refactor: Simplify reading OdeScene.Simulate() loop by shunting all the NINJA joints stuff into its own method.
Now if ninja joints isn't active (which is the default) don't have to wade through a lot of massively indented irrelevant code.bulletsim
Justin Clark-Casey (justincc)
parent
9c6227da66
commit
3f0d8f3cbf
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@ -2738,186 +2738,7 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
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}
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if (SupportsNINJAJoints)
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{
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// Create pending joints, if possible
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// joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
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// a joint requires specifying the body id of both involved bodies
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if (pendingJoints.Count > 0)
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{
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List<PhysicsJoint> successfullyProcessedPendingJoints = new List<PhysicsJoint>();
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//DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
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foreach (PhysicsJoint joint in pendingJoints)
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{
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//DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
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string[] jointParams = joint.RawParams.Split(" ".ToCharArray(), System.StringSplitOptions.RemoveEmptyEntries);
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List<IntPtr> jointBodies = new List<IntPtr>();
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bool allJointBodiesAreReady = true;
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foreach (string jointParam in jointParams)
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{
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if (jointParam == "NULL")
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{
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//DoJointErrorMessage(joint, "attaching NULL joint to world");
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jointBodies.Add(IntPtr.Zero);
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}
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else
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{
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//DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
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bool foundPrim = false;
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lock (_prims)
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{
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foreach (OdePrim prim in _prims) // FIXME: inefficient
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{
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if (prim.SOPName == jointParam)
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{
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//DoJointErrorMessage(joint, "found for prim name: " + jointParam);
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if (prim.IsPhysical && prim.Body != IntPtr.Zero)
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{
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jointBodies.Add(prim.Body);
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foundPrim = true;
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break;
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}
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else
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{
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DoJointErrorMessage(joint, "prim name " + jointParam +
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" exists but is not (yet) physical; deferring joint creation. " +
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"IsPhysical property is " + prim.IsPhysical +
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" and body is " + prim.Body);
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foundPrim = false;
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break;
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}
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}
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}
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}
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if (foundPrim)
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{
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// all is fine
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}
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else
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{
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allJointBodiesAreReady = false;
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break;
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}
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}
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}
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if (allJointBodiesAreReady)
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{
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//DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
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if (jointBodies[0] == jointBodies[1])
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{
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DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
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}
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else
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{
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switch (joint.Type)
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{
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case PhysicsJointType.Ball:
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{
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IntPtr odeJoint;
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//DoJointErrorMessage(joint, "ODE creating ball joint ");
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odeJoint = d.JointCreateBall(world, IntPtr.Zero);
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//DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
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d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
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//DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
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d.JointSetBallAnchor(odeJoint,
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joint.Position.X,
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joint.Position.Y,
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joint.Position.Z);
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//DoJointErrorMessage(joint, "ODE joint setting OK");
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//DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
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//DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
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//DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
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//DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
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if (joint is OdePhysicsJoint)
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{
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((OdePhysicsJoint)joint).jointID = odeJoint;
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}
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else
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{
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DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
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}
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}
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break;
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case PhysicsJointType.Hinge:
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{
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IntPtr odeJoint;
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//DoJointErrorMessage(joint, "ODE creating hinge joint ");
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odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
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//DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
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d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
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//DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
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d.JointSetHingeAnchor(odeJoint,
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joint.Position.X,
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joint.Position.Y,
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joint.Position.Z);
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// We use the orientation of the x-axis of the joint's coordinate frame
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// as the axis for the hinge.
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// Therefore, we must get the joint's coordinate frame based on the
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// joint.Rotation field, which originates from the orientation of the
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// joint's proxy object in the scene.
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// The joint's coordinate frame is defined as the transformation matrix
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// that converts a vector from joint-local coordinates into world coordinates.
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// World coordinates are defined as the XYZ coordinate system of the sim,
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// as shown in the top status-bar of the viewer.
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// Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
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// and use that as the hinge axis.
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//joint.Rotation.Normalize();
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Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
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// Now extract the X axis of the joint's coordinate frame.
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// Do not try to use proxyFrame.AtAxis or you will become mired in the
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// tar pit of transposed, inverted, and generally messed-up orientations.
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// (In other words, Matrix4.AtAxis() is borked.)
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// Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
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// Instead, compute the X axis of the coordinate frame by transforming
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// the (1,0,0) vector. At least that works.
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//m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
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Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
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//m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
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//DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
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d.JointSetHingeAxis(odeJoint,
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jointAxis.X,
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jointAxis.Y,
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jointAxis.Z);
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//d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
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if (joint is OdePhysicsJoint)
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{
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((OdePhysicsJoint)joint).jointID = odeJoint;
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}
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else
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{
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DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
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}
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}
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break;
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}
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successfullyProcessedPendingJoints.Add(joint);
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}
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}
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else
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{
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DoJointErrorMessage(joint, "joint could not yet be created; still pending");
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}
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}
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foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
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{
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//DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
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//DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
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InternalRemovePendingJoint(successfullyProcessedJoint);
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//DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
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InternalAddActiveJoint(successfullyProcessedJoint);
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//DoJointErrorMessage(successfullyProcessedJoint, "done");
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}
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}
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}
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SimulateNINJAJoints();
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if (processedtaints)
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//Console.WriteLine("Simulate calls Clear of _taintedPrim list");
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@ -3117,6 +2938,194 @@ Console.WriteLine("AddPhysicsActorTaint to " + taintedprim.Name);
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return fps;
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}
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/// <summary>
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/// Simulate NINJA joints.
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/// </summary>
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/// <remarks>
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/// Called by the main Simulate() loop if NINJA joints are active. Should not be called from anywhere else.
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/// </remarks>
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protected void SimulateNINJAJoints()
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{
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// Create pending joints, if possible
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// joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
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// a joint requires specifying the body id of both involved bodies
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if (pendingJoints.Count > 0)
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{
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List<PhysicsJoint> successfullyProcessedPendingJoints = new List<PhysicsJoint>();
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//DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
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foreach (PhysicsJoint joint in pendingJoints)
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{
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//DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
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string[] jointParams = joint.RawParams.Split(" ".ToCharArray(), System.StringSplitOptions.RemoveEmptyEntries);
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List<IntPtr> jointBodies = new List<IntPtr>();
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bool allJointBodiesAreReady = true;
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foreach (string jointParam in jointParams)
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{
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if (jointParam == "NULL")
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{
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//DoJointErrorMessage(joint, "attaching NULL joint to world");
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jointBodies.Add(IntPtr.Zero);
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}
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else
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{
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//DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
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bool foundPrim = false;
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lock (_prims)
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{
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foreach (OdePrim prim in _prims) // FIXME: inefficient
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{
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if (prim.SOPName == jointParam)
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{
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//DoJointErrorMessage(joint, "found for prim name: " + jointParam);
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if (prim.IsPhysical && prim.Body != IntPtr.Zero)
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{
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jointBodies.Add(prim.Body);
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foundPrim = true;
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break;
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}
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else
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{
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DoJointErrorMessage(joint, "prim name " + jointParam +
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" exists but is not (yet) physical; deferring joint creation. " +
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"IsPhysical property is " + prim.IsPhysical +
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" and body is " + prim.Body);
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foundPrim = false;
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break;
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}
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}
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}
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}
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if (foundPrim)
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{
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// all is fine
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}
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else
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{
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allJointBodiesAreReady = false;
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break;
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}
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}
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}
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if (allJointBodiesAreReady)
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{
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//DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
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if (jointBodies[0] == jointBodies[1])
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{
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DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
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}
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else
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{
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switch (joint.Type)
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{
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case PhysicsJointType.Ball:
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{
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IntPtr odeJoint;
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//DoJointErrorMessage(joint, "ODE creating ball joint ");
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odeJoint = d.JointCreateBall(world, IntPtr.Zero);
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//DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
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d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
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//DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
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d.JointSetBallAnchor(odeJoint,
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joint.Position.X,
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joint.Position.Y,
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joint.Position.Z);
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//DoJointErrorMessage(joint, "ODE joint setting OK");
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//DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
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//DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
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//DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
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//DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
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if (joint is OdePhysicsJoint)
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{
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((OdePhysicsJoint)joint).jointID = odeJoint;
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}
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else
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{
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DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
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}
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}
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break;
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case PhysicsJointType.Hinge:
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{
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IntPtr odeJoint;
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//DoJointErrorMessage(joint, "ODE creating hinge joint ");
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odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
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//DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
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d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
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//DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
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d.JointSetHingeAnchor(odeJoint,
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joint.Position.X,
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joint.Position.Y,
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joint.Position.Z);
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// We use the orientation of the x-axis of the joint's coordinate frame
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// as the axis for the hinge.
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// Therefore, we must get the joint's coordinate frame based on the
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// joint.Rotation field, which originates from the orientation of the
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// joint's proxy object in the scene.
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// The joint's coordinate frame is defined as the transformation matrix
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// that converts a vector from joint-local coordinates into world coordinates.
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// World coordinates are defined as the XYZ coordinate system of the sim,
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// as shown in the top status-bar of the viewer.
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// Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
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// and use that as the hinge axis.
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//joint.Rotation.Normalize();
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Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
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// Now extract the X axis of the joint's coordinate frame.
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// Do not try to use proxyFrame.AtAxis or you will become mired in the
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// tar pit of transposed, inverted, and generally messed-up orientations.
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// (In other words, Matrix4.AtAxis() is borked.)
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// Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
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// Instead, compute the X axis of the coordinate frame by transforming
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// the (1,0,0) vector. At least that works.
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//m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
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Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
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//m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
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//DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
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d.JointSetHingeAxis(odeJoint,
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jointAxis.X,
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jointAxis.Y,
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jointAxis.Z);
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//d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
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if (joint is OdePhysicsJoint)
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{
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((OdePhysicsJoint)joint).jointID = odeJoint;
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}
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else
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{
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DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
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}
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}
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break;
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}
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successfullyProcessedPendingJoints.Add(joint);
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}
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}
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else
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{
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DoJointErrorMessage(joint, "joint could not yet be created; still pending");
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}
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}
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foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
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{
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//DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
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//DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
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InternalRemovePendingJoint(successfullyProcessedJoint);
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//DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
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InternalAddActiveJoint(successfullyProcessedJoint);
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//DoJointErrorMessage(successfullyProcessedJoint, "done");
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}
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}
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}
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public override void GetResults()
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{
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}
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Loading…
Reference in New Issue