable } else { - PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}", - LogHeader, PhysicsScene.RegionName, pos, terrainBaseXYZ, ret); + m_physicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}", + LogHeader, m_physicsScene.RegionName, pos, terrainBaseXYZ, ret); } return ret; } @@ -564,7 +564,7 @@ public sealed class BSTerrainManager : IDisposable private void DetailLog(string msg, params Object[] args) { - PhysicsScene.PhysicsLogging.Write(msg, args); + m_physicsScene.PhysicsLogging.Write(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 2ce1513d54..ee2a1f27cf 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -80,7 +80,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys if (BSParam.TerrainMeshMagnification == 1) { // If a magnification of one, use the old routine that is tried and true. - meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, + meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh(m_physicsScene, initialMap, m_sizeX, m_sizeY, // input size Vector3.Zero, // base for mesh out indicesCount, out indices, out verticesCount, out vertices); @@ -88,7 +88,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys else { // Other magnifications use the newer routine - meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh2(PhysicsScene, + meshCreationSuccess = BSTerrainMesh.ConvertHeightmapToMesh2(m_physicsScene, initialMap, m_sizeX, m_sizeY, // input size BSParam.TerrainMeshMagnification, physicsScene.TerrainManager.DefaultRegionSize, @@ -98,21 +98,21 @@ public sealed class BSTerrainMesh : BSTerrainPhys if (!meshCreationSuccess) { // DISASTER!! - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap,id={1}", BSScene.DetailLogZero, ID); - PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase); + m_physicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap,id={1}", BSScene.DetailLogZero, ID); + m_physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase); // Something is very messed up and a crash is in our future. return; } - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,id={1},indices={2},indSz={3},vertices={4},vertSz={5}", + m_physicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,id={1},indices={2},indSz={3},vertices={4},vertSz={5}", BSScene.DetailLogZero, ID, indicesCount, indices.Length, verticesCount, vertices.Length); - m_terrainShape = PhysicsScene.PE.CreateMeshShape(PhysicsScene.World, indicesCount, indices, verticesCount, vertices); + m_terrainShape = m_physicsScene.PE.CreateMeshShape(m_physicsScene.World, indicesCount, indices, verticesCount, vertices); if (!m_terrainShape.HasPhysicalShape) { // DISASTER!! - PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape,id={1}", BSScene.DetailLogZero, ID); - PhysicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase); + m_physicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape,id={1}", BSScene.DetailLogZero, ID); + m_physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase); // Something is very messed up and a crash is in our future. return; } @@ -120,52 +120,52 @@ public sealed class BSTerrainMesh : BSTerrainPhys Vector3 pos = regionBase; Quaternion rot = Quaternion.Identity; - m_terrainBody = PhysicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot); + m_terrainBody = m_physicsScene.PE.CreateBodyWithDefaultMotionState(m_terrainShape, ID, pos, rot); if (!m_terrainBody.HasPhysicalBody) { // DISASTER!! - PhysicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase); + m_physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase); // Something is very messed up and a crash is in our future. return; } physicsScene.PE.SetShapeCollisionMargin(m_terrainShape, BSParam.TerrainCollisionMargin); // Set current terrain attributes - PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction); - PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction); - PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution); - PhysicsScene.PE.SetContactProcessingThreshold(m_terrainBody, BSParam.TerrainContactProcessingThreshold); - PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT); + m_physicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction); + m_physicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction); + m_physicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution); + m_physicsScene.PE.SetContactProcessingThreshold(m_terrainBody, BSParam.TerrainContactProcessingThreshold); + m_physicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT); // Static objects are not very massive. - PhysicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero); + m_physicsScene.PE.SetMassProps(m_terrainBody, 0f, Vector3.Zero); // Put the new terrain to the world of physical objects - PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, m_terrainBody); + m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_terrainBody); // Redo its bounding box now that it is in the world - PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, m_terrainBody); + m_physicsScene.PE.UpdateSingleAabb(m_physicsScene.World, m_terrainBody); m_terrainBody.collisionType = CollisionType.Terrain; - m_terrainBody.ApplyCollisionMask(PhysicsScene); + m_terrainBody.ApplyCollisionMask(m_physicsScene); if (BSParam.UseSingleSidedMeshes) { - PhysicsScene.DetailLog("{0},BSTerrainMesh.settingCustomMaterial,id={1}", BSScene.DetailLogZero, id); - PhysicsScene.PE.AddToCollisionFlags(m_terrainBody, CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK); + m_physicsScene.DetailLog("{0},BSTerrainMesh.settingCustomMaterial,id={1}", BSScene.DetailLogZero, id); + m_physicsScene.PE.AddToCollisionFlags(m_terrainBody, CollisionFlags.CF_CUSTOM_MATERIAL_CALLBACK); } // Make it so the terrain will not move or be considered for movement. - PhysicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION); + m_physicsScene.PE.ForceActivationState(m_terrainBody, ActivationState.DISABLE_SIMULATION); } public override void Dispose() { if (m_terrainBody.HasPhysicalBody) { - PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, m_terrainBody); + m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, m_terrainBody); // Frees both the body and the shape. - PhysicsScene.PE.DestroyObject(PhysicsScene.World, m_terrainBody); + m_physicsScene.PE.DestroyObject(m_physicsScene.World, m_terrainBody); m_terrainBody.Clear(); m_terrainShape.Clear(); } @@ -185,7 +185,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys catch { // Sometimes they give us wonky values of X and Y. Give a warning and return something. - PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", + m_physicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}", LogHeader, TerrainBase, pos); ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; } @@ -195,7 +195,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys // The passed position is relative to the base of the region. public override float GetWaterLevelAtXYZ(Vector3 pos) { - return PhysicsScene.SimpleWaterLevel; + return m_physicsScene.SimpleWaterLevel; } // Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). From 92ee288d666963aae2a058cc964be009a504f084 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 29 Apr 2013 07:54:50 -0700 Subject: [PATCH 07/19] BulletSim: remove trailing white space to make git happier. No functional changes. --- .../Physics/BulletSPlugin/BSAPIUnman.cs | 6 +- .../Region/Physics/BulletSPlugin/BSAPIXNA.cs | 138 +++++++++--------- .../BulletSPlugin/BSActorAvatarMove.cs | 2 +- .../Physics/BulletSPlugin/BSActorLockAxis.cs | 2 +- .../Region/Physics/BulletSPlugin/BSActors.cs | 2 +- .../Physics/BulletSPlugin/BSApiTemplate.cs | 6 +- .../Physics/BulletSPlugin/BSCharacter.cs | 6 +- .../BulletSPlugin/BSConstraintHinge.cs | 2 +- .../Physics/BulletSPlugin/BSDynamics.cs | 22 +-- .../Region/Physics/BulletSPlugin/BSLinkset.cs | 2 +- .../BulletSPlugin/BSLinksetCompound.cs | 4 +- .../Region/Physics/BulletSPlugin/BSMotors.cs | 12 +- .../Region/Physics/BulletSPlugin/BSParam.cs | 6 +- .../Physics/BulletSPlugin/BSPhysObject.cs | 8 +- .../Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- .../Region/Physics/BulletSPlugin/BSShapes.cs | 20 +-- .../BulletSPlugin/BSTerrainHeightmap.cs | 6 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 10 +- .../Physics/BulletSPlugin/BSTerrainMesh.cs | 6 +- .../Physics/BulletSPlugin/BulletSimData.cs | 42 +++--- 20 files changed, 152 insertions(+), 152 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 8a22bc7b2a..231f0f8197 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -75,7 +75,7 @@ private sealed class BulletBodyUnman : BulletBody private sealed class BulletShapeUnman : BulletShape { public IntPtr ptr; - public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ) + public BulletShapeUnman(IntPtr xx, BSPhysicsShapeType typ) : base() { ptr = xx; @@ -255,7 +255,7 @@ public override BulletShape CreateHullShape(BulletWorld world, int hullCount, fl { BulletWorldUnman worldu = world as BulletWorldUnman; return new BulletShapeUnman( - BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls), + BSAPICPP.CreateHullShape2(worldu.ptr, hullCount, hulls), BSPhysicsShapeType.SHAPE_HULL); } @@ -1503,7 +1503,7 @@ public static extern void DestroyObject2(IntPtr sim, IntPtr obj); public static extern IntPtr CreateGroundPlaneShape2(uint id, float height, float collisionMargin); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight, +public static extern IntPtr CreateTerrainShape2(uint id, Vector3 size, float minHeight, float maxHeight, [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float scaleFactor, float collisionMargin); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 1ef8b1714f..59780ae8ee 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -81,7 +81,7 @@ private sealed class BulletBodyXNA : BulletBody private sealed class BulletShapeXNA : BulletShape { public CollisionShape shape; - public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) + public BulletShapeXNA(CollisionShape xx, BSPhysicsShapeType typ) : base() { shape = xx; @@ -137,8 +137,8 @@ private sealed class BulletConstraintXNA : BulletConstraint internal int LastEntityProperty = 0; internal EntityProperties[] UpdatedObjects; - internal Dictionary specialCollisionObjects; - + internal Dictionary specialCollisionObjects; + private static int m_collisionsThisFrame; private BSScene PhysicsScene { get; set; } @@ -151,7 +151,7 @@ private sealed class BulletConstraintXNA : BulletConstraint } /// - /// + /// /// /// /// @@ -174,7 +174,7 @@ private sealed class BulletConstraintXNA : BulletConstraint DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain; world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects); - + return true; } @@ -300,7 +300,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) { DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; return world.GetForceUpdateAllAabbs(); - + } public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce) { @@ -404,7 +404,7 @@ private sealed class BulletConstraintXNA : BulletConstraint IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion); mat._origin = vposition; collisionObject.SetWorldTransform(mat); - + } public override Vector3 GetPosition(BulletBody pCollisionObject) @@ -457,7 +457,7 @@ private sealed class BulletConstraintXNA : BulletConstraint { CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; collisionObject.Activate(pforceactivation); - + } public override Quaternion GetOrientation(BulletBody pCollisionObject) @@ -486,7 +486,7 @@ private sealed class BulletConstraintXNA : BulletConstraint { CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; return collisionObject.GetCcdSweptSphereRadius(); - + } public override IntPtr GetUserPointer(BulletBody pCollisionObject) @@ -559,8 +559,8 @@ private sealed class BulletConstraintXNA : BulletConstraint } - public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, - Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, + public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, + Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) { @@ -604,7 +604,7 @@ private sealed class BulletConstraintXNA : BulletConstraint } /// - /// + /// /// /// /// @@ -824,7 +824,7 @@ private sealed class BulletConstraintXNA : BulletConstraint { RigidBody body = (pBody as BulletBodyXNA).rigidBody; float angularDamping = body.GetAngularDamping(); - body.SetDamping(lin_damping, angularDamping); + body.SetDamping(lin_damping, angularDamping); } public override float GetLinearDamping(BulletBody pBody) @@ -907,7 +907,7 @@ private sealed class BulletConstraintXNA : BulletConstraint RigidBody bo = co as RigidBody; if (bo == null) { - + if (world.IsInWorld(co)) { world.RemoveCollisionObject(co); @@ -915,7 +915,7 @@ private sealed class BulletConstraintXNA : BulletConstraint } else { - + if (world.IsInWorld(bo)) { world.RemoveRigidBody(bo); @@ -947,7 +947,7 @@ private sealed class BulletConstraintXNA : BulletConstraint // TODO: Turn this from a reference copy to a Value Copy. BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSShapeTypeFromBroadPhaseNativeType(shape1.GetShapeType())); - + return shape2; } @@ -957,7 +957,7 @@ private sealed class BulletConstraintXNA : BulletConstraint return false; } //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation); - + public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) { CollisionWorld world = (pWorld as BulletWorldXNA).world; @@ -993,11 +993,11 @@ private sealed class BulletConstraintXNA : BulletConstraint m_startWorldTransform = IndexedMatrix.Identity; */ body.SetUserPointer(pLocalID); - + return new BulletBodyXNA(pLocalID, body); } - + public override BulletBody CreateBodyWithDefaultMotionState( BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation) { @@ -1025,7 +1025,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) { - /* TODO */ + /* TODO */ return Vector3.Zero; } public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; } @@ -1035,7 +1035,7 @@ private sealed class BulletConstraintXNA : BulletConstraint { CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; return collisionObject.IsStaticObject(); - + } public override bool IsKinematicObject(BulletBody pCollisionObject) { @@ -1098,10 +1098,10 @@ private sealed class BulletConstraintXNA : BulletConstraint return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null)); } - private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, + private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray, - int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, + int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray, object mDebugLogCallbackHandle) { CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData(); @@ -1138,9 +1138,9 @@ private sealed class BulletConstraintXNA : BulletConstraint p.avatarCapsuleDepth = BSParam.AvatarCapsuleDepth; p.avatarCapsuleHeight = BSParam.AvatarCapsuleHeight; p.avatarContactProcessingThreshold = BSParam.AvatarContactProcessingThreshold; - + p.vehicleAngularDamping = BSParam.VehicleAngularDamping; - + p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize; p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize; p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation; @@ -1160,7 +1160,7 @@ private sealed class BulletConstraintXNA : BulletConstraint p.linkConstraintSolverIterations = BSParam.LinkConstraintSolverIterations; p.physicsLoggingFrames = o[0].physicsLoggingFrames; DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo(); - + DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration(); CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci); @@ -1263,7 +1263,7 @@ private sealed class BulletConstraintXNA : BulletConstraint } } return ret; - + } public override float GetAngularMotionDisc(BulletShape pShape) @@ -1353,10 +1353,10 @@ private sealed class BulletConstraintXNA : BulletConstraint CollisionShape shape = (pShape as BulletShapeXNA).shape; gObj.SetCollisionShape(shape); gObj.SetUserPointer(pLocalID); - + if (specialCollisionObjects.ContainsKey(pLocalID)) specialCollisionObjects[pLocalID] = gObj; - else + else specialCollisionObjects.Add(pLocalID, gObj); // TODO: Add to Special CollisionObjects! @@ -1447,8 +1447,8 @@ private sealed class BulletConstraintXNA : BulletConstraint return new BulletShapeXNA(ret, BSShapeTypeFromBroadPhaseNativeType(ret.GetShapeType())); } - public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { - + public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { + if (cShape == null) return null; CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape; @@ -1456,7 +1456,7 @@ private sealed class BulletConstraintXNA : BulletConstraint BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType())); - return retShape; + return retShape; } public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin) @@ -1598,8 +1598,8 @@ private sealed class BulletConstraintXNA : BulletConstraint return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE); } - public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, - Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, + public override BulletConstraint Create6DofSpringConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, + Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies) { @@ -1745,7 +1745,7 @@ private sealed class BulletConstraintXNA : BulletConstraint { DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; CompoundShape compoundshape = new CompoundShape(false); - + compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin); int ii = 1; @@ -1761,7 +1761,7 @@ private sealed class BulletConstraintXNA : BulletConstraint int ender = ((ii + 4) + (vertexCount*3)); for (int iii = ii + 4; iii < ender; iii+=3) { - + virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2])); } ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount); @@ -1769,7 +1769,7 @@ private sealed class BulletConstraintXNA : BulletConstraint compoundshape.AddChildShape(ref childTrans, convexShape); ii += (vertexCount*3 + 4); } - + return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); } @@ -1791,13 +1791,13 @@ private sealed class BulletConstraintXNA : BulletConstraint public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) { //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount); - + for (int iter = 0; iter < pVerticesCount; iter++) { if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0; if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0; } - + ObjectArray indicesarr = new ObjectArray(indices); ObjectArray vertices = new ObjectArray(verticesAsFloats); DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount); @@ -1811,7 +1811,7 @@ private sealed class BulletConstraintXNA : BulletConstraint mesh.m_vertexStride = 3; mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; mesh.m_triangleIndexStride = 3; - + TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true); @@ -1822,7 +1822,7 @@ private sealed class BulletConstraintXNA : BulletConstraint } public static void DumpRaw(ObjectArrayindices, ObjectArray vertices, int pIndicesCount,int pVerticesCount ) { - + String fileName = "objTest3.raw"; String completePath = System.IO.Path.Combine(Util.configDir(), fileName); StreamWriter sw = new StreamWriter(completePath); @@ -1848,7 +1848,7 @@ private sealed class BulletConstraintXNA : BulletConstraint string s = vertices[indices[i * 3]].ToString("0.0000"); s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000"); s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000"); - + sw.Write(s + "\n"); } @@ -1870,7 +1870,7 @@ private sealed class BulletConstraintXNA : BulletConstraint mesh.m_vertexStride = 3; mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT; mesh.m_triangleIndexStride = 3; - + TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray(); tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER); @@ -1901,7 +1901,7 @@ private sealed class BulletConstraintXNA : BulletConstraint sw.Close(); } - public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, + public override BulletShape CreateTerrainShape(uint id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, float scaleFactor, float collisionMargin) { const int upAxis = 2; @@ -1943,14 +1943,14 @@ private sealed class BulletConstraintXNA : BulletConstraint /* TODO */ updatedEntityCount = 0; collidersCount = 0; - + int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray); return ret; } - private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, + private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders) { @@ -1959,24 +1959,24 @@ private sealed class BulletConstraintXNA : BulletConstraint return epic; } - private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, + private int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates) { int numSimSteps = 0; Array.Clear(UpdatedObjects, 0, UpdatedObjects.Length); Array.Clear(UpdatedCollisions, 0, UpdatedCollisions.Length); LastEntityProperty=0; - + LastCollisionDesc=0; - + updatedEntityCount = 0; collidersCount = 0; - + if (pWorld is BulletWorldXNA) { @@ -2033,7 +2033,7 @@ private sealed class BulletConstraintXNA : BulletConstraint collidersCount = LastCollisionDesc; colliders = UpdatedCollisions; - + } else @@ -2041,15 +2041,15 @@ private sealed class BulletConstraintXNA : BulletConstraint //if (updatedEntities is null) //updatedEntities = new List(); //updatedEntityCount = 0; - - + + //collidersCount = 0; - + updatedEntities = new EntityProperties[0]; - + colliders = new CollisionDesc[0]; - + } return numSimSteps; } @@ -2057,7 +2057,7 @@ private sealed class BulletConstraintXNA : BulletConstraint { IOverlappingPairCache cache = obj.GetOverlappingPairCache(); ObjectArray pairs = cache.GetOverlappingPairArray(); - + DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world; PersistentManifoldArray manifoldArray = new PersistentManifoldArray(); BroadphasePair collisionPair; @@ -2069,7 +2069,7 @@ private sealed class BulletConstraintXNA : BulletConstraint ManifoldPoint pt; int numPairs = pairs.Count; - + for (int i = 0; i < numPairs; i++) { manifoldArray.Clear(); @@ -2078,7 +2078,7 @@ private sealed class BulletConstraintXNA : BulletConstraint collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1); if (collisionPair == null) continue; - + collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray); for (int j = 0; j < manifoldArray.Count; j++) { @@ -2101,7 +2101,7 @@ private sealed class BulletConstraintXNA : BulletConstraint } private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration) { - + IndexedVector3 contactNormal = norm; if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 && (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0) @@ -2171,11 +2171,11 @@ private sealed class BulletConstraintXNA : BulletConstraint if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody) { CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body; - + IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z); IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight); using ( - ClosestNotMeRayResultCallback rayCallback = + ClosestNotMeRayResultCallback rayCallback = new ClosestNotMeRayResultCallback(rOrigin, rEnd, AvoidBody) ) { @@ -2191,9 +2191,9 @@ private sealed class BulletConstraintXNA : BulletConstraint return false; } } - - + + public class SimMotionState : DefaultMotionState { @@ -2286,12 +2286,12 @@ private sealed class BulletConstraintXNA : BulletConstraint m_lastProperties = m_properties; if (m_world.LastEntityProperty < m_world.UpdatedObjects.Length) m_world.UpdatedObjects[m_world.LastEntityProperty++]=(m_properties); - + //(*m_updatesThisFrame)[m_properties.ID] = &m_properties; } - - - + + + } public override void SetRigidBody(RigidBody body) @@ -2314,7 +2314,7 @@ private sealed class BulletConstraintXNA : BulletConstraint (((v1.Z - nEpsilon) < v2.Z) && (v2.Z < (v1.Z + nEpsilon))) && (((v1.W - nEpsilon) < v2.W) && (v2.W < (v1.W + nEpsilon))); } - + } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs index ac059792d6..4e067b5f53 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs @@ -115,7 +115,7 @@ public class BSActorAvatarMove : BSActor if (m_velocityMotor == null) { // Infinite decay and timescale values so motor only changes current to target values. - m_velocityMotor = new BSVMotor("BSCharacter.Velocity", + m_velocityMotor = new BSVMotor("BSCharacter.Velocity", 0.2f, // time scale BSMotor.Infinite, // decay time scale BSMotor.InfiniteVector, // friction timescale diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs index 6059af5563..7801d8e47f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs @@ -63,7 +63,7 @@ public class BSActorLockAxis : BSActor // BSActor.Refresh() public override void Refresh() { - m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}", + m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}", m_controllingPrim.LocalID, m_controllingPrim.LockedAxis, Enabled, m_controllingPrim.IsPhysicallyActive); // If all the axis are free, we don't need to exist if (m_controllingPrim.LockedAxis == m_controllingPrim.LockedAxisFree) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs index 5e3f1c4097..fff63e4eb2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs @@ -117,7 +117,7 @@ public class BSActorCollection /// Each physical object can have 'actors' who are pushing the object around. /// This can be used for hover, locking axis, making vehicles, etc. /// Each physical object can have multiple actors acting on it. -/// +/// /// An actor usually registers itself with physics scene events (pre-step action) /// and modifies the parameters on the host physical object. /// diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index bfeec24419..3378c932d3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -298,7 +298,7 @@ public abstract class BSAPITemplate { // Returns the name of the underlying Bullet engine public abstract string BulletEngineName { get; } -public abstract string BulletEngineVersion { get; protected set;} +public abstract string BulletEngineVersion { get; protected set;} // Initialization and simulation public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms, @@ -373,7 +373,7 @@ public abstract void DestroyObject(BulletWorld sim, BulletBody obj); // ===================================================================================== public abstract BulletShape CreateGroundPlaneShape(UInt32 id, float height, float collisionMargin); -public abstract BulletShape CreateTerrainShape(UInt32 id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, +public abstract BulletShape CreateTerrainShape(UInt32 id, Vector3 size, float minHeight, float maxHeight, float[] heightMap, float scaleFactor, float collisionMargin); // ===================================================================================== @@ -388,7 +388,7 @@ public abstract BulletConstraint Create6DofConstraintToPoint(BulletWorld world, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies); public abstract BulletConstraint Create6DofConstraintFixed(BulletWorld world, BulletBody obj1, - Vector3 frameInBloc, Quaternion frameInBrot, + Vector3 frameInBloc, Quaternion frameInBrot, bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies); public abstract BulletConstraint Create6DofSpringConstraint(BulletWorld world, BulletBody obj1, BulletBody obj2, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index e12fc8e032..542f732365 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -371,7 +371,7 @@ public sealed class BSCharacter : BSPhysObject public override float Mass { get { return _mass; } } // used when we only want this prim's mass and not the linkset thing - public override float RawMass { + public override float RawMass { get {return _mass; } } public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) @@ -586,7 +586,7 @@ public sealed class BSCharacter : BSPhysObject } public override float ForceBuoyancy { get { return _buoyancy; } - set { + set { PhysScene.AssertInTaintTime("BSCharacter.ForceBuoyancy"); _buoyancy = value; @@ -647,7 +647,7 @@ public sealed class BSCharacter : BSPhysObject private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size) { OMV.Vector3 newScale; - + // Bullet's capsule total height is the "passed height + radius * 2"; // The base capsule is 1 diameter and 2 height (passed radius=0.5, passed height = 1) // The number we pass in for 'scaling' is the multiplier to get that base diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs index 7714a0352c..ed89f630e1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintHinge.cs @@ -45,7 +45,7 @@ public sealed class BSConstraintHinge : BSConstraint m_body1 = obj1; m_body2 = obj2; m_constraint = PhysicsScene.PE.CreateHingeConstraint(world, obj1, obj2, - pivotInA, pivotInB, axisInA, axisInB, + pivotInA, pivotInB, axisInA, axisInB, useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); m_enabled = true; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 56d24152cb..f535e50f70 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1019,7 +1019,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 origVelW = VehicleVelocity; // DEBUG DEBUG VehicleVelocity /= VehicleVelocity.Length(); VehicleVelocity *= BSParam.VehicleMaxLinearVelocity; - VDetailLog("{0}, MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}", + VDetailLog("{0}, MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}", ControllingPrim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity); } else if (newVelocityLengthSq < 0.001f) @@ -1094,7 +1094,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (VehiclePosition.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = VehiclePosition.Z; } - + if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) { if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f) @@ -1188,7 +1188,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // used with conjunction with banking: the strength of the banking will decay when the // vehicle no longer experiences collisions. The decay timescale is the same as // VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering - // when they are in mid jump. + // when they are in mid jump. // TODO: this code is wrong. Also, what should it do for boats (height from water)? // This is just using the ground and a general collision check. Should really be using // a downward raycast to find what is below. @@ -1254,7 +1254,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleAddForce(appliedGravity); - VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={3}", + VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={3}", ControllingPrim.LocalID, m_VehicleGravity, ControllingPrim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity); } @@ -1330,7 +1330,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : // This flag prevents linear deflection parallel to world z-axis. This is useful // for preventing ground vehicles with large linear deflection, like bumper cars, - // from climbing their linear deflection into the sky. + // from climbing their linear deflection into the sky. // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement // TODO: This is here because this is where ODE put it but documentation says it // is a linear effect. Where should this check go? @@ -1463,7 +1463,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleRotationalVelocity += (vertContributionV * VehicleOrientation); VDetailLog("{0}, MoveAngular,verticalAttraction,,origRotVW={1},vertError={2},unscaledV={3},eff={4},ts={5},vertContribV={6}", - Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV, + Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV); */ } @@ -1530,13 +1530,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // produce a angular velocity around the yaw-axis, causing the vehicle to turn. The magnitude // of the yaw effect will be proportional to the // VEHICLE_BANKING_EFFICIENCY, the angle of the roll rotation, and sometimes the vehicle's - // velocity along its preferred axis of motion. + // velocity along its preferred axis of motion. // The VEHICLE_BANKING_EFFICIENCY can vary between -1 and +1. When it is positive then any // positive rotation (by the right-hand rule) about the roll-axis will effect a // (negative) torque around the yaw-axis, making it turn to the right--that is the // vehicle will lean into the turn, which is how real airplanes and motorcycle's work. // Negating the banking coefficient will make it so that the vehicle leans to the - // outside of the turn (not very "physical" but might allow interesting vehicles so why not?). + // outside of the turn (not very "physical" but might allow interesting vehicles so why not?). // The VEHICLE_BANKING_MIX is a fake (i.e. non-physical) parameter that is useful for making // banking vehicles do what you want rather than what the laws of physics allow. // For example, consider a real motorcycle...it must be moving forward in order for @@ -1548,11 +1548,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // totally static (0.0) and totally dynamic (1.0). By "static" we mean that the // banking effect depends only on the vehicle's rotation about its roll-axis compared // to "dynamic" where the banking is also proportional to its velocity along its - // roll-axis. Finding the best value of the "mixture" will probably require trial and error. + // roll-axis. Finding the best value of the "mixture" will probably require trial and error. // The time it takes for the banking behavior to defeat a preexisting angular velocity about the // world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to // bank quickly then give it a banking timescale of about a second or less, otherwise you can - // make a sluggish vehicle by giving it a timescale of several seconds. + // make a sluggish vehicle by giving it a timescale of several seconds. public void ComputeAngularBanking() { if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) @@ -1581,7 +1581,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin //VehicleRotationalVelocity += bankingContributionV * VehicleOrientation; VehicleRotationalVelocity += bankingContributionV; - + VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}", ControllingPrim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 6d0d0eb382..76c2187eed 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -214,7 +214,7 @@ public abstract class BSLinkset // I am the root of a linkset and a new child is being added // Called while LinkActivity is locked. protected abstract void AddChildToLinkset(BSPrimLinkable child); - + // 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(BSPrimLinkable child); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 01ada3f4c2..1fd541f882 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -114,7 +114,7 @@ public sealed class BSLinksetCompound : BSLinkset // Schedule a refresh to happen after all the other taint processing. private void ScheduleRebuild(BSPrimLinkable requestor) { - DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", + DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. @@ -208,7 +208,7 @@ public sealed class BSLinksetCompound : BSLinkset // and that is caused by us updating the object. if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0) { - // Find the physical instance of the child + // Find the physical instance of the child if (LinksetRoot.PhysShape.HasPhysicalShape && m_physicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo)) { // It is possible that the linkset is still under construction and the child is not yet diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 9501e2d4fe..0128d8dbdd 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -102,7 +102,7 @@ public class BSVMotor : BSMotor return ErrorIsZero(LastError); } public virtual bool ErrorIsZero(Vector3 err) - { + { return (err == Vector3.Zero || err.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)); } @@ -115,7 +115,7 @@ public class BSVMotor : BSMotor CurrentValue = TargetValue = Vector3.Zero; ErrorZeroThreshold = 0.001f; } - public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) + public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) : this(useName) { TimeScale = timeScale; @@ -237,7 +237,7 @@ public class BSVMotor : BSMotor MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName); MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},frictTS={4},eff={5},curr={6},tgt={7}", BSScene.DetailLogZero, UseName, - TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency, + TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency, CurrentValue, TargetValue); LastError = BSMotor.InfiniteVector; @@ -248,7 +248,7 @@ public class BSVMotor : BSMotor BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, LastError, lastStep); } MDetailLog("{0},BSVMotor.Test,{1},===================================== END Test Output", BSScene.DetailLogZero, UseName); - + } @@ -279,7 +279,7 @@ public class BSFMotor : BSMotor return ErrorIsZero(LastError); } public virtual bool ErrorIsZero(float err) - { + { return (err >= -ErrorZeroThreshold && err <= ErrorZeroThreshold); } @@ -410,7 +410,7 @@ public class BSPIDVMotor : BSVMotor // The factors are vectors for the three dimensions. This is the proportional of each // that is applied. This could be multiplied through the actual factors but it // is sometimes easier to manipulate the factors and their mix separately. - // to + // to public Vector3 FactorMix; // Arbritrary factor range. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 980d40587b..5ebeacea90 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -37,7 +37,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public static class BSParam { - private static string LogHeader = "[BULLETSIM PARAMETERS]"; + private static string LogHeader = "[BULLETSIM PARAMETERS]"; // Tuning notes: // From: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=6575 @@ -51,7 +51,7 @@ public static class BSParam // This is separate/independent from the collision margin. The collision margin increases the object a bit // to improve collision detection performance and accuracy. // =================== - // From: + // From: // Level of Detail values kept as float because that's what the Meshmerizer wants public static float MeshLOD { get; private set; } @@ -636,7 +636,7 @@ public static class BSParam new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count", false, (s) => { return ShouldDisableContactPoolDynamicAllocation; }, - (s,v) => { ShouldDisableContactPoolDynamicAllocation = v; + (s,v) => { ShouldDisableContactPoolDynamicAllocation = v; s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = NumericBool(v); } ), new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step", false, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 6a3ada2975..28d4bd708a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -38,7 +38,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin * Class to wrap all objects. * The rest of BulletSim doesn't need to keep checking for avatars or prims * unless the difference is significant. - * + * * Variables in the physicsl objects are in three forms: * VariableName: used by the simulator and performs taint operations, etc * RawVariableName: direct reference to the BulletSim storage for the variable value @@ -52,7 +52,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin * SOP.ApplyImpulse SOP.ApplyAngularImpulse SOP.SetAngularImpulse SOP.SetForce * SOG.ApplyImpulse SOG.ApplyAngularImpulse SOG.SetAngularImpulse * PA.AddForce PA.AddAngularForce PA.Torque = v PA.Force = v - * BS.ApplyCentralForce BS.ApplyTorque + * BS.ApplyCentralForce BS.ApplyTorque */ // Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc. @@ -353,7 +353,7 @@ public abstract class BSPhysObject : PhysicsActor } public override bool CollidingObj { get { return (CollidingObjectStep == PhysScene.SimulationStep); } - set { + set { if (value) CollidingObjectStep = PhysScene.SimulationStep; else @@ -447,7 +447,7 @@ public abstract class BSPhysObject : PhysicsActor // The CollisionCollection instance is passed around in the simulator. // Make sure we don't have a handle to that one and that a new one is used for next time. - // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, + // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here, // a race condition is created for the other users of this instance. CollisionCollection = new CollisionEventUpdate(); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 0d455794aa..7e2af78e9c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -420,7 +420,7 @@ public class BSPrim : BSPhysObject get { return _mass; } } // used when we only want this prim's mass and not the linkset thing - public override float RawMass { + public override float RawMass { get { return _mass; } } // Set the physical mass to the passed mass. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index bfc7ae7735..5c58ad555f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -142,7 +142,7 @@ public abstract class BSShape // If the shape was successfully created, nothing more to do if (newShape.HasPhysicalShape) return newShape; - + // VerifyMeshCreated is called after trying to create the mesh. If we think the asset had been // fetched but we end up here again, the meshing of the asset must have failed. // Prevent trying to keep fetching the mesh by declaring failure. @@ -155,7 +155,7 @@ public abstract class BSShape else { // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset - if (prim.BaseShape.SculptEntry + if (prim.BaseShape.SculptEntry && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Failed && prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Waiting && prim.BaseShape.SculptTexture != OMV.UUID.Zero @@ -164,7 +164,7 @@ public abstract class BSShape physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAsset", prim.LocalID); // Multiple requestors will know we're waiting for this asset prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Waiting; - + BSPhysObject xprim = prim; Util.FireAndForget(delegate { @@ -245,8 +245,8 @@ public class BSShapeNative : BSShape { } - public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, - BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) + public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim, + BSPhysicsShapeType shapeType, FixedShapeKey shapeKey) { // Native shapes are not shared and are always built anew. return new BSShapeNative(CreatePhysicalNativeShape(physicsScene, prim, shapeType, shapeKey)); @@ -379,7 +379,7 @@ public class BSShapeMesh : BSShape { BulletShape newShape = null; - IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, + IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, false, // say it is not physical so a bounding box is not built false // do not cache the mesh and do not use previously built versions ); @@ -671,8 +671,8 @@ public class BSShapeCompound : BSShape public BSShapeCompound(BulletShape pShape) : base(pShape) { } - public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim) - { + public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim) + { // Compound shapes are not shared so a new one is created every time. return new BSShapeCompound(CreatePhysicalCompoundShape(physicsScene, prim)); } @@ -750,8 +750,8 @@ public class BSShapeAvatar : BSShape public BSShapeAvatar() : base() { } - public static BSShape GetReference(BSPhysObject prim) - { + public static BSShape GetReference(BSPhysObject prim) + { return new BSShapeNull(); } public override void Dereference(BSScene physicsScene) { } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 5a197974b7..c7deb4ec9d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -68,7 +68,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys // This minCoords and maxCoords passed in give the size of the terrain (min and max Z // are the high and low points of the heightmap). - public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, + public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, Vector3 minCoords, Vector3 maxCoords) : base(physicsScene, regionBase, id) { @@ -92,7 +92,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys private void BuildHeightmapTerrain() { // Create the terrain shape from the mapInfo - m_mapInfo.terrainShape = m_physicsScene.PE.CreateTerrainShape( m_mapInfo.ID, + m_mapInfo.terrainShape = m_physicsScene.PE.CreateTerrainShape( m_mapInfo.ID, new Vector3(m_mapInfo.sizeX, m_mapInfo.sizeY, 0), m_mapInfo.minZ, m_mapInfo.maxZ, m_mapInfo.heightMap, 1f, BSParam.TerrainCollisionMargin); @@ -103,7 +103,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f); centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f); - m_mapInfo.terrainBody = m_physicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape, + m_mapInfo.terrainBody = m_physicsScene.PE.CreateBodyWithDefaultMotionState(m_mapInfo.terrainShape, m_mapInfo.ID, centerPos, Quaternion.Identity); // Set current terrain attributes diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 0d16eda97a..c4807c41b0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -135,7 +135,7 @@ public sealed class BSTerrainManager : IDisposable DetailLog("{0},BSTerrainManager.CreateInitialGroundPlaneAndTerrain,region={1}", BSScene.DetailLogZero, m_physicsScene.RegionName); // The ground plane is here to catch things that are trying to drop to negative infinity BulletShape groundPlaneShape = m_physicsScene.PE.CreateGroundPlaneShape(BSScene.GROUNDPLANE_ID, 1f, BSParam.TerrainCollisionMargin); - m_groundPlane = m_physicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, + m_groundPlane = m_physicsScene.PE.CreateBodyWithDefaultMotionState(groundPlaneShape, BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity); m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, m_groundPlane); @@ -318,8 +318,8 @@ public sealed class BSTerrainManager : IDisposable // TODO: redo terrain implementation selection to allow other base types than heightMap. private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) { - m_physicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", - LogHeader, m_physicsScene.RegionName, terrainRegionBase, + m_physicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", + LogHeader, m_physicsScene.RegionName, terrainRegionBase, (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation); BSTerrainPhys newTerrainPhys = null; switch ((int)BSParam.TerrainImplementation) @@ -334,8 +334,8 @@ public sealed class BSTerrainManager : IDisposable break; default: m_physicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}", - LogHeader, - (int)BSParam.TerrainImplementation, + LogHeader, + (int)BSParam.TerrainImplementation, BSParam.TerrainImplementation, m_physicsScene.RegionName, terrainRegionBase); break; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index ee2a1f27cf..e4ca098b2d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -51,7 +51,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys BulletShape m_terrainShape; BulletBody m_terrainBody; - public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) + public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize) : base(physicsScene, regionBase, id) { } @@ -62,7 +62,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys } // Create terrain mesh from a heightmap. - public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, + public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap, Vector3 minCoords, Vector3 maxCoords) : base(physicsScene, regionBase, id) { @@ -104,7 +104,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys return; } - m_physicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,id={1},indices={2},indSz={3},vertices={4},vertSz={5}", + m_physicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,id={1},indices={2},indSz={3},vertices={4},vertSz={5}", BSScene.DetailLogZero, ID, indicesCount, indices.Length, verticesCount, vertices.Length); m_terrainShape = m_physicsScene.PE.CreateMeshShape(m_physicsScene.World, indicesCount, indices, verticesCount, vertices); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs index 906e4f9f40..d5060e3c6c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs @@ -224,42 +224,42 @@ public static class BulletSimData // As mentioned above, don't use the CollisionFilterGroups definitions directly in the code // but, instead, use references to this dictionary. Finding and debugging // collision flag problems will be made easier. -public static Dictionary CollisionTypeMasks +public static Dictionary CollisionTypeMasks = new Dictionary() { - { CollisionType.Avatar, - new CollisionTypeFilterGroup(CollisionType.Avatar, - (uint)CollisionFilterGroups.BCharacterGroup, + { CollisionType.Avatar, + new CollisionTypeFilterGroup(CollisionType.Avatar, + (uint)CollisionFilterGroups.BCharacterGroup, (uint)CollisionFilterGroups.BAllGroup) }, - { CollisionType.Groundplane, - new CollisionTypeFilterGroup(CollisionType.Groundplane, - (uint)CollisionFilterGroups.BGroundPlaneGroup, + { CollisionType.Groundplane, + new CollisionTypeFilterGroup(CollisionType.Groundplane, + (uint)CollisionFilterGroups.BGroundPlaneGroup, (uint)CollisionFilterGroups.BAllGroup) }, - { CollisionType.Terrain, - new CollisionTypeFilterGroup(CollisionType.Terrain, - (uint)CollisionFilterGroups.BTerrainGroup, + { CollisionType.Terrain, + new CollisionTypeFilterGroup(CollisionType.Terrain, + (uint)CollisionFilterGroups.BTerrainGroup, (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup)) }, - { CollisionType.Static, - new CollisionTypeFilterGroup(CollisionType.Static, - (uint)CollisionFilterGroups.BStaticGroup, + { CollisionType.Static, + new CollisionTypeFilterGroup(CollisionType.Static, + (uint)CollisionFilterGroups.BStaticGroup, (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup)) }, - { CollisionType.Dynamic, - new CollisionTypeFilterGroup(CollisionType.Dynamic, - (uint)CollisionFilterGroups.BSolidGroup, + { CollisionType.Dynamic, + new CollisionTypeFilterGroup(CollisionType.Dynamic, + (uint)CollisionFilterGroups.BSolidGroup, (uint)(CollisionFilterGroups.BAllGroup)) }, - { CollisionType.VolumeDetect, - new CollisionTypeFilterGroup(CollisionType.VolumeDetect, - (uint)CollisionFilterGroups.BSensorTrigger, + { CollisionType.VolumeDetect, + new CollisionTypeFilterGroup(CollisionType.VolumeDetect, + (uint)CollisionFilterGroups.BSensorTrigger, (uint)(~CollisionFilterGroups.BSensorTrigger)) }, { CollisionType.LinksetChild, - new CollisionTypeFilterGroup(CollisionType.LinksetChild, - (uint)CollisionFilterGroups.BLinksetChildGroup, + new CollisionTypeFilterGroup(CollisionType.LinksetChild, + (uint)CollisionFilterGroups.BLinksetChildGroup, (uint)(CollisionFilterGroups.BNoneGroup)) // (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup)) }, From 15a3f80e2eb82c5e4726d5cd93cfed32da5d6768 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 29 Apr 2013 17:30:38 -0700 Subject: [PATCH 08/19] BulletSim: LinksetCompound work to disable collision for root and child prims so compound shape can do all collisions. Don't try to build a compound linkset for non-physical linksets. Remove and replace root body when compound shape is added so collision cache is rebuilt. --- .../BulletSPlugin/BSLinksetCompound.cs | 44 +++++++++++++------ 1 file changed, 30 insertions(+), 14 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 1fd541f882..e967dfc81b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -143,19 +143,18 @@ public sealed class BSLinksetCompound : BSLinkset // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly. ScheduleRebuild(LinksetRoot); } - else - { - // The origional prims are removed from the world as the shape of the root compound - // shape takes over. - m_physicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); - m_physicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION); - // We don't want collisions from the old linkset children. - m_physicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); - child.PhysBody.collisionType = CollisionType.LinksetChild; + // The origional prims are removed from the world as the shape of the root compound + // shape takes over. + m_physicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); + m_physicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION); + // We don't want collisions from the old linkset children. + m_physicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + + child.PhysBody.collisionType = CollisionType.LinksetChild; + + ret = true; - ret = true; - } return ret; } @@ -190,6 +189,13 @@ public sealed class BSLinksetCompound : BSLinkset // Called at taint-time. public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable updated) { + if (!LinksetRoot.IsPhysicallyActive) + { + // No reason to do this physical stuff for static linksets. + DetailLog("{0},BSLinksetCompound.UpdateProperties,notPhysical", LinksetRoot.LocalID); + return; + } + // The user moving a child around requires the rebuilding of the linkset compound shape // One problem is this happens when a border is crossed -- the simulator implementation // stores the position into the group which causes the move of the object @@ -392,6 +398,13 @@ public sealed class BSLinksetCompound : BSLinkset private bool disableCOM = true; // DEBUG DEBUG: disable until we get this debugged private void RecomputeLinksetCompound() { + if (!LinksetRoot.IsPhysicallyActive) + { + // There is no reason to build all this physical stuff for a non-physical linkset + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID); + return; + } + try { // This replaces the physical shape of the root prim with a compound shape made up of the root @@ -403,7 +416,8 @@ public sealed class BSLinksetCompound : BSLinkset // Free up any shape we'd previously built. LinksetShape.Dereference(m_physicsScene); - LinksetShape = BSShapeCompound.GetReference(m_physicsScene, LinksetRoot); + // Get a new compound shape to build the linkset shape in. + LinksetShape = BSShapeCompound.GetReference(m_physicsScene); // The center of mass for the linkset is the geometric center of the group. // Compute a displacement for each component so it is relative to the center-of-mass. @@ -431,8 +445,7 @@ public sealed class BSLinksetCompound : BSLinkset cPrim.LinksetChildIndex = memberIndex; } - BSShape childShape = cPrim.PhysShape; - childShape.IncrementReference(); + BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim); OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; m_physicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); @@ -446,7 +459,10 @@ public sealed class BSLinksetCompound : BSLinkset // Sneak the built compound shape in as the shape of the root prim. // Note this doesn't touch the root prim's PhysShape so be sure the manage the difference. + // Object removed and added to world to get collision cache rebuilt for new shape. + m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody); m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo); + m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody); // With all of the linkset packed into the root prim, it has the mass of everyone. LinksetMass = ComputeLinksetMass(); From d322625f9062d7748a1a896b6fd37c51f7f41435 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 29 Apr 2013 17:30:54 -0700 Subject: [PATCH 09/19] BulletSim: Add non-static BSShape.GetReference for getting another reference to an existing shape instance. BSShapeNative rebuilds shape for all references. BSShapeCompound returns another reference copy if the compound shape already exists (for linksets). --- .../Region/Physics/BulletSPlugin/BSShapes.cs | 125 +++++++++++++----- .../Physics/BulletSPlugin/BulletSimTODO.txt | 9 ++ 2 files changed, 102 insertions(+), 32 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 5c58ad555f..f0c9fd5d4a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -47,26 +47,31 @@ public abstract class BSShape public BSShape() { - referenceCount = 0; + referenceCount = 1; lastReferenced = DateTime.Now; physShapeInfo = new BulletShape(); } public BSShape(BulletShape pShape) { - referenceCount = 0; + referenceCount = 1; lastReferenced = DateTime.Now; physShapeInfo = pShape; } + // Get another reference to this shape. + public abstract BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim); + // Called when this shape is being used again. - public virtual void IncrementReference() + // Used internally. External callers should call instance.GetReference() to properly copy/reference + // the shape. + protected virtual void IncrementReference() { referenceCount++; lastReferenced = DateTime.Now; } // Called when this shape is being used again. - public virtual void DecrementReference() + protected virtual void DecrementReference() { referenceCount--; lastReferenced = DateTime.Now; @@ -99,12 +104,19 @@ public abstract class BSShape // Returns a string for debugging that uniquily identifies the memory used by this instance public virtual string AddrString { - get { return "unknown"; } + get + { + if (physShapeInfo != null) + return physShapeInfo.AddrString; + return "unknown"; + } } public override string ToString() { StringBuilder buff = new StringBuilder(); + buff.Append(" m_hulls; private BulletShape CreatePhysicalHull(BSScene physicsScene, BSPhysObject prim, System.UInt64 newHullKey, @@ -520,7 +562,7 @@ public class BSShapeHull : BSShape physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } // Now done with the mesh shape. - meshShape.DecrementReference(); + meshShape.Dereference(physicsScene); physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } if (!newShape.HasPhysicalShape) @@ -671,37 +713,52 @@ public class BSShapeCompound : BSShape public BSShapeCompound(BulletShape pShape) : base(pShape) { } - public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim) + public static BSShape GetReference(BSScene physicsScene) { - // Compound shapes are not shared so a new one is created every time. - return new BSShapeCompound(CreatePhysicalCompoundShape(physicsScene, prim)); + // Base compound shapes are not shared so this returns a raw shape. + // A built compound shape can be reused in linksets. + return new BSShapeCompound(CreatePhysicalCompoundShape(physicsScene)); + } + public override BSShape GetReference(BSScene physicsScene, BSPhysObject prim) + { + // Calling this reference means we want another handle to an existing compound shape + // (usually linksets) so return this copy. + IncrementReference(); + return this; } // Dereferencing a compound shape releases the hold on all the child shapes. public override void Dereference(BSScene physicsScene) { - if (!physicsScene.PE.IsCompound(physShapeInfo)) + lock (physShapeInfo) { - // Failed the sanity check!! - physicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}", - LogHeader, physShapeInfo.shapeType, physShapeInfo.AddrString); - physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", - BSScene.DetailLogZero, physShapeInfo.shapeType, physShapeInfo.AddrString); - return; - } + Dereference(physicsScene); + if (referenceCount <= 0) + { + if (!physicsScene.PE.IsCompound(physShapeInfo)) + { + // Failed the sanity check!! + physicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}", + LogHeader, physShapeInfo.shapeType, physShapeInfo.AddrString); + physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}", + BSScene.DetailLogZero, physShapeInfo.shapeType, physShapeInfo.AddrString); + return; + } - int numChildren = physicsScene.PE.GetNumberOfCompoundChildren(physShapeInfo); - physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", - BSScene.DetailLogZero, physShapeInfo, numChildren); + int numChildren = physicsScene.PE.GetNumberOfCompoundChildren(physShapeInfo); + physicsScene.DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", + BSScene.DetailLogZero, physShapeInfo, numChildren); - // Loop through all the children dereferencing each. - for (int ii = numChildren - 1; ii >= 0; ii--) - { - BulletShape childShape = physicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(physShapeInfo, ii); - DereferenceAnonCollisionShape(physicsScene, childShape); + // Loop through all the children dereferencing each. + for (int ii = numChildren - 1; ii >= 0; ii--) + { + BulletShape childShape = physicsScene.PE.RemoveChildShapeFromCompoundShapeIndex(physShapeInfo, ii); + DereferenceAnonCollisionShape(physicsScene, childShape); + } + physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo); + } } - physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo); } - private static BulletShape CreatePhysicalCompoundShape(BSScene physicsScene, BSPhysObject prim) + private static BulletShape CreatePhysicalCompoundShape(BSScene physicsScene) { BulletShape cShape = physicsScene.PE.CreateCompoundShape(physicsScene.World, false); return cShape; @@ -754,6 +811,10 @@ public class BSShapeAvatar : BSShape { return new BSShapeNull(); } + public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim) + { + return new BSShapeNull(); + } public override void Dereference(BSScene physicsScene) { } // From the front: diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index c67081a68a..559a73fb57 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,3 +1,12 @@ +PROBLEMS TO LOOK INTO +================================================= +Nebadon vehicle ride, get up, ride again. Second time vehicle does not act correctly. + Have to rez new vehicle and delete the old to fix situation. +Hitting RESET on Nebadon's vehicle while riding causes vehicle to get into odd + position state where it will not settle onto ground properly, etc +Two of Nebadon vehicles in a sim max the CPU. This is new. +A sitting, active vehicle bobs up and down a small amount. + CURRENT PRIORITIES ================================================= Use the HACD convex hull routine in Bullet rather than the C# version. From 7cdb07b386ffe88749fcc6cabadd9851f254699d Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 30 Apr 2013 11:42:11 -0700 Subject: [PATCH 10/19] BulletSim: improvements to LinksetCompound and PrimDisplaced. Not all working yet. --- .../BulletSPlugin/BSLinksetCompound.cs | 37 ++++++++++++++----- .../Physics/BulletSPlugin/BSPhysObject.cs | 3 +- .../Physics/BulletSPlugin/BSPrimDisplaced.cs | 22 ++++++++--- .../Region/Physics/BulletSPlugin/BSShapes.cs | 2 +- .../Physics/BulletSPlugin/BulletSimTODO.txt | 3 ++ 5 files changed, 50 insertions(+), 17 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index e967dfc81b..e3ce7fbb35 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -395,7 +395,8 @@ public sealed class BSLinksetCompound : BSLinkset // Constraint linksets are rebuilt every time. // Note that this works for rebuilding just the root after a linkset is taken apart. // Called at taint time!! - private bool disableCOM = true; // DEBUG DEBUG: disable until we get this debugged + private bool UseBulletSimRootOffsetHack = false; + private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting private void RecomputeLinksetCompound() { if (!LinksetRoot.IsPhysicallyActive) @@ -428,11 +429,19 @@ public sealed class BSLinksetCompound : BSLinkset // 'centerDisplacement' is the value to subtract from children to give physical offset position OMV.Vector3 centerDisplacement = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation; - LinksetRoot.SetEffectiveCenterOfMassW(centerDisplacement); + if (UseBulletSimRootOffsetHack || disableCOM) + { + centerDisplacement = OMV.Vector3.Zero; + LinksetRoot.ClearDisplacement(); + } + else + { + LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacement); + } + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}", + LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacement); - // TODO: add phantom root shape to be the center-of-mass - - // Add a shape for each of the other children in the linkset + // Add the shapes of all the components of the linkset int memberIndex = 1; ForEachMember(delegate(BSPrimLinkable cPrim) { @@ -449,8 +458,8 @@ public sealed class BSLinksetCompound : BSLinkset OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; m_physicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}", - LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1}cShape={2},offPos={3},offRot={4}", + LinksetRoot.LocalID, memberIndex, cPrim.PhysShape, offsetPos, offsetRot); memberIndex++; @@ -463,13 +472,21 @@ public sealed class BSLinksetCompound : BSLinkset m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody); m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo); m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}", + LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetShape); // With all of the linkset packed into the root prim, it has the mass of everyone. LinksetMass = ComputeLinksetMass(); LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); - // Enable the physical position updator to return the position and rotation of the root shape - m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); + if (UseBulletSimRootOffsetHack) + { + // Enable the physical position updator to return the position and rotation of the root shape. + // This enables a feature in the C++ code to return the world coordinates of the first shape in the + // compound shape. This eleviates the need to offset the returned physical position by the + // center-of-mass offset. + m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); + } } finally { @@ -477,7 +494,7 @@ public sealed class BSLinksetCompound : BSLinkset } // See that the Aabb surrounds the new shape - m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo); + m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetShape.physShapeInfo); } } } \ No newline at end of file diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 28d4bd708a..7eba851ac3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -259,7 +259,8 @@ public abstract class BSPhysObject : PhysicsActor // The user can optionally set the center of mass. The user's setting will override any // computed center-of-mass (like in linksets). - public OMV.Vector3? UserSetCenterOfMass { get; set; } + // Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass. + public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; } public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free. public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs index f1c3b5c1bb..f5ee671862 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs @@ -78,14 +78,16 @@ public class BSPrimDisplaced : BSPrim // Set this sets and computes the displacement from the passed prim to the center-of-mass. // A user set value for center-of-mass overrides whatever might be passed in here. // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates). - public virtual void SetEffectiveCenterOfMassW(Vector3 centerOfMassDisplacement) + public virtual void SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement) { Vector3 comDisp; - if (UserSetCenterOfMass.HasValue) - comDisp = (OMV.Vector3)UserSetCenterOfMass; + if (UserSetCenterOfMassDisplacement.HasValue) + comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement; else comDisp = centerOfMassDisplacement; + DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}", + LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp); if (comDisp == Vector3.Zero) { // If there is no diplacement. Things get reset. @@ -107,9 +109,15 @@ public class BSPrimDisplaced : BSPrim set { if (PositionDisplacement != OMV.Vector3.Zero) - base.ForcePosition = value - (PositionDisplacement * RawOrientation); + { + OMV.Vector3 displacedPos = value - (PositionDisplacement * RawOrientation); + DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos); + base.ForcePosition = displacedPos; + } else + { base.ForcePosition = value; + } } } @@ -118,6 +126,7 @@ public class BSPrimDisplaced : BSPrim get { return base.ForceOrientation; } set { + // TODO: base.ForceOrientation = value; } } @@ -143,7 +152,10 @@ public class BSPrimDisplaced : BSPrim { // Correct for any rotation around the center-of-mass // TODO!!! - entprop.Position = entprop.Position + (PositionDisplacement * entprop.Rotation); + + OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation); + DetailLog("{0},BSPrimDisplaced.ForcePosition,physPos={1},disp={2},newPos={3}", LocalID, entprop.Position, PositionDisplacement, displacedPos); + entprop.Position = displacedPos; // entprop.Rotation = something; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index f0c9fd5d4a..3faa4843f8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -117,7 +117,7 @@ public abstract class BSShape StringBuilder buff = new StringBuilder(); buff.Append(" Date: Wed, 1 May 2013 17:16:46 -0700 Subject: [PATCH 13/19] BulletSim: fix crash when mesh asset wasn't available when meshing the first time. Debugging added for mesh/hull asset fetch. --- .../BulletSPlugin/BSShapeCollection.cs | 1 + .../Region/Physics/BulletSPlugin/BSShapes.cs | 28 ++++++++++++------- 2 files changed, 19 insertions(+), 10 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 19855daf9f..a4250be4e7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -132,6 +132,7 @@ public sealed class BSShapeCollection : IDisposable PrimitiveBaseShape pbs = prim.BaseShape; // Kludge to create the capsule for the avatar. + // TDOD: Remove/redo this when BSShapeAvatar is working!! BSCharacter theChar = prim as BSCharacter; if (theChar != null) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 3faa4843f8..2962249466 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -164,6 +164,8 @@ public abstract class BSShape prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. {1}, texture={2}", LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture); + physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,setFailed,objNam={1},tex={2}", + prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture); } else { @@ -174,29 +176,33 @@ public abstract class BSShape && prim.BaseShape.SculptTexture != OMV.UUID.Zero ) { - physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAsset", prim.LocalID); + physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAsset,objNam={1},tex={2}", + prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture); // Multiple requestors will know we're waiting for this asset prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Waiting; BSPhysObject xprim = prim; Util.FireAndForget(delegate { + physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,inFireAndForget", xprim.LocalID); RequestAssetDelegate assetProvider = physicsScene.RequestAssetMethod; if (assetProvider != null) { BSPhysObject yprim = xprim; // probably not necessary, but, just in case. assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset) { + physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,assetProviderCallback", xprim.LocalID); bool assetFound = false; string mismatchIDs = String.Empty; // DEBUG DEBUG if (asset != null && yprim.BaseShape.SculptEntry) { if (yprim.BaseShape.SculptTexture.ToString() == asset.ID) { - yprim.BaseShape.SculptData = asset.Data; + yprim.BaseShape.SculptData = (byte[])asset.Data.Clone(); // 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 normal shape setting since the rebuild is at taint time. + yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched; yprim.ForceBodyShapeRebuild(false /* inTaintTime */); assetFound = true; } @@ -205,11 +211,11 @@ public abstract class BSShape mismatchIDs = yprim.BaseShape.SculptTexture.ToString() + "/" + asset.ID; } } - if (assetFound) - yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched; - else + if (!assetFound) + { yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed; - physicsScene.DetailLog("{0},BSShape,fetchAssetCallback,found={1},isSculpt={2},ids={3}", + } + physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAssetCallback,found={1},isSculpt={2},ids={3}", yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs ); }); } @@ -227,6 +233,8 @@ public abstract class BSShape { physicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. obj={1}, texture={2}", LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture); + physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,wasFailed,objNam={1},tex={2}", + prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture); } } } @@ -359,7 +367,7 @@ public class BSShapeMesh : BSShape // Check to see if mesh was created (might require an asset). newShape = VerifyMeshCreated(physicsScene, newShape, prim); - if (newShape.shapeType == BSPhysicsShapeType.SHAPE_MESH) + if (!newShape.isNativeShape) { // If a mesh was what was created, remember the built shape for later sharing. Meshes.Add(newMeshKey, retMesh); @@ -408,7 +416,7 @@ public class BSShapeMesh : BSShape private BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) { - BulletShape newShape = null; + BulletShape newShape = new BulletShape(); IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, false, // say it is not physical so a bounding box is not built @@ -507,7 +515,7 @@ public class BSShapeHull : BSShape // Check to see if hull was created (might require an asset). newShape = VerifyMeshCreated(physicsScene, newShape, prim); - if (newShape.shapeType == BSPhysicsShapeType.SHAPE_HULL) + if (!newShape.isNativeShape) { // If a mesh was what was created, remember the built shape for later sharing. Hulls.Add(newHullKey, retHull); @@ -731,7 +739,7 @@ public class BSShapeCompound : BSShape { lock (physShapeInfo) { - Dereference(physicsScene); + this.DecrementReference(); if (referenceCount <= 0) { if (!physicsScene.PE.IsCompound(physShapeInfo)) From 4cb73192a78f0c8d15c2eb052c7c632bb678ce5f Mon Sep 17 00:00:00 2001 From: BlueWall Date: Wed, 1 May 2013 23:01:33 -0400 Subject: [PATCH 14/19] Make default config directory "." --- bin/Robust.HG.ini.example | 2 +- bin/Robust.ini.example | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/bin/Robust.HG.ini.example b/bin/Robust.HG.ini.example index d74f2054e6..fee2a87b4b 100644 --- a/bin/Robust.HG.ini.example +++ b/bin/Robust.HG.ini.example @@ -35,7 +35,7 @@ ; Modular configurations ; Set path to directory for modular ini files... ; The Robust.exe process must have R/W access to the location - ConfigDirectory = "/home/opensim/etc/Configs" + ConfigDirectory = "." [ServiceList] diff --git a/bin/Robust.ini.example b/bin/Robust.ini.example index b7b2524d72..2d5aa8c87c 100644 --- a/bin/Robust.ini.example +++ b/bin/Robust.ini.example @@ -27,7 +27,7 @@ ; Modular configurations ; Set path to directory for modular ini files... ; The Robust.exe process must have R/W access to the location - ConfigDirectory = "/home/opensim/etc/Configs" + ConfigDirectory = "." [ServiceList] AssetServiceConnector = "8003/OpenSim.Server.Handlers.dll:AssetServiceConnector" From d9c3947824feccd3522c70a72b75c72a84bab3e0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 2 May 2013 10:06:12 -0700 Subject: [PATCH 15/19] BulletSim: Rebuild physical body if physical shape changes for mesh and hull. Properly rebuilds collision caches. Release asset data fetched when building mesh or hulls. --- .../Physics/BulletSPlugin/BSDynamics.cs | 1 + .../Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- .../BulletSPlugin/BSShapeCollection.cs | 35 +++++++++-- .../Region/Physics/BulletSPlugin/BSShapes.cs | 59 +++++++++++++------ 4 files changed, 73 insertions(+), 24 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index f535e50f70..b9bd9097d1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -596,6 +596,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin public override void Refresh() { // If asking for a refresh, reset the physical parameters before the next simulation step. + // Called whether active or not since the active state may be updated before the next step. m_physicsScene.PostTaintObject("BSDynamics.Refresh", ControllingPrim.LocalID, delegate() { SetPhysicalParameters(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 7e2af78e9c..3d68d7fb16 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -767,7 +767,7 @@ public class BSPrim : BSPhysObject if (!PhysBody.HasPhysicalBody) { // This would only happen if updates are called for during initialization when the body is not set up yet. - DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,calledWithNoPhysBody", LocalID); + // DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,calledWithNoPhysBody", LocalID); return; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index a4250be4e7..809435d862 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -227,16 +227,41 @@ public sealed class BSShapeCollection : IDisposable if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects) { // Update prim.BSShape to reference a hull of this shape. - DereferenceExistingShape(prim, shapeCallback); - prim.PhysShape = BSShapeMesh.GetReference(m_physicsScene, false /*forceRebuild*/, prim); + BSShape potentialHull = BSShapeHull.GetReference(m_physicsScene, false /*forceRebuild*/, prim); + // If the current shape is not what is on the prim at the moment, time to change. + if (!prim.PhysShape.HasPhysicalShape + || potentialHull.ShapeType != prim.PhysShape.ShapeType + || potentialHull.physShapeInfo.shapeKey != prim.PhysShape.physShapeInfo.shapeKey) + { + DereferenceExistingShape(prim, shapeCallback); + prim.PhysShape = potentialHull; + ret = true; + } + else + { + potentialHull.Dereference(m_physicsScene); + } if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", prim.LocalID, prim.PhysShape, prim.PhysShape.physShapeInfo.shapeKey.ToString("X")); } else { // Update prim.BSShape to reference a mesh of this shape. - DereferenceExistingShape(prim, shapeCallback); - prim.PhysShape = BSShapeHull.GetReference(m_physicsScene, false /*forceRebuild*/, prim); + BSShape potentialMesh = BSShapeMesh.GetReference(m_physicsScene, false /*forceRebuild*/, prim); + // If the current shape is not what is on the prim at the moment, time to change. + if (!prim.PhysShape.HasPhysicalShape + || potentialMesh.ShapeType != prim.PhysShape.ShapeType + || potentialMesh.physShapeInfo.shapeKey != prim.PhysShape.physShapeInfo.shapeKey) + { + DereferenceExistingShape(prim, shapeCallback); + prim.PhysShape = potentialMesh; + ret = true; + } + else + { + // We don't need this reference to the mesh that is already being using. + potentialMesh.Dereference(m_physicsScene); + } if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", prim.LocalID, prim.PhysShape, prim.PhysShape.physShapeInfo.shapeKey.ToString("X")); } @@ -320,7 +345,7 @@ public sealed class BSShapeCollection : IDisposable if (prim.IsSolid) { aBody = m_physicsScene.PE.CreateBodyFromShape(sim, prim.PhysShape.physShapeInfo, prim.LocalID, prim.RawPosition, prim.RawOrientation); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,body={1}", prim.LocalID, aBody); + if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,rigid,body={1}", prim.LocalID, aBody); } else { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 2962249466..3346626e29 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -115,10 +115,15 @@ public abstract class BSShape public override string ToString() { StringBuilder buff = new StringBuilder(); - buff.Append(""); @@ -184,21 +189,21 @@ public abstract class BSShape BSPhysObject xprim = prim; Util.FireAndForget(delegate { - physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,inFireAndForget", xprim.LocalID); + // physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,inFireAndForget", xprim.LocalID); RequestAssetDelegate assetProvider = physicsScene.RequestAssetMethod; if (assetProvider != null) { BSPhysObject yprim = xprim; // probably not necessary, but, just in case. assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset) { - physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,assetProviderCallback", xprim.LocalID); + // physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,assetProviderCallback", xprim.LocalID); bool assetFound = false; string mismatchIDs = String.Empty; // DEBUG DEBUG if (asset != null && yprim.BaseShape.SculptEntry) { if (yprim.BaseShape.SculptTexture.ToString() == asset.ID) { - yprim.BaseShape.SculptData = (byte[])asset.Data.Clone(); + 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 normal shape setting since the rebuild is at taint time. @@ -290,7 +295,7 @@ public class BSShapeNative : BSShape { if (physShapeInfo.HasPhysicalShape) { - physicsScene.DetailLog("{0},BSShapeNative.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); + physicsScene.DetailLog("{0},BSShapeNative.Dereference,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this); physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo); } physShapeInfo.Clear(); @@ -347,9 +352,8 @@ public class BSShapeMesh : BSShape float lod; System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); - physicsScene.DetailLog("{0},BSShapeMesh,getReference,oldKey={1},newKey={2},size={3},lod={4}", - prim.LocalID, prim.PhysShape.physShapeInfo.shapeKey.ToString("X"), - newMeshKey.ToString("X"), prim.Size, lod); + physicsScene.DetailLog("{0},BSShapeMesh,getReference,newKey={1},size={2},lod={3}", + prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod); BSShapeMesh retMesh = null; lock (Meshes) @@ -389,6 +393,7 @@ public class BSShapeMesh : BSShape lock (Meshes) { this.DecrementReference(); + physicsScene.DetailLog("{0},BSShapeMesh.Dereference,shape={1}", BSScene.DetailLogZero, this); // TODO: schedule aging and destruction of unused meshes. } } @@ -425,6 +430,12 @@ public class BSShapeMesh : BSShape if (meshData != null) { + if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) + { + // Release the fetched asset data once it has been used. + pbs.SculptData = new byte[0]; + prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown; + } int[] indices = meshData.getIndexListAsInt(); int realIndicesIndex = indices.Length; @@ -462,8 +473,8 @@ public class BSShapeMesh : BSShape } } } - physicsScene.DetailLog("{0},BSShapeMesh.CreatePhysicalMesh,origTri={1},realTri={2},numVerts={3}", - BSScene.DetailLogZero, indices.Length / 3, realIndicesIndex / 3, verticesAsFloats.Length / 3); + physicsScene.DetailLog("{0},BSShapeMesh.CreatePhysicalMesh,key={1},origTri={2},realTri={3},numVerts={4}", + BSScene.DetailLogZero, newMeshKey.ToString("X"), indices.Length / 3, realIndicesIndex / 3, verticesAsFloats.Length / 3); if (realIndicesIndex != 0) { @@ -496,8 +507,8 @@ public class BSShapeHull : BSShape float lod; System.UInt64 newHullKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); - physicsScene.DetailLog("{0},BSShapeHull,getReference,oldKey={1},newKey={2},size={3},lod={4}", - prim.LocalID, prim.PhysShape.physShapeInfo.shapeKey.ToString("X"), newHullKey.ToString("X"), prim.Size, lod); + physicsScene.DetailLog("{0},BSShapeHull,getReference,newKey={1},size={2},lod={3}", + prim.LocalID, newHullKey.ToString("X"), prim.Size, lod); BSShapeHull retHull = null; lock (Hulls) @@ -537,6 +548,7 @@ public class BSShapeHull : BSShape lock (Hulls) { this.DecrementReference(); + physicsScene.DetailLog("{0},BSShapeHull.Dereference,shape={1}", BSScene.DetailLogZero, this); // TODO: schedule aging and destruction of unused meshes. } } @@ -549,6 +561,8 @@ public class BSShapeHull : BSShape if (BSParam.ShouldUseBulletHACD) { + // Build the hull shape from an existing mesh shape. + // The mesh should have already been created in Bullet. physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,entry", prim.LocalID); BSShape meshShape = BSShapeMesh.GetReference(physicsScene, true, prim); @@ -568,18 +582,26 @@ public class BSShapeHull : BSShape physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,beforeCall", prim.LocalID, newShape.HasPhysicalShape); newShape = physicsScene.PE.BuildHullShapeFromMesh(physicsScene.World, meshShape.physShapeInfo, parms); physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,hullFromMesh,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); + + // Now done with the mesh shape. + meshShape.Dereference(physicsScene); } - // Now done with the mesh shape. - meshShape.Dereference(physicsScene); physicsScene.DetailLog("{0},BSShapeHull.CreatePhysicalHull,shouldUseBulletHACD,exit,hasBody={1}", prim.LocalID, newShape.HasPhysicalShape); } if (!newShape.HasPhysicalShape) { - // Build a new hull in the physical world. + // Build a new hull in the physical world using the C# HACD algorigthm. // Pass true for physicalness as this prevents the creation of bounding box which is not needed IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod, true /* isPhysical */, false /* shouldCache */); if (meshData != null) { + if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched) + { + // Release the fetched asset data once it has been used. + pbs.SculptData = new byte[0]; + prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Unknown; + } + int[] indices = meshData.getIndexListAsInt(); List vertices = meshData.getVertexList(); @@ -740,6 +762,7 @@ public class BSShapeCompound : BSShape lock (physShapeInfo) { this.DecrementReference(); + physicsScene.DetailLog("{0},BSShapeCompound.Dereference,shape={1}", BSScene.DetailLogZero, this); if (referenceCount <= 0) { if (!physicsScene.PE.IsCompound(physShapeInfo)) From 4042c82a7293c40955a14d04d9e5ae05d35ef7cf Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 2 May 2013 12:27:30 -0700 Subject: [PATCH 16/19] BulletSim: prims with no cuts created with single convex hull shape. Parameter added to enable/disable this feature. --- .../Region/Physics/BulletSPlugin/BSParam.cs | 5 ++ .../Region/Physics/BulletSPlugin/BSScene.cs | 3 + .../BulletSPlugin/BSShapeCollection.cs | 19 ++++- .../Region/Physics/BulletSPlugin/BSShapes.cs | 74 +++++++++++++++++++ 4 files changed, 99 insertions(+), 2 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 5ebeacea90..2ac68e3e43 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -87,6 +87,7 @@ public static class BSParam public static bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects public static bool ShouldRemoveZeroWidthTriangles { get; private set; } public static bool ShouldUseBulletHACD { get; set; } + public static bool ShouldUseSingleConvexHullForPrims { get; set; } public static float TerrainImplementation { get; private set; } public static int TerrainMeshMagnification { get; private set; } @@ -342,6 +343,10 @@ public static class BSParam false, (s) => { return ShouldUseBulletHACD; }, (s,v) => { ShouldUseBulletHACD = v; } ), + new ParameterDefn("ShouldUseSingleConvexHullForPrims", "If true, use a single convex hull shape for physical prims", + true, + (s) => { return ShouldUseSingleConvexHullForPrims; }, + (s,v) => { ShouldUseSingleConvexHullForPrims = v; } ), new ParameterDefn("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions", 5, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 8e05b587aa..a4a87943a3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -316,7 +316,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters break; case "bulletxna": ret = new BSAPIXNA(engineName, this); + // Disable some features that are not implemented in BulletXNA + m_log.InfoFormat("{0} Disabling some physics features not implemented by BulletXNA", LogHeader); BSParam.ShouldUseBulletHACD = false; + BSParam.ShouldUseSingleConvexHullForPrims = false; break; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 809435d862..794857c8d9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -226,8 +226,23 @@ public sealed class BSShapeCollection : IDisposable // made. Native shapes work in either case. if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects) { - // Update prim.BSShape to reference a hull of this shape. - BSShape potentialHull = BSShapeHull.GetReference(m_physicsScene, false /*forceRebuild*/, prim); + // Use a simple, single mesh convex hull shape if the object is simple enough + BSShape potentialHull = null; + + PrimitiveBaseShape pbs = prim.BaseShape; + if (BSParam.ShouldUseSingleConvexHullForPrims + && pbs != null + && !pbs.SculptEntry + && PrimHasNoCuts(pbs) + ) + { + potentialHull = BSShapeConvexHull.GetReference(m_physicsScene, false /* forceRebuild */, prim); + } + else + { + potentialHull = BSShapeHull.GetReference(m_physicsScene, false /*forceRebuild*/, prim); + } + // If the current shape is not what is on the prim at the moment, time to change. if (!prim.PhysShape.HasPhysicalShape || potentialHull.ShapeType != prim.PhysShape.ShapeType diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 3346626e29..9ef29238a0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -831,6 +831,80 @@ public class BSShapeCompound : BSShape } } +// ============================================================================================================ +public class BSShapeConvexHull : BSShape +{ + private static string LogHeader = "[BULLETSIM SHAPE CONVEX HULL]"; + public static Dictionary ConvexHulls = new Dictionary(); + + public BSShapeConvexHull(BulletShape pShape) : base(pShape) + { + } + public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim) + { + float lod; + System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); + + physicsScene.DetailLog("{0},BSShapeMesh,getReference,newKey={1},size={2},lod={3}", + prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod); + + BSShapeConvexHull retConvexHull = null; + lock (ConvexHulls) + { + if (ConvexHulls.TryGetValue(newMeshKey, out retConvexHull)) + { + // The mesh has already been created. Return a new reference to same. + retConvexHull.IncrementReference(); + } + else + { + retConvexHull = new BSShapeConvexHull(new BulletShape()); + BulletShape convexShape = null; + + // Get a handle to a mesh to build the hull from + BSShape baseMesh = BSShapeMesh.GetReference(physicsScene, false /* forceRebuild */, prim); + if (baseMesh.physShapeInfo.isNativeShape) + { + // We get here if the mesh was not creatable. Could be waiting for an asset from the disk. + // In the short term, we return the native shape and a later ForceBodyShapeRebuild should + // get back to this code with a buildable mesh. + // TODO: not sure the temp native shape is freed when the mesh is rebuilt. When does this get freed? + convexShape = baseMesh.physShapeInfo; + } + else + { + convexShape = physicsScene.PE.BuildConvexHullShapeFromMesh(physicsScene.World, baseMesh.physShapeInfo); + convexShape.shapeKey = newMeshKey; + ConvexHulls.Add(convexShape.shapeKey, retConvexHull); + } + + // Done with the base mesh + baseMesh.Dereference(physicsScene); + + retConvexHull.physShapeInfo = convexShape; + } + } + return retConvexHull; + } + public override BSShape GetReference(BSScene physicsScene, BSPhysObject prim) + { + // Calling this reference means we want another handle to an existing shape + // (usually linksets) so return this copy. + IncrementReference(); + return this; + } + // Dereferencing a compound shape releases the hold on all the child shapes. + public override void Dereference(BSScene physicsScene) + { + lock (ConvexHulls) + { + this.DecrementReference(); + physicsScene.DetailLog("{0},BSShapeConvexHull.Dereference,shape={1}", BSScene.DetailLogZero, this); + // TODO: schedule aging and destruction of unused meshes. + } + } +} + // ============================================================================================================ public class BSShapeAvatar : BSShape { From 304c5d4a8b8a1137bac18f7f6443ea85cec86184 Mon Sep 17 00:00:00 2001 From: "Justin Clark-Casey (justincc)" Date: Fri, 3 May 2013 18:48:50 +0100 Subject: [PATCH 17/19] On startup, start scenes after we're set up all local scenes, rather than starting scenes before others have been created. This aims to avoid a race condition where scenes could look to inform neighbours that they were up before those neighbours had been created. http://opensimulator.org/mantis/view.php?id=6618 --- .../LoadRegions/LoadRegionsPlugin.cs | 23 ++++++++++++------- .../RemoteController/RemoteAdminPlugin.cs | 1 + OpenSim/Framework/IScene.cs | 7 +++++- OpenSim/Region/Application/OpenSimBase.cs | 4 +--- OpenSim/Region/Framework/Scenes/Scene.cs | 16 +++++++++++-- OpenSim/Region/Framework/Scenes/SceneBase.cs | 4 ++++ 6 files changed, 41 insertions(+), 14 deletions(-) diff --git a/OpenSim/ApplicationPlugins/LoadRegions/LoadRegionsPlugin.cs b/OpenSim/ApplicationPlugins/LoadRegions/LoadRegionsPlugin.cs index fcb6991969..1d63d2611e 100644 --- a/OpenSim/ApplicationPlugins/LoadRegions/LoadRegionsPlugin.cs +++ b/OpenSim/ApplicationPlugins/LoadRegions/LoadRegionsPlugin.cs @@ -115,6 +115,8 @@ namespace OpenSim.ApplicationPlugins.LoadRegions Environment.Exit(1); } + List createdScenes = new List(); + for (int i = 0; i < regionsToLoad.Length; i++) { IScene scene; @@ -123,17 +125,22 @@ namespace OpenSim.ApplicationPlugins.LoadRegions ")"); bool changed = m_openSim.PopulateRegionEstateInfo(regionsToLoad[i]); + m_openSim.CreateRegion(regionsToLoad[i], true, out scene); + createdScenes.Add(scene); + if (changed) - regionsToLoad[i].EstateSettings.Save(); - - if (scene != null) + regionsToLoad[i].EstateSettings.Save(); + } + + foreach (IScene scene in createdScenes) + { + scene.Start(); + + m_newRegionCreatedHandler = OnNewRegionCreated; + if (m_newRegionCreatedHandler != null) { - m_newRegionCreatedHandler = OnNewRegionCreated; - if (m_newRegionCreatedHandler != null) - { - m_newRegionCreatedHandler(scene); - } + m_newRegionCreatedHandler(scene); } } } diff --git a/OpenSim/ApplicationPlugins/RemoteController/RemoteAdminPlugin.cs b/OpenSim/ApplicationPlugins/RemoteController/RemoteAdminPlugin.cs index d19b8b64b0..355f7b3078 100644 --- a/OpenSim/ApplicationPlugins/RemoteController/RemoteAdminPlugin.cs +++ b/OpenSim/ApplicationPlugins/RemoteController/RemoteAdminPlugin.cs @@ -700,6 +700,7 @@ namespace OpenSim.ApplicationPlugins.RemoteController IScene newScene; m_application.CreateRegion(region, out newScene); + newScene.Start(); // If an access specification was provided, use it. // Otherwise accept the default. diff --git a/OpenSim/Framework/IScene.cs b/OpenSim/Framework/IScene.cs index 87ec99ef60..8164f4198c 100644 --- a/OpenSim/Framework/IScene.cs +++ b/OpenSim/Framework/IScene.cs @@ -136,5 +136,10 @@ namespace OpenSim.Framework ISceneObject DeserializeObject(string representation); bool CheckClient(UUID agentID, System.Net.IPEndPoint ep); + + /// + /// Start the scene and associated scripts within it. + /// + void Start(); } -} +} \ No newline at end of file diff --git a/OpenSim/Region/Application/OpenSimBase.cs b/OpenSim/Region/Application/OpenSimBase.cs index d86eefe005..f9e0cf1b49 100644 --- a/OpenSim/Region/Application/OpenSimBase.cs +++ b/OpenSim/Region/Application/OpenSimBase.cs @@ -425,9 +425,6 @@ namespace OpenSim mscene = scene; - scene.Start(); - scene.StartScripts(); - return clientServers; } @@ -751,6 +748,7 @@ namespace OpenSim ShutdownClientServer(whichRegion); IScene scene; CreateRegion(whichRegion, true, out scene); + scene.Start(); } # region Setup methods diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs index 829a7e9b60..4f674a3f04 100644 --- a/OpenSim/Region/Framework/Scenes/Scene.cs +++ b/OpenSim/Region/Framework/Scenes/Scene.cs @@ -389,10 +389,12 @@ namespace OpenSim.Region.Framework.Scenes if (value) { if (!m_active) - Start(); + Start(false); } else { + // This appears assymetric with Start() above but is not - setting m_active = false stops the loops + // XXX: Possibly this should be in an explicit Stop() method for symmetry. m_active = false; } } @@ -1331,10 +1333,18 @@ namespace OpenSim.Region.Framework.Scenes } } + public override void Start() + { + Start(true); + } + /// /// Start the scene /// - public void Start() + /// + /// Start the scripts within the scene. + /// + public void Start(bool startScripts) { m_active = true; @@ -1353,6 +1363,8 @@ namespace OpenSim.Region.Framework.Scenes m_heartbeatThread = Watchdog.StartThread( Heartbeat, string.Format("Heartbeat ({0})", RegionInfo.RegionName), ThreadPriority.Normal, false, false); + + StartScripts(); } /// diff --git a/OpenSim/Region/Framework/Scenes/SceneBase.cs b/OpenSim/Region/Framework/Scenes/SceneBase.cs index d3e968e531..d2097ea7ad 100644 --- a/OpenSim/Region/Framework/Scenes/SceneBase.cs +++ b/OpenSim/Region/Framework/Scenes/SceneBase.cs @@ -561,6 +561,10 @@ namespace OpenSim.Region.Framework.Scenes get { return false; } } + public virtual void Start() + { + } + public void Restart() { // This has to be here to fire the event From 5d93c99e8cf188b29b4c5265619eb4a4d3eeacf6 Mon Sep 17 00:00:00 2001 From: "Justin Clark-Casey (justincc)" Date: Fri, 3 May 2013 18:56:58 +0100 Subject: [PATCH 18/19] Fix possible race condition with local region cache if a region was added after startup. --- .../Grid/LocalGridServiceConnector.cs | 43 ++++++++++++------- 1 file changed, 28 insertions(+), 15 deletions(-) diff --git a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Grid/LocalGridServiceConnector.cs b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Grid/LocalGridServiceConnector.cs index c0c2ca7497..c32820e94d 100644 --- a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Grid/LocalGridServiceConnector.cs +++ b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Grid/LocalGridServiceConnector.cs @@ -142,10 +142,13 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Grid scene.RegisterModuleInterface(this); - if (m_LocalCache.ContainsKey(scene.RegionInfo.RegionID)) - m_log.ErrorFormat("[LOCAL GRID SERVICE CONNECTOR]: simulator seems to have more than one region with the same UUID. Please correct this!"); - else - m_LocalCache.Add(scene.RegionInfo.RegionID, new RegionCache(scene)); + lock (m_LocalCache) + { + if (m_LocalCache.ContainsKey(scene.RegionInfo.RegionID)) + m_log.ErrorFormat("[LOCAL GRID SERVICE CONNECTOR]: simulator seems to have more than one region with the same UUID. Please correct this!"); + else + m_LocalCache.Add(scene.RegionInfo.RegionID, new RegionCache(scene)); + } } public void RemoveRegion(Scene scene) @@ -153,8 +156,11 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Grid if (!m_Enabled) return; - m_LocalCache[scene.RegionInfo.RegionID].Clear(); - m_LocalCache.Remove(scene.RegionInfo.RegionID); + lock (m_LocalCache) + { + m_LocalCache[scene.RegionInfo.RegionID].Clear(); + m_LocalCache.Remove(scene.RegionInfo.RegionID); + } } public void RegionLoaded(Scene scene) @@ -191,12 +197,16 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Grid // First see if it's a neighbour, even if it isn't on this sim. // Neighbour data is cached in memory, so this is fast - foreach (RegionCache rcache in m_LocalCache.Values) + + lock (m_LocalCache) { - region = rcache.GetRegionByPosition(x, y); - if (region != null) + foreach (RegionCache rcache in m_LocalCache.Values) { - return region; + region = rcache.GetRegionByPosition(x, y); + if (region != null) + { + return region; + } } } @@ -245,12 +255,15 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Grid { System.Text.StringBuilder caps = new System.Text.StringBuilder(); - foreach (KeyValuePair kvp in m_LocalCache) + lock (m_LocalCache) { - caps.AppendFormat("*** Neighbours of {0} ({1}) ***\n", kvp.Value.RegionName, kvp.Key); - List regions = kvp.Value.GetNeighbours(); - foreach (GridRegion r in regions) - caps.AppendFormat(" {0} @ {1}-{2}\n", r.RegionName, r.RegionLocX / Constants.RegionSize, r.RegionLocY / Constants.RegionSize); + foreach (KeyValuePair kvp in m_LocalCache) + { + caps.AppendFormat("*** Neighbours of {0} ({1}) ***\n", kvp.Value.RegionName, kvp.Key); + List regions = kvp.Value.GetNeighbours(); + foreach (GridRegion r in regions) + caps.AppendFormat(" {0} @ {1}-{2}\n", r.RegionName, r.RegionLocX / Constants.RegionSize, r.RegionLocY / Constants.RegionSize); + } } MainConsole.Instance.Output(caps.ToString()); From 5d25bb3084937d266375cba61b3a2c802bd57717 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 3 May 2013 14:23:53 -0700 Subject: [PATCH 19/19] BulletSim: zero vehicle motion when changing vehicle type. Rebuild compound linkset of any child in the linkset changes shape. Comments and better detailed logging messages. --- .../Region/Physics/BulletSPlugin/BSDynamics.cs | 6 +++--- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 16 +++++----------- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 2 +- .../Physics/BulletSPlugin/BSPrimLinkable.cs | 4 ++++ .../Physics/BulletSPlugin/BSShapeCollection.cs | 7 +++---- OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | 9 ++------- 6 files changed, 18 insertions(+), 26 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index b9bd9097d1..c5bee6d705 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -559,9 +559,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin break; } - // Update any physical parameters based on this type. - Refresh(); - m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, m_linearMotorDecayTimescale, m_linearFrictionTimescale, 1f); @@ -589,6 +586,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin { RegisterForSceneEvents(); } + + // Update any physical parameters based on this type. + Refresh(); } #endregion // Vehicle parameter setting diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 20eb8713cf..1f16cc8db9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -246,7 +246,8 @@ public sealed class BSLinksetCompound : BSLinkset } // Routine called when rebuilding the body of some member of the linkset. - // Since we don't keep in world relationships, do nothing unless it's a child changing. + // If one of the bodies is being changed, the linkset needs rebuilding. + // For instance, a linkset is built and then a mesh asset is read in and the mesh is recreated. // Returns 'true' of something was actually removed and would need restoring // Called at taint-time!! public override bool RemoveDependencies(BSPrimLinkable child) @@ -256,14 +257,7 @@ public sealed class BSLinksetCompound : BSLinkset DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child)); - if (!IsRoot(child)) - { - child.LinksetInfo = null; - } - - // Cannot schedule a refresh/rebuild here because this routine is called when - // the linkset is being rebuilt. - // InternalRefresh(LinksetRoot); + ScheduleRebuild(child); return ret; } @@ -322,7 +316,7 @@ public sealed class BSLinksetCompound : BSLinkset // Constraint linksets are rebuilt every time. // Note that this works for rebuilding just the root after a linkset is taken apart. // Called at taint time!! - private bool UseBulletSimRootOffsetHack = false; + private bool UseBulletSimRootOffsetHack = false; // Attempt to have Bullet track the coords of root compound shape private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting private void RecomputeLinksetCompound() { @@ -382,7 +376,7 @@ public sealed class BSLinksetCompound : BSLinkset OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}", - LinksetRoot.LocalID, memberIndex, cPrim.PhysShape, offsetPos, offsetRot); + LinksetRoot.LocalID, memberIndex, childShape, offsetPos, offsetRot); // Since we are borrowing the shape of the child, disable the origional child body if (!IsRoot(cPrim)) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 3d68d7fb16..d3f34759d1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -511,7 +511,7 @@ public class BSPrim : BSPhysObject PhysScene.TaintedObject("setVehicleType", delegate() { - // Vehicle code changes the parameters for this vehicle type. + ZeroMotion(true /* inTaintTime */); VehicleActor.ProcessTypeChange(type); ActivateIfPhysical(false); }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 5236909163..235da782e1 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -182,6 +182,10 @@ public class BSPrimLinkable : BSPrimDisplaced { return false; } + + // TODO: handle collisions of other objects with with children of linkset. + // This is a problem for LinksetCompound since the children are packed into the root. + return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 794857c8d9..64aaa1503d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -254,10 +254,10 @@ public sealed class BSShapeCollection : IDisposable } else { + // The current shape on the prim is the correct one. We don't need the potential reference. potentialHull.Dereference(m_physicsScene); } - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}", - prim.LocalID, prim.PhysShape, prim.PhysShape.physShapeInfo.shapeKey.ToString("X")); + if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1}", prim.LocalID, prim.PhysShape); } else { @@ -277,8 +277,7 @@ public sealed class BSShapeCollection : IDisposable // We don't need this reference to the mesh that is already being using. potentialMesh.Dereference(m_physicsScene); } - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}", - prim.LocalID, prim.PhysShape, prim.PhysShape.physShapeInfo.shapeKey.ToString("X")); + if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1}", prim.LocalID, prim.PhysShape); } return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index 9ef29238a0..3e4ee5a5b8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -352,9 +352,6 @@ public class BSShapeMesh : BSShape float lod; System.UInt64 newMeshKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); - physicsScene.DetailLog("{0},BSShapeMesh,getReference,newKey={1},size={2},lod={3}", - prim.LocalID, newMeshKey.ToString("X"), prim.Size, lod); - BSShapeMesh retMesh = null; lock (Meshes) { @@ -380,6 +377,7 @@ public class BSShapeMesh : BSShape retMesh.physShapeInfo = newShape; } } + physicsScene.DetailLog("{0},BSShapeMesh,getReference,mesh={1},size={2},lod={3}", prim.LocalID, retMesh, prim.Size, lod); return retMesh; } public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim) @@ -507,9 +505,6 @@ public class BSShapeHull : BSShape float lod; System.UInt64 newHullKey = BSShape.ComputeShapeKey(prim.Size, prim.BaseShape, out lod); - physicsScene.DetailLog("{0},BSShapeHull,getReference,newKey={1},size={2},lod={3}", - prim.LocalID, newHullKey.ToString("X"), prim.Size, lod); - BSShapeHull retHull = null; lock (Hulls) { @@ -531,10 +526,10 @@ public class BSShapeHull : BSShape // If a mesh was what was created, remember the built shape for later sharing. Hulls.Add(newHullKey, retHull); } - retHull.physShapeInfo = newShape; } } + physicsScene.DetailLog("{0},BSShapeHull,getReference,hull={1},size={2},lod={3}", prim.LocalID, retHull, prim.Size, lod); return retHull; } public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)