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BulletSim: Terrain sets proper collision flags on creation. 

Static objects are set to ISLAND_SLEEPING rather than DISABLE_SIMULATION.
    Might reconsider this and, alternatively, have dynamic objects force activation.
Clean up use of DetailLog().
connector_plugin
Robert Adams 2012-09-26 09:25:56 -07:00
parent 735d89e369
commit 4589bc84a3
4 changed files with 56 additions and 52 deletions
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10
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
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@ -121,8 +121,8 @@ public abstract class BSPhysObject : PhysicsActor
// if someone has subscribed for collision events....
if (SubscribedEvents()) {
CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
// DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
// LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
ret = true;
}
@ -151,7 +151,7 @@ public abstract class BSPhysObject : PhysicsActor
PhysicsScene.ObjectsWithNoMoreCollisions.Add(this);
}
DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
// DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
base.SendCollisionUpdate(CollisionCollection);
// The collisionCollection structure is passed around in the simulator.
@ -163,7 +163,7 @@ public abstract class BSPhysObject : PhysicsActor
// Subscribe for collision events.
// Parameter is the millisecond rate the caller wishes collision events to occur.
public override void SubscribeEvents(int ms) {
DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
// DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
SubscribedEventsMs = ms;
if (ms > 0)
{
@ -182,7 +182,7 @@ public abstract class BSPhysObject : PhysicsActor
}
}
public override void UnSubscribeEvents() {
DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
// DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
SubscribedEventsMs = 0;
PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
{

62
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -174,7 +174,7 @@ public sealed class BSPrim : BSPhysObject
// Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct
// scale and margins are set.
CreateGeomAndObject(true);
DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical);
// DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical);
});
}
}
@ -204,6 +204,7 @@ public sealed class BSPrim : BSPhysObject
_isSelected = value;
PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
{
// DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
SetObjectDynamic(false);
});
}
@ -279,7 +280,7 @@ public sealed class BSPrim : BSPhysObject
// TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
{
DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
// DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
});
}
@ -317,7 +318,7 @@ public sealed class BSPrim : BSPhysObject
_force = value;
PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
{
DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
// DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
});
}
@ -385,7 +386,7 @@ public sealed class BSPrim : BSPhysObject
_isVolumeDetect = newValue;
PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
{
DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
// DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
SetObjectDynamic(true);
});
}
@ -398,7 +399,7 @@ public sealed class BSPrim : BSPhysObject
_velocity = value;
PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
{
DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
// DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
});
}
@ -406,7 +407,7 @@ public sealed class BSPrim : BSPhysObject
public override OMV.Vector3 Torque {
get { return _torque; }
set { _torque = value;
DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
// DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
}
}
public override float CollisionScore {
@ -433,7 +434,7 @@ public sealed class BSPrim : BSPhysObject
PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
{
// _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
// DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
});
}
@ -450,7 +451,7 @@ public sealed class BSPrim : BSPhysObject
_isPhysical = value;
PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
{
DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
// DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
SetObjectDynamic(true);
});
}
@ -470,12 +471,7 @@ public sealed class BSPrim : BSPhysObject
}
// Make gravity work if the object is physical and not selected
// No locking here because only called when it is safe (called at taint-time).
// There are four flags we're interested in:
// IsStatic: Object does not move, otherwise the object has mass and moves
// isSolid: other objects bounce off of this object
// isVolumeDetect: other objects pass through but can generate collisions
// collisionEvents: whether this object returns collision events
// Called at taint-time!!
private void SetObjectDynamic(bool forceRebuild)
{
#if CSHARP_BODY_MANAGEMENT
@ -488,11 +484,17 @@ public sealed class BSPrim : BSPhysObject
#endif // CSHARP_BODY_MANAGEMENT
}
// Convert the simulator's physical properties into settings on BulletSim objects.
// There are four flags we're interested in:
// IsStatic: Object does not move, otherwise the object has mass and moves
// isSolid: other objects bounce off of this object
// isVolumeDetect: other objects pass through but can generate collisions
// collisionEvents: whether this object returns collision events
private void UpdatePhysicalParameters()
{
DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
// DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
// Mangling all the physical properties requires the object to be out of the physical world.
// Mangling all the physical properties requires the object not be in the physical world.
// This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
@ -505,7 +507,7 @@ public sealed class BSPrim : BSPhysObject
// Set up the object physicalness (does gravity and collisions move this object)
MakeDynamic(IsStatic);
// Arrange for collisions events if the simulator wants them
// Arrange for collision events if the simulator wants them
EnableCollisions(SubscribedEvents());
#if CSHARP_BODY_MANAGEMENT
@ -522,8 +524,6 @@ public sealed class BSPrim : BSPhysObject
if (BSBody.collisionFilter != 0 || BSBody.collisionMask != 0)
{
BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, (uint)BSBody.collisionFilter, (uint)BSBody.collisionMask);
DetailLog("{0},BSPrim.UpdatePhysicalParameters,setCollisionFilterMask,filter={1},mask={2}",
LocalID, BSBody.collisionFilter.ToString("X"), BSBody.collisionMask.ToString("X"));
}
// Recompute any linkset parameters.
@ -557,8 +557,8 @@ public sealed class BSPrim : BSPhysObject
// There can be special things needed for implementing linksets
Linkset.MakeStatic(this);
// The activation state is 'sleeping' so Bullet will not try to act on it
// BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
// BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
@ -571,16 +571,14 @@ public sealed class BSPrim : BSPhysObject
// Set various physical properties so internal dynamic properties will get computed correctly as they are set
BulletSimAPI.SetFriction2(BSBody.ptr, PhysicsScene.Params.defaultFriction);
BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution);
// per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
BulletSimAPI.SetInterpolationLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero);
BulletSimAPI.SetInterpolationAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero);
BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
BulletSimAPI.ClearAllForces2(BSBody.ptr);
// A dynamic object has mass
IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass);
BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
// Inertia is based on our new mass
BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
// Various values for simulation limits
@ -645,7 +643,7 @@ public sealed class BSPrim : BSPhysObject
// Create the new body with the shape
BSBody = new BulletBody(LocalID, BulletSimAPI.CreateBodyFromShape2(PhysicsScene.World.Ptr, BSShape.Ptr, _position, _orientation));
BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
DetailLog("{0},BSPrim.MakeSolid:rigidBody,body={1},shape={2}", LocalID, BSBody, BSShape);
}
}
@ -741,7 +739,7 @@ public sealed class BSPrim : BSPhysObject
// m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
{
DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
// DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
});
}
@ -758,7 +756,7 @@ public sealed class BSPrim : BSPhysObject
_buoyancy = value;
PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
{
DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
// DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
// Buoyancy is faked by changing the gravity applied to the object
float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
@ -823,18 +821,18 @@ public sealed class BSPrim : BSPhysObject
}
m_accumulatedForces.Clear();
}
DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
// DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
// For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object.
BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
});
}
public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
// DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
// m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
}
public override void SetMomentum(OMV.Vector3 momentum) {
DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
// DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
}
#region Mass Calculation
@ -1452,7 +1450,7 @@ public sealed class BSPrim : BSPhysObject
}
// Rebuild the geometry and object.
// This is called when the shape changes so we need to recreate the mesh/hull.
// No locking here because this is done when the physics engine is not simulating (taint-time).
// Called at taint-time!!!
private void CreateGeomAndObject(bool forceRebuild)
{
#if CSHARP_BODY_MANAGEMENT

16
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
View File

@ -344,7 +344,10 @@ public class BSShapeCollection : IDisposable
if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
{
haveShape = true;
if (forceRebuild || (prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE))
if (forceRebuild
|| prim.Scale != shapeData.Size
|| prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE
)
{
ret = GetReferenceToNativeShape(prim, shapeData,
ShapeData.PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_SPHERE);
@ -355,7 +358,10 @@ public class BSShapeCollection : IDisposable
else
{
haveShape = true;
if (forceRebuild || (prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX))
if (forceRebuild
|| prim.Scale != shapeData.Size
|| prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX
)
{
ret = GetReferenceToNativeShape(
prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX);
@ -406,7 +412,7 @@ public class BSShapeCollection : IDisposable
newShape.isNativeShape = true;
// Don't need to do a 'ReferenceShape()' here because native shapes are not tracked.
DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape);
// DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape);
prim.BSShape = newShape;
return true;
@ -683,13 +689,13 @@ public class BSShapeCollection : IDisposable
{
bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
shapeData.ID, shapeData.Position, shapeData.Rotation);
DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
// DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
}
else
{
bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
shapeData.ID, shapeData.Position, shapeData.Rotation);
DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
// DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
}
aBody = new BulletBody(shapeData.ID, bodyPtr);

18
OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
View File

@ -201,10 +201,10 @@ public class BSTerrainManager
// The 'doNow' boolean says whether to do all the unmanaged activities right now (like when
// calling this routine from initialization or taint-time routines) or whether to delay
// all the unmanaged activities to taint-time.
private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool doNow)
private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool atTaintTime)
{
DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},doNow={3}",
BSScene.DetailLogZero, minCoords, maxCoords, doNow);
DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},atTaintTime={3}",
BSScene.DetailLogZero, minCoords, maxCoords, atTaintTime);
float minZ = float.MaxValue;
float maxZ = float.MinValue;
@ -309,10 +309,6 @@ public class BSTerrainManager
mapInfo.terrainBody = new BulletBody(mapInfo.ID,
BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr,
id, centerPos, Quaternion.Identity));
BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr,
(uint)CollisionFilterGroups.TerrainFilter,
(uint)CollisionFilterGroups.TerrainMask);
}
// Make sure the entry is in the heightmap table
@ -333,6 +329,10 @@ public class BSTerrainManager
// redo its bounding box now that it is in the world
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr,
(uint)CollisionFilterGroups.TerrainFilter,
(uint)CollisionFilterGroups.TerrainMask);
// Make sure the new shape is processed.
BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true);
@ -341,7 +341,7 @@ public class BSTerrainManager
// There is the option to do the changes now (we're already in 'taint time'), or
// to do the Bullet operations later.
if (doNow)
if (atTaintTime)
rebuildOperation();
else
PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation);
@ -380,7 +380,7 @@ public class BSTerrainManager
};
// If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time.
if (doNow)
if (atTaintTime)
createOperation();
else
PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation);