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Merge branch 'master' of /home/opensim/var/repo/opensim

integration
BlueWall 2012-07-22 10:13:08 -04:00
parent 0b96019c5e ac612e2105
commit 4ba8a0feb3
16 changed files with 792 additions and 311 deletions
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2
OpenSim/Region/CoreModules/Framework/Statistics/Logging/BinaryLoggingModule.cs
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@ -39,7 +39,7 @@ using OpenSim.Region.Framework;
using OpenSim.Region.Framework.Interfaces; using OpenSim.Region.Framework.Interfaces;
using OpenSim.Region.Framework.Scenes; using OpenSim.Region.Framework.Scenes;
namespace OpenSim.Region.CoreModules.Avatar.Attachments namespace OpenSim.Region.CoreModules.Framework.Statistics.Logging
{ {
[Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "BinaryLoggingModule")] [Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule", Id = "BinaryLoggingModule")]
public class BinaryLoggingModule : INonSharedRegionModule public class BinaryLoggingModule : INonSharedRegionModule

161
OpenSim/Region/CoreModules/Framework/Statistics/Logging/LogWriter.cs Executable file
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@ -0,0 +1,161 @@
/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using System.IO;
using System.Text;
using log4net;
namespace OpenSim.Region.CoreModules.Framework.Statistics.Logging
{
/// <summary>
/// Class for writing a high performance, high volume log file.
/// Sometimes, to debug, one has a high volume logging to do and the regular
/// log file output is not appropriate.
/// Create a new instance with the parameters needed and
/// call Write() to output a line. Call Close() when finished.
/// If created with no parameters, it will not log anything.
/// </summary>
public class LogWriter : IDisposable
{
public bool Enabled { get; private set; }
private string m_logDirectory = ".";
private int m_logMaxFileTimeMin = 5; // 5 minutes
public String LogFileHeader { get; set; }
private StreamWriter m_logFile = null;
private TimeSpan m_logFileLife;
private DateTime m_logFileEndTime;
private Object m_logFileWriteLock = new Object();
// set externally when debugging. If let 'null', this does not write any error messages.
public ILog ErrorLogger = null;
private string LogHeader = "[LOG WRITER]";
/// <summary>
/// Create a log writer that will not write anything. Good for when not enabled
/// but the write statements are still in the code.
/// </summary>
public LogWriter()
{
Enabled = false;
m_logFile = null;
}
/// <summary>
/// Create a log writer instance.
/// </summary>
/// <param name="dir">The directory to create the log file in. May be 'null' for default.</param>
/// <param name="headr">The characters that begin the log file name. May be 'null' for default.</param>
/// <param name="maxFileTime">Maximum age of a log file in minutes. If zero, will set default.</param>
public LogWriter(string dir, string headr, int maxFileTime)
{
m_logDirectory = dir == null ? "." : dir;
LogFileHeader = headr == null ? "log-" : headr;
m_logMaxFileTimeMin = maxFileTime;
if (m_logMaxFileTimeMin < 1)
m_logMaxFileTimeMin = 5;
m_logFileLife = new TimeSpan(0, m_logMaxFileTimeMin, 0);
m_logFileEndTime = DateTime.Now + m_logFileLife;
Enabled = true;
}
public void Dispose()
{
this.Close();
}
public void Close()
{
Enabled = false;
if (m_logFile != null)
{
m_logFile.Close();
m_logFile.Dispose();
m_logFile = null;
}
}
public void Write(string line, params object[] args)
{
if (!Enabled) return;
Write(String.Format(line, args));
}
public void Write(string line)
{
if (!Enabled) return;
try
{
lock (m_logFileWriteLock)
{
DateTime now = DateTime.Now;
if (m_logFile == null || now > m_logFileEndTime)
{
if (m_logFile != null)
{
m_logFile.Close();
m_logFile.Dispose();
m_logFile = null;
}
// First log file or time has expired, start writing to a new log file
m_logFileEndTime = now + m_logFileLife;
string path = (m_logDirectory.Length > 0 ? m_logDirectory
+ System.IO.Path.DirectorySeparatorChar.ToString() : "")
+ String.Format("{0}{1}.log", LogFileHeader, now.ToString("yyyyMMddHHmmss"));
m_logFile = new StreamWriter(File.Open(path, FileMode.Append, FileAccess.Write));
}
if (m_logFile != null)
{
StringBuilder buff = new StringBuilder(line.Length + 25);
buff.Append(now.ToString("yyyyMMddHHmmssfff"));
// buff.Append(now.ToString("yyyyMMddHHmmss"));
buff.Append(",");
buff.Append(line);
buff.Append("\r\n");
m_logFile.Write(buff.ToString());
}
}
}
catch (Exception e)
{
if (ErrorLogger != null)
{
ErrorLogger.ErrorFormat("{0}: FAILURE WRITING TO LOGFILE: {1}", LogHeader, e);
}
Enabled = false;
}
return;
}
}
}

69
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -41,7 +41,7 @@ public class BSCharacter : PhysicsActor
private BSScene _scene; private BSScene _scene;
private String _avName; private String _avName;
private bool _stopped; // private bool _stopped;
private Vector3 _size; private Vector3 _size;
private Vector3 _scale; private Vector3 _scale;
private PrimitiveBaseShape _pbs; private PrimitiveBaseShape _pbs;
@ -134,9 +134,9 @@ public class BSCharacter : PhysicsActor
{ {
base.RequestPhysicsterseUpdate(); base.RequestPhysicsterseUpdate();
} }
// No one calls this method so I don't know what it could possibly mean
public override bool Stopped { public override bool Stopped {
get { return _stopped; } get { return false; }
} }
public override Vector3 Size { public override Vector3 Size {
get { return _size; } get { return _size; }
@ -391,52 +391,47 @@ public class BSCharacter : PhysicsActor
_mass = _density * _avatarVolume; _mass = _density * _avatarVolume;
} }
// Set to 'true' if the individual changed items should be checked
// (someday RequestPhysicsTerseUpdate() will take a bitmap of changed properties)
const bool SHOULD_CHECK_FOR_INDIVIDUAL_CHANGES = false;
// The physics engine says that properties have updated. Update same and inform // The physics engine says that properties have updated. Update same and inform
// the world that things have changed. // the world that things have changed.
public void UpdateProperties(EntityProperties entprop) public void UpdateProperties(EntityProperties entprop)
{ {
/*
bool changed = false; bool changed = false;
if (SHOULD_CHECK_FOR_INDIVIDUAL_CHANGES) { // we assign to the local variables so the normal set action does not happen
// we assign to the local variables so the normal set action does not happen if (_position != entprop.Position) {
if (_position != entprop.Position) {
_position = entprop.Position;
changed = true;
}
if (_orientation != entprop.Rotation) {
_orientation = entprop.Rotation;
changed = true;
}
if (_velocity != entprop.Velocity) {
_velocity = entprop.Velocity;
changed = true;
}
if (_acceleration != entprop.Acceleration) {
_acceleration = entprop.Acceleration;
changed = true;
}
if (_rotationalVelocity != entprop.RotationalVelocity) {
_rotationalVelocity = entprop.RotationalVelocity;
changed = true;
}
if (changed) {
// m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
// Avatar movement is not done by generating this event. There is code in the heartbeat
// loop that updates avatars.
// base.RequestPhysicsterseUpdate();
}
}
else {
_position = entprop.Position; _position = entprop.Position;
changed = true;
}
if (_orientation != entprop.Rotation) {
_orientation = entprop.Rotation; _orientation = entprop.Rotation;
changed = true;
}
if (_velocity != entprop.Velocity) {
_velocity = entprop.Velocity; _velocity = entprop.Velocity;
changed = true;
}
if (_acceleration != entprop.Acceleration) {
_acceleration = entprop.Acceleration; _acceleration = entprop.Acceleration;
changed = true;
}
if (_rotationalVelocity != entprop.RotationalVelocity) {
_rotationalVelocity = entprop.RotationalVelocity; _rotationalVelocity = entprop.RotationalVelocity;
changed = true;
}
if (changed) {
// m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
// Avatar movement is not done by generating this event. There is code in the heartbeat
// loop that updates avatars.
// base.RequestPhysicsterseUpdate(); // base.RequestPhysicsterseUpdate();
} }
*/
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Avatars don't report theirr changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();
} }
// Called by the scene when a collision with this object is reported // Called by the scene when a collision with this object is reported

187
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -57,7 +57,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private int frcount = 0; // Used to limit dynamics debug output to private int frcount = 0; // Used to limit dynamics debug output to
// every 100th frame // every 100th frame
// private BSScene m_parentScene = null;
private BSPrim m_prim; // the prim this dynamic controller belongs to private BSPrim m_prim; // the prim this dynamic controller belongs to
// Vehicle properties // Vehicle properties
@ -131,8 +130,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_type = Vehicle.TYPE_NONE; m_type = Vehicle.TYPE_NONE;
} }
internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue, float timestep)
{ {
DetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
switch (pParam) switch (pParam)
{ {
case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
@ -229,8 +229,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
} }
}//end ProcessFloatVehicleParam }//end ProcessFloatVehicleParam
internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue, float timestep)
{ {
DetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
switch (pParam) switch (pParam)
{ {
case Vehicle.ANGULAR_FRICTION_TIMESCALE: case Vehicle.ANGULAR_FRICTION_TIMESCALE:
@ -265,6 +266,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
{ {
DetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
switch (pParam) switch (pParam)
{ {
case Vehicle.REFERENCE_FRAME: case Vehicle.REFERENCE_FRAME:
@ -278,6 +280,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
internal void ProcessVehicleFlags(int pParam, bool remove) internal void ProcessVehicleFlags(int pParam, bool remove)
{ {
DetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove);
if (remove) if (remove)
{ {
if (pParam == -1) if (pParam == -1)
@ -434,6 +437,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
internal void ProcessTypeChange(Vehicle pType) internal void ProcessTypeChange(Vehicle pType)
{ {
DetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType);
// Set Defaults For Type // Set Defaults For Type
m_type = pType; m_type = pType;
switch (pType) switch (pType)
@ -594,11 +598,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT); m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT);
break; break;
} }
}//end SetDefaultsForType }//end SetDefaultsForType
internal void Step(float pTimestep, BSScene pParentScene) internal void Step(float pTimestep)
{ {
if (m_type == Vehicle.TYPE_NONE) return; if (m_type == Vehicle.TYPE_NONE) return;
@ -606,21 +609,34 @@ namespace OpenSim.Region.Physics.BulletSPlugin
if (frcount > 100) if (frcount > 100)
frcount = 0; frcount = 0;
MoveLinear(pTimestep, pParentScene); MoveLinear(pTimestep);
MoveAngular(pTimestep); MoveAngular(pTimestep);
LimitRotation(pTimestep); LimitRotation(pTimestep);
DetailLog("{0},Dynamics,done,pos={1},force={2},velocity={3},angvel={4}",
m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity);
}// end Step }// end Step
private void MoveLinear(float pTimestep, BSScene _pParentScene) private void MoveLinear(float pTimestep)
{ {
if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant // requested m_linearMotorDirection is significant
// if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))
if (m_linearMotorDirection.LengthSquared() > 0.0001f)
{ {
Vector3 origDir = m_linearMotorDirection;
Vector3 origVel = m_lastLinearVelocityVector;
// add drive to body // add drive to body
Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); // Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector? Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale);
// lastLinearVelocityVector is the current body velocity vector?
// RA: Not sure what the *10 is for. A correction for pTimestep?
// m_lastLinearVelocityVector += (addAmount*10);
m_lastLinearVelocityVector += addAmount;
// This will work temporarily, but we really need to compare speed on an axis // This will work temporarily, but we really need to compare speed on an axis
// KF: Limit body velocity to applied velocity? // KF: Limit body velocity to applied velocity?
// Limit the velocity vector to less than the last set linear motor direction
if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X)) if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X; m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y)) if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
@ -630,76 +646,93 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// decay applied velocity // decay applied velocity
Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep))); Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
//Console.WriteLine("decay: " + decayfraction);
m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f; m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
//Console.WriteLine("actual: " + m_linearMotorDirection);
/*
Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/m_linearMotorTimescale;
m_lastLinearVelocityVector += addAmount;
float decayfraction = (1.0f - 1.0f / m_linearMotorDecayTimescale);
m_linearMotorDirection *= decayfraction;
*/
DetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}",
m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector);
} }
else else
{ // requested is not significant {
// if what remains of applied is small, zero it. // if what remains of applied is small, zero it.
if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f)) // if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
m_lastLinearVelocityVector = Vector3.Zero; // m_lastLinearVelocityVector = Vector3.Zero;
m_linearMotorDirection = Vector3.Zero;
m_lastLinearVelocityVector = Vector3.Zero;
} }
// convert requested object velocity to world-referenced vector // convert requested object velocity to world-referenced vector
m_dir = m_lastLinearVelocityVector; Quaternion rotq = m_prim.Orientation;
Quaternion rot = m_prim.Orientation; m_dir = m_lastLinearVelocityVector * rotq;
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
m_dir *= rotq; // apply obj rotation to velocity vector
// add Gravity andBuoyancy // Add the various forces into m_dir which will be our new direction vector (velocity)
// add Gravity and Buoyancy
// KF: So far I have found no good method to combine a script-requested // KF: So far I have found no good method to combine a script-requested
// .Z velocity and gravity. Therefore only 0g will used script-requested // .Z velocity and gravity. Therefore only 0g will used script-requested
// .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only. // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
Vector3 grav = Vector3.Zero; Vector3 grav = Vector3.Zero;
// There is some gravity, make a gravity force vector // There is some gravity, make a gravity force vector that is applied after object velocity.
// that is applied after object velocity.
float objMass = m_prim.Mass;
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
grav.Z = _pParentScene.DefaultGravity.Z * objMass * (1f - m_VehicleBuoyancy); grav.Z = m_prim.Scene.DefaultGravity.Z * m_prim.Mass * (1f - m_VehicleBuoyancy);
// Preserve the current Z velocity // Preserve the current Z velocity
Vector3 vel_now = m_prim.Velocity; Vector3 vel_now = m_prim.Velocity;
m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
Vector3 pos = m_prim.Position; Vector3 pos = m_prim.Position;
Vector3 posChange = pos;
// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); // Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
Vector3 posChange = new Vector3();
posChange.X = pos.X - m_lastPositionVector.X;
posChange.Y = pos.Y - m_lastPositionVector.Y;
posChange.Z = pos.Z - m_lastPositionVector.Z;
double Zchange = Math.Abs(posChange.Z); double Zchange = Math.Abs(posChange.Z);
if (m_BlockingEndPoint != Vector3.Zero) if (m_BlockingEndPoint != Vector3.Zero)
{ {
bool changed = false;
if (pos.X >= (m_BlockingEndPoint.X - (float)1)) if (pos.X >= (m_BlockingEndPoint.X - (float)1))
{ {
pos.X -= posChange.X + 1; pos.X -= posChange.X + 1;
m_prim.Position = pos; changed = true;
} }
if (pos.Y >= (m_BlockingEndPoint.Y - (float)1)) if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
{ {
pos.Y -= posChange.Y + 1; pos.Y -= posChange.Y + 1;
m_prim.Position = pos; changed = true;
} }
if (pos.Z >= (m_BlockingEndPoint.Z - (float)1)) if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
{ {
pos.Z -= posChange.Z + 1; pos.Z -= posChange.Z + 1;
m_prim.Position = pos; changed = true;
} }
if (pos.X <= 0) if (pos.X <= 0)
{ {
pos.X += posChange.X + 1; pos.X += posChange.X + 1;
m_prim.Position = pos; changed = true;
} }
if (pos.Y <= 0) if (pos.Y <= 0)
{ {
pos.Y += posChange.Y + 1; pos.Y += posChange.Y + 1;
changed = true;
}
if (changed)
{
m_prim.Position = pos; m_prim.Position = pos;
DetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
m_prim.LocalID, m_BlockingEndPoint, posChange, pos);
} }
} }
if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y))
// If below the terrain, move us above the ground a little.
if (pos.Z < m_prim.Scene.GetTerrainHeightAtXYZ(pos))
{ {
pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2; pos.Z = m_prim.Scene.GetTerrainHeightAtXYZ(pos) + 2;
m_prim.Position = pos; m_prim.Position = pos;
DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos);
} }
// Check if hovering // Check if hovering
@ -708,11 +741,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// We should hover, get the target height // We should hover, get the target height
if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0) if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{ {
m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight; m_VhoverTargetHeight = m_prim.Scene.GetWaterLevel() + m_VhoverHeight;
} }
if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{ {
m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; m_VhoverTargetHeight = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
} }
if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
{ {
@ -746,6 +779,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
} }
} }
DetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_dir, m_VhoverHeight, m_VhoverTargetHeight);
// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped // m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
// m_VhoverTimescale = 0f; // time to acheive height // m_VhoverTimescale = 0f; // time to acheive height
// pTimestep is time since last frame,in secs // pTimestep is time since last frame,in secs
@ -774,12 +809,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{ {
grav.Z = (float)(grav.Z * 1.125); grav.Z = (float)(grav.Z * 1.125);
} }
float terraintemp = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); float terraintemp = m_prim.Scene.GetTerrainHeightAtXYZ(pos);
float postemp = (pos.Z - terraintemp); float postemp = (pos.Z - terraintemp);
if (postemp > 2.5f) if (postemp > 2.5f)
{ {
grav.Z = (float)(grav.Z * 1.037125); grav.Z = (float)(grav.Z * 1.037125);
} }
DetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav);
//End Experimental Values //End Experimental Values
} }
if ((m_flags & (VehicleFlag.NO_X)) != 0) if ((m_flags & (VehicleFlag.NO_X)) != 0)
@ -800,32 +836,39 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Apply velocity // Apply velocity
m_prim.Velocity = m_dir; m_prim.Velocity = m_dir;
// apply gravity force // apply gravity force
m_prim.Force = grav; // Why is this set here? The physics engine already does gravity.
// m_prim.AddForce(grav, false);
// m_prim.Force = grav;
// Apply friction
// apply friction
Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
DetailLog("{0},MoveLinear,done,pos={1},vel={2},force={3},decay={4}",
m_prim.LocalID, m_lastPositionVector, m_dir, grav, decayamount);
} // end MoveLinear() } // end MoveLinear()
private void MoveAngular(float pTimestep) private void MoveAngular(float pTimestep)
{ {
/* // m_angularMotorDirection // angular velocity requested by LSL motor
private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor // m_angularMotorApply // application frame counter
private int m_angularMotorApply = 0; // application frame counter // m_angularMotorVelocity // current angular motor velocity (ramps up and down)
private float m_angularMotorVelocity = 0; // current angular motor velocity (ramps up and down) // m_angularMotorTimescale // motor angular velocity ramp up rate
private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate // m_angularMotorDecayTimescale // motor angular velocity decay rate
private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate // m_angularFrictionTimescale // body angular velocity decay rate
private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate // m_lastAngularVelocity // what was last applied to body
private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
*/
// Get what the body is doing, this includes 'external' influences // Get what the body is doing, this includes 'external' influences
Vector3 angularVelocity = m_prim.RotationalVelocity; Vector3 angularVelocity = m_prim.RotationalVelocity;
// Vector3 angularVelocity = Vector3.Zero;
if (m_angularMotorApply > 0) if (m_angularMotorApply > 0)
{ {
// Rather than snapping the angular motor velocity from the old value to
// a newly set velocity, this routine steps the value from the previous
// value (m_angularMotorVelocity) to the requested value (m_angularMotorDirection).
// There are m_angularMotorApply steps.
Vector3 origAngularVelocity = m_angularMotorVelocity;
// ramp up to new value // ramp up to new value
// current velocity += error / (time to get there / step interval) // current velocity += error / (time to get there / step interval)
// requested speed - last motor speed // requested speed - last motor speed
@ -833,23 +876,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep);
m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep);
DetailLog("{0},MoveAngular,angularMotorApply,apply={1},origvel={2},dir={3},vel={4}",
m_prim.LocalID,m_angularMotorApply,origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity);
m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected
// velocity may still be acheived. // velocity may still be acheived.
} }
else else
{ {
// no motor recently applied, keep the body velocity // No motor recently applied, keep the body velocity
/* m_angularMotorVelocity.X = angularVelocity.X;
m_angularMotorVelocity.Y = angularVelocity.Y;
m_angularMotorVelocity.Z = angularVelocity.Z; */
// and decay the velocity // and decay the velocity
m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep); m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep);
} // end motor section } // end motor section
// Vertical attractor section // Vertical attractor section
Vector3 vertattr = Vector3.Zero; Vector3 vertattr = Vector3.Zero;
if (m_verticalAttractionTimescale < 300) if (m_verticalAttractionTimescale < 300)
{ {
float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep); float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep);
@ -871,7 +912,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Error is 0 (no error) to +/- 2 (max error) // Error is 0 (no error) to +/- 2 (max error)
// scale it by VAservo // scale it by VAservo
verterr = verterr * VAservo; verterr = verterr * VAservo;
//if (frcount == 0) Console.WriteLine("VAerr=" + verterr);
// As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
// Change Body angular velocity X based on Y, and Y based on X. Z is not changed. // Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
@ -884,11 +924,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
vertattr.X += bounce * angularVelocity.X; vertattr.X += bounce * angularVelocity.X;
vertattr.Y += bounce * angularVelocity.Y; vertattr.Y += bounce * angularVelocity.Y;
DetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}",
m_prim.LocalID, verterr, bounce, vertattr);
} // else vertical attractor is off } // else vertical attractor is off
// m_lastVertAttractor = vertattr; // m_lastVertAttractor = vertattr;
// Bank section tba // Bank section tba
// Deflection section tba // Deflection section tba
// Sum velocities // Sum velocities
@ -898,11 +942,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{ {
m_lastAngularVelocity.X = 0; m_lastAngularVelocity.X = 0;
m_lastAngularVelocity.Y = 0; m_lastAngularVelocity.Y = 0;
DetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity);
} }
if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
{ {
m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
DetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity);
} }
// apply friction // apply friction
@ -912,10 +958,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Apply to the body // Apply to the body
m_prim.RotationalVelocity = m_lastAngularVelocity; m_prim.RotationalVelocity = m_lastAngularVelocity;
DetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity);
} //end MoveAngular } //end MoveAngular
internal void LimitRotation(float timestep) internal void LimitRotation(float timestep)
{ {
Quaternion rotq = m_prim.Orientation; // rotq = rotation of object Quaternion rotq = m_prim.Orientation;
Quaternion m_rot = rotq; Quaternion m_rot = rotq;
bool changed = false; bool changed = false;
if (m_RollreferenceFrame != Quaternion.Identity) if (m_RollreferenceFrame != Quaternion.Identity)
@ -923,18 +971,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin
if (rotq.X >= m_RollreferenceFrame.X) if (rotq.X >= m_RollreferenceFrame.X)
{ {
m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2); m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2);
changed = true;
} }
if (rotq.Y >= m_RollreferenceFrame.Y) if (rotq.Y >= m_RollreferenceFrame.Y)
{ {
m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2); m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2);
changed = true;
} }
if (rotq.X <= -m_RollreferenceFrame.X) if (rotq.X <= -m_RollreferenceFrame.X)
{ {
m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2); m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2);
changed = true;
} }
if (rotq.Y <= -m_RollreferenceFrame.Y) if (rotq.Y <= -m_RollreferenceFrame.Y)
{ {
m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2); m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2);
changed = true;
} }
changed = true; changed = true;
} }
@ -944,8 +996,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_rot.Y = 0; m_rot.Y = 0;
changed = true; changed = true;
} }
if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
{
m_rot.X = 0;
m_rot.Y = 0;
changed = true;
}
if (changed) if (changed)
m_prim.Orientation = m_rot; m_prim.Orientation = m_rot;
DetailLog("{0},LimitRotation,done,changed={1},orig={2},new={3}", m_prim.LocalID, changed, rotq, m_rot);
}
// Invoke the detailed logger and output something if it's enabled.
private void DetailLog(string msg, params Object[] args)
{
if (m_prim.Scene.VehicleLoggingEnabled)
m_prim.Scene.PhysicsLogging.Write(msg, args);
} }
} }
} }

331
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -42,6 +42,8 @@ public sealed class BSPrim : PhysicsActor
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private static readonly string LogHeader = "[BULLETS PRIM]"; private static readonly string LogHeader = "[BULLETS PRIM]";
private void DebugLog(string mm, params Object[] xx) { if (_scene.shouldDebugLog) m_log.DebugFormat(mm, xx); }
private IMesh _mesh; private IMesh _mesh;
private PrimitiveBaseShape _pbs; private PrimitiveBaseShape _pbs;
private ShapeData.PhysicsShapeType _shapeType; private ShapeData.PhysicsShapeType _shapeType;
@ -50,6 +52,7 @@ public sealed class BSPrim : PhysicsActor
private List<ConvexResult> _hulls; private List<ConvexResult> _hulls;
private BSScene _scene; private BSScene _scene;
public BSScene Scene { get { return _scene; } }
private String _avName; private String _avName;
private uint _localID = 0; private uint _localID = 0;
@ -86,8 +89,8 @@ public sealed class BSPrim : PhysicsActor
private bool _kinematic; private bool _kinematic;
private float _buoyancy; private float _buoyancy;
private List<BSPrim> _childrenPrims;
private BSPrim _parentPrim; private BSPrim _parentPrim;
private List<BSPrim> _childrenPrims;
private int _subscribedEventsMs = 0; private int _subscribedEventsMs = 0;
private int _nextCollisionOkTime = 0; private int _nextCollisionOkTime = 0;
@ -145,9 +148,19 @@ public sealed class BSPrim : PhysicsActor
public void Destroy() public void Destroy()
{ {
// m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
// DetailLog("{0},Destroy", LocalID);
// Undo any vehicle properties // Undo any vehicle properties
_vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE);
_scene.RemoveVehiclePrim(this); // just to make sure _scene.RemoveVehiclePrim(this); // just to make sure
// undo any dependance with/on other objects
if (_parentPrim != null)
{
// If I'm someone's child, tell them to forget about me.
_parentPrim.RemoveChildFromLinkset(this);
_parentPrim = null;
}
_scene.TaintedObject(delegate() _scene.TaintedObject(delegate()
{ {
// everything in the C# world will get garbage collected. Tell the C++ world to free stuff. // everything in the C# world will get garbage collected. Tell the C++ world to free stuff.
@ -202,7 +215,8 @@ public sealed class BSPrim : PhysicsActor
// link me to the specified parent // link me to the specified parent
public override void link(PhysicsActor obj) { public override void link(PhysicsActor obj) {
BSPrim parent = obj as BSPrim; BSPrim parent = obj as BSPrim;
// m_log.DebugFormat("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID); DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID);
DetailLog("{0},link,parent={1}", LocalID, obj.LocalID);
// TODO: decide if this parent checking needs to happen at taint time // TODO: decide if this parent checking needs to happen at taint time
if (_parentPrim == null) if (_parentPrim == null)
{ {
@ -225,7 +239,7 @@ public sealed class BSPrim : PhysicsActor
else else
{ {
// asking to reparent a prim should not happen // asking to reparent a prim should not happen
m_log.ErrorFormat("{0}: Reparenting a prim. ", LogHeader); m_log.ErrorFormat("{0}: link(): Reparenting a prim. ", LogHeader);
} }
} }
} }
@ -236,7 +250,9 @@ public sealed class BSPrim : PhysicsActor
public override void delink() { public override void delink() {
// TODO: decide if this parent checking needs to happen at taint time // TODO: decide if this parent checking needs to happen at taint time
// Race condition here: if link() and delink() in same simulation tick, the delink will not happen // Race condition here: if link() and delink() in same simulation tick, the delink will not happen
// m_log.DebugFormat("{0}: delink {1}/{2}", LogHeader, _avName, _localID); DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID,
(_parentPrim==null ? "NULL" : _parentPrim._avName+"/"+_parentPrim.LocalID.ToString()));
DetailLog("{0},delink,parent={1}", LocalID, (_parentPrim==null ? "NULL" : _parentPrim.LocalID.ToString()));
if (_parentPrim != null) if (_parentPrim != null)
{ {
_parentPrim.RemoveChildFromLinkset(this); _parentPrim.RemoveChildFromLinkset(this);
@ -252,8 +268,10 @@ public sealed class BSPrim : PhysicsActor
{ {
if (!_childrenPrims.Contains(child)) if (!_childrenPrims.Contains(child))
{ {
DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, this.LocalID);
DetailLog("{0},AddChildToLinkset,child={1}", LocalID, pchild.LocalID);
_childrenPrims.Add(child); _childrenPrims.Add(child);
child.ParentPrim = this; // the child has gained a parent child._parentPrim = this; // the child has gained a parent
RecreateGeomAndObject(); // rebuild my shape with the new child added RecreateGeomAndObject(); // rebuild my shape with the new child added
} }
}); });
@ -269,9 +287,14 @@ public sealed class BSPrim : PhysicsActor
{ {
if (_childrenPrims.Contains(child)) if (_childrenPrims.Contains(child))
{ {
BulletSimAPI.RemoveConstraint(_scene.WorldID, child.LocalID, this.LocalID); DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID);
DetailLog("{0},RemoveChildToLinkset,child={1}", LocalID, pchild.LocalID);
if (!BulletSimAPI.RemoveConstraintByID(_scene.WorldID, child.LocalID))
{
m_log.ErrorFormat("{0}: RemoveChildFromLinkset: Failed remove constraint for {1}", LogHeader, child.LocalID);
}
_childrenPrims.Remove(child); _childrenPrims.Remove(child);
child.ParentPrim = null; // the child has lost its parent child._parentPrim = null; // the child has lost its parent
RecreateGeomAndObject(); // rebuild my shape with the child removed RecreateGeomAndObject(); // rebuild my shape with the child removed
} }
else else
@ -282,11 +305,6 @@ public sealed class BSPrim : PhysicsActor
return; return;
} }
public BSPrim ParentPrim
{
set { _parentPrim = value; }
}
// return true if we are the root of a linkset (there are children to manage) // return true if we are the root of a linkset (there are children to manage)
public bool IsRootOfLinkset public bool IsRootOfLinkset
{ {
@ -304,20 +322,28 @@ public sealed class BSPrim : PhysicsActor
base.RequestPhysicsterseUpdate(); base.RequestPhysicsterseUpdate();
} }
public override void LockAngularMotion(OMV.Vector3 axis) { return; } public override void LockAngularMotion(OMV.Vector3 axis)
{
DetailLog("{0},LockAngularMotion,call,axis={1}", LocalID, axis);
return;
}
public override OMV.Vector3 Position { public override OMV.Vector3 Position {
get { get {
// don't do the following GetObjectPosition because this function is called a zillion times // child prims move around based on their parent. Need to get the latest location
if (_parentPrim != null)
_position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
// don't do the GetObjectPosition for root elements because this function is called a zillion times
// _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
return _position; return _position;
} }
set { set {
_position = value; _position = value;
// TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
_scene.TaintedObject(delegate() _scene.TaintedObject(delegate()
{ {
DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
// m_log.DebugFormat("{0}: setPosition: id={1}, position={2}", LogHeader, _localID, _position);
}); });
} }
} }
@ -330,6 +356,7 @@ public sealed class BSPrim : PhysicsActor
_force = value; _force = value;
_scene.TaintedObject(delegate() _scene.TaintedObject(delegate()
{ {
DetailLog("{0},SetForce,taint,force={1}", LocalID, _force);
BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
}); });
} }
@ -341,15 +368,23 @@ public sealed class BSPrim : PhysicsActor
} }
set { set {
Vehicle type = (Vehicle)value; Vehicle type = (Vehicle)value;
_vehicle.ProcessTypeChange(type);
_scene.TaintedObject(delegate() _scene.TaintedObject(delegate()
{ {
DetailLog("{0},SetVehicleType,taint,type={1}", LocalID, type);
_vehicle.ProcessTypeChange(type);
if (type == Vehicle.TYPE_NONE) if (type == Vehicle.TYPE_NONE)
{ {
_scene.RemoveVehiclePrim(this); _scene.RemoveVehiclePrim(this);
} }
else else
{ {
_scene.TaintedObject(delegate()
{
// Tell the physics engine to clear state
IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID);
BulletSimAPI.ClearForces2(obj);
});
// make it so the scene will call us each tick to do vehicle things // make it so the scene will call us each tick to do vehicle things
_scene.AddVehiclePrim(this); _scene.AddVehiclePrim(this);
} }
@ -359,37 +394,52 @@ public sealed class BSPrim : PhysicsActor
} }
public override void VehicleFloatParam(int param, float value) public override void VehicleFloatParam(int param, float value)
{ {
_vehicle.ProcessFloatVehicleParam((Vehicle)param, value); m_log.DebugFormat("{0} VehicleFloatParam. {1} <= {2}", LogHeader, param, value);
_scene.TaintedObject(delegate()
{
_vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
});
} }
public override void VehicleVectorParam(int param, OMV.Vector3 value) public override void VehicleVectorParam(int param, OMV.Vector3 value)
{ {
_vehicle.ProcessVectorVehicleParam((Vehicle)param, value); m_log.DebugFormat("{0} VehicleVectorParam. {1} <= {2}", LogHeader, param, value);
_scene.TaintedObject(delegate()
{
_vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
});
} }
public override void VehicleRotationParam(int param, OMV.Quaternion rotation) public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
{ {
_vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); m_log.DebugFormat("{0} VehicleRotationParam. {1} <= {2}", LogHeader, param, rotation);
_scene.TaintedObject(delegate()
{
_vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
});
} }
public override void VehicleFlags(int param, bool remove) public override void VehicleFlags(int param, bool remove)
{ {
_vehicle.ProcessVehicleFlags(param, remove); m_log.DebugFormat("{0} VehicleFlags. {1}. Remove={2}", LogHeader, param, remove);
_scene.TaintedObject(delegate()
{
_vehicle.ProcessVehicleFlags(param, remove);
});
} }
// Called each simulation step to advance vehicle characteristics
// Called each simulation step to advance vehicle characteristics.
// Called from Scene when doing simulation step so we're in taint processing time.
public void StepVehicle(float timeStep) public void StepVehicle(float timeStep)
{ {
_vehicle.Step(timeStep, _scene); _vehicle.Step(timeStep);
} }
// Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
public override void SetVolumeDetect(int param) { public override void SetVolumeDetect(int param) {
bool newValue = (param != 0); bool newValue = (param != 0);
if (_isVolumeDetect != newValue) _isVolumeDetect = newValue;
_scene.TaintedObject(delegate()
{ {
_isVolumeDetect = newValue; SetObjectDynamic();
_scene.TaintedObject(delegate() });
{
SetObjectDynamic();
});
}
return; return;
} }
@ -397,9 +447,11 @@ public sealed class BSPrim : PhysicsActor
public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } } public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
public override OMV.Vector3 Velocity { public override OMV.Vector3 Velocity {
get { return _velocity; } get { return _velocity; }
set { _velocity = value; set {
_velocity = value;
_scene.TaintedObject(delegate() _scene.TaintedObject(delegate()
{ {
DetailLog("{0},SetVelocity,taint,vel={1}", LocalID, _velocity);
BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity); BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity);
}); });
} }
@ -407,6 +459,7 @@ public sealed class BSPrim : PhysicsActor
public override OMV.Vector3 Torque { public override OMV.Vector3 Torque {
get { return _torque; } get { return _torque; }
set { _torque = value; set { _torque = value;
DetailLog("{0},SetTorque,call,torque={1}", LocalID, _torque);
} }
} }
public override float CollisionScore { public override float CollisionScore {
@ -419,13 +472,21 @@ public sealed class BSPrim : PhysicsActor
set { _acceleration = value; } set { _acceleration = value; }
} }
public override OMV.Quaternion Orientation { public override OMV.Quaternion Orientation {
get { return _orientation; } get {
if (_parentPrim != null)
{
// children move around because tied to parent. Get a fresh value.
_orientation = BulletSimAPI.GetObjectOrientation(_scene.WorldID, LocalID);
}
return _orientation;
}
set { set {
_orientation = value; _orientation = value;
// m_log.DebugFormat("{0}: set orientation: id={1}, ori={2}", LogHeader, LocalID, _orientation); // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
_scene.TaintedObject(delegate() _scene.TaintedObject(delegate()
{ {
// _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
DetailLog("{0},SetOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
}); });
} }
@ -458,8 +519,9 @@ public sealed class BSPrim : PhysicsActor
get { return !IsPhantom && !_isVolumeDetect; } get { return !IsPhantom && !_isVolumeDetect; }
} }
// make gravity work if the object is physical and not selected // Make gravity work if the object is physical and not selected
// no locking here because only called when it is safe // No locking here because only called when it is safe
// Only called at taint time so it is save to call into Bullet.
private void SetObjectDynamic() private void SetObjectDynamic()
{ {
// m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid); // m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid);
@ -476,6 +538,7 @@ public sealed class BSPrim : PhysicsActor
RecreateGeomAndObject(); RecreateGeomAndObject();
} }
DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, _mass);
BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass); BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), _mass);
} }
@ -516,11 +579,24 @@ public sealed class BSPrim : PhysicsActor
set { _floatOnWater = value; } set { _floatOnWater = value; }
} }
public override OMV.Vector3 RotationalVelocity { public override OMV.Vector3 RotationalVelocity {
get { return _rotationalVelocity; } get {
set { _rotationalVelocity = value; /*
OMV.Vector3 pv = OMV.Vector3.Zero;
// if close to zero, report zero
// This is copied from ODE but I'm not sure why it returns zero but doesn't
// zero the property in the physics engine.
if (_rotationalVelocity.ApproxEquals(pv, 0.2f))
return pv;
*/
return _rotationalVelocity;
}
set {
_rotationalVelocity = value;
// m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
_scene.TaintedObject(delegate() _scene.TaintedObject(delegate()
{ {
DetailLog("{0},SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity); BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity);
}); });
} }
@ -533,11 +609,13 @@ public sealed class BSPrim : PhysicsActor
} }
public override float Buoyancy { public override float Buoyancy {
get { return _buoyancy; } get { return _buoyancy; }
set { _buoyancy = value; set {
_scene.TaintedObject(delegate() _buoyancy = value;
{ _scene.TaintedObject(delegate()
BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); {
}); DetailLog("{0},SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
});
} }
} }
@ -573,27 +651,45 @@ public sealed class BSPrim : PhysicsActor
public override float APIDStrength { set { return; } } public override float APIDStrength { set { return; } }
public override float APIDDamping { set { return; } } public override float APIDDamping { set { return; } }
private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>();
public override void AddForce(OMV.Vector3 force, bool pushforce) { public override void AddForce(OMV.Vector3 force, bool pushforce) {
if (force.IsFinite()) if (force.IsFinite())
{ {
_force.X += force.X; // _force += force;
_force.Y += force.Y; lock (m_accumulatedForces)
_force.Z += force.Z; m_accumulatedForces.Add(new OMV.Vector3(force));
} }
else else
{ {
m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader); m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader);
return;
} }
_scene.TaintedObject(delegate() _scene.TaintedObject(delegate()
{ {
BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force); lock (m_accumulatedForces)
{
if (m_accumulatedForces.Count > 0)
{
OMV.Vector3 fSum = OMV.Vector3.Zero;
foreach (OMV.Vector3 v in m_accumulatedForces)
{
fSum += v;
}
m_accumulatedForces.Clear();
DetailLog("{0},SetObjectForce,taint,force={1}", LocalID, fSum);
BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, fSum);
}
}
}); });
} }
public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
DetailLog("{0},AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce);
// m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); // m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce);
} }
public override void SetMomentum(OMV.Vector3 momentum) { public override void SetMomentum(OMV.Vector3 momentum) {
DetailLog("{0},SetMomentum,call,mom={1}", LocalID, momentum);
} }
public override void SubscribeEvents(int ms) { public override void SubscribeEvents(int ms) {
_subscribedEventsMs = ms; _subscribedEventsMs = ms;
@ -918,6 +1014,7 @@ public sealed class BSPrim : PhysicsActor
{ {
// m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
DetailLog("{0},CreateGeom,sphere", LocalID);
// Bullet native objects are scaled by the Bullet engine so pass the size in // Bullet native objects are scaled by the Bullet engine so pass the size in
_scale = _size; _scale = _size;
} }
@ -925,6 +1022,7 @@ public sealed class BSPrim : PhysicsActor
else else
{ {
// m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size); // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size);
DetailLog("{0},CreateGeom,box", LocalID);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX; _shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
_scale = _size; _scale = _size;
} }
@ -961,10 +1059,12 @@ public sealed class BSPrim : PhysicsActor
// if this new shape is the same as last time, don't recreate the mesh // if this new shape is the same as last time, don't recreate the mesh
if (_meshKey == newMeshKey) return; if (_meshKey == newMeshKey) return;
DetailLog("{0},CreateGeomMesh,create,key={1}", LocalID, _meshKey);
// Since we're recreating new, get rid of any previously generated shape // Since we're recreating new, get rid of any previously generated shape
if (_meshKey != 0) if (_meshKey != 0)
{ {
// m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey); // m_log.DebugFormat("{0}: CreateGeom: deleting old mesh. lID={1}, Key={2}", LogHeader, _localID, _meshKey);
DetailLog("{0},CreateGeomMesh,deleteOld,key={1}", LocalID, _meshKey);
BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
_mesh = null; _mesh = null;
_meshKey = 0; _meshKey = 0;
@ -981,7 +1081,6 @@ public sealed class BSPrim : PhysicsActor
int vi = 0; int vi = 0;
foreach (OMV.Vector3 vv in vertices) foreach (OMV.Vector3 vv in vertices)
{ {
// m_log.DebugFormat("{0}: {1}: <{2:0.00}, {3:0.00}, {4:0.00}>", LogHeader, vi / 3, vv.X, vv.Y, vv.Z);
verticesAsFloats[vi++] = vv.X; verticesAsFloats[vi++] = vv.X;
verticesAsFloats[vi++] = vv.Y; verticesAsFloats[vi++] = vv.Y;
verticesAsFloats[vi++] = vv.Z; verticesAsFloats[vi++] = vv.Z;
@ -995,6 +1094,7 @@ public sealed class BSPrim : PhysicsActor
_shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH; _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
// meshes are already scaled by the meshmerizer // meshes are already scaled by the meshmerizer
_scale = new OMV.Vector3(1f, 1f, 1f); _scale = new OMV.Vector3(1f, 1f, 1f);
DetailLog("{0},CreateGeomMesh,done", LocalID);
return; return;
} }
@ -1008,13 +1108,17 @@ public sealed class BSPrim : PhysicsActor
// if the hull hasn't changed, don't rebuild it // if the hull hasn't changed, don't rebuild it
if (newHullKey == _hullKey) return; if (newHullKey == _hullKey) return;
DetailLog("{0},CreateGeomHull,create,key={1}", LocalID, _meshKey);
// Since we're recreating new, get rid of any previously generated shape // Since we're recreating new, get rid of any previously generated shape
if (_hullKey != 0) if (_hullKey != 0)
{ {
// m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey); // m_log.DebugFormat("{0}: CreateGeom: deleting old hull. Key={1}", LogHeader, _hullKey);
DetailLog("{0},CreateGeomHull,deleteOldHull,key={1}", LocalID, _meshKey);
BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey); BulletSimAPI.DestroyHull(_scene.WorldID, _hullKey);
_hullKey = 0; _hullKey = 0;
_hulls.Clear(); _hulls.Clear();
DetailLog("{0},CreateGeomHull,deleteOldMesh,key={1}", LocalID, _meshKey);
BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey); BulletSimAPI.DestroyMesh(_scene.WorldID, _meshKey);
_mesh = null; // the mesh cannot match either _mesh = null; // the mesh cannot match either
_meshKey = 0; _meshKey = 0;
@ -1111,6 +1215,7 @@ public sealed class BSPrim : PhysicsActor
_shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL; _shapeType = ShapeData.PhysicsShapeType.SHAPE_HULL;
// meshes are already scaled by the meshmerizer // meshes are already scaled by the meshmerizer
_scale = new OMV.Vector3(1f, 1f, 1f); _scale = new OMV.Vector3(1f, 1f, 1f);
DetailLog("{0},CreateGeomHull,done", LocalID);
return; return;
} }
@ -1129,7 +1234,6 @@ public sealed class BSPrim : PhysicsActor
if (IsRootOfLinkset) if (IsRootOfLinkset)
{ {
// Create a linkset around this object // Create a linkset around this object
// CreateLinksetWithCompoundHull();
CreateLinksetWithConstraints(); CreateLinksetWithConstraints();
} }
else else
@ -1191,33 +1295,33 @@ public sealed class BSPrim : PhysicsActor
// TODO: make this more effeicient: a large linkset gets rebuilt over and over and prims are added // TODO: make this more effeicient: a large linkset gets rebuilt over and over and prims are added
void CreateLinksetWithConstraints() void CreateLinksetWithConstraints()
{ {
// m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1); DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1);
// remove any constraints that might be in place // remove any constraints that might be in place
foreach (BSPrim prim in _childrenPrims) foreach (BSPrim prim in _childrenPrims)
{ {
// m_log.DebugFormat("{0}: CreateLinkset: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID); DebugLog("{0}: CreateLinkset: RemoveConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID);
BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID); BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, prim.LocalID);
} }
// create constraints between the root prim and each of the children // create constraints between the root prim and each of the children
foreach (BSPrim prim in _childrenPrims) foreach (BSPrim prim in _childrenPrims)
{ {
// m_log.DebugFormat("{0}: CreateLinkset: AddConstraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID);
// Zero motion for children so they don't interpolate // Zero motion for children so they don't interpolate
prim.ZeroMotion(); prim.ZeroMotion();
// relative position normalized to the root prim // relative position normalized to the root prim
OMV.Vector3 childRelativePosition = (prim._position - this._position) * OMV.Quaternion.Inverse(this._orientation); OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(this._orientation);
OMV.Vector3 childRelativePosition = (prim._position - this._position) * invThisOrientation;
// relative rotation of the child to the parent // relative rotation of the child to the parent
OMV.Quaternion relativeRotation = OMV.Quaternion.Inverse(prim._orientation) * this._orientation; OMV.Quaternion childRelativeRotation = invThisOrientation * prim._orientation;
// this is a constraint that allows no freedom of movement between the two objects // this is a constraint that allows no freedom of movement between the two objects
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818 // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID);
BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID, BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID,
childRelativePosition, childRelativePosition,
relativeRotation, childRelativeRotation,
OMV.Vector3.Zero, OMV.Vector3.Zero,
OMV.Quaternion.Identity, OMV.Quaternion.Identity,
OMV.Vector3.Zero, OMV.Vector3.Zero, OMV.Vector3.Zero, OMV.Vector3.Zero,
@ -1252,78 +1356,71 @@ public sealed class BSPrim : PhysicsActor
const float POSITION_TOLERANCE = 0.05f; const float POSITION_TOLERANCE = 0.05f;
const float ACCELERATION_TOLERANCE = 0.01f; const float ACCELERATION_TOLERANCE = 0.01f;
const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
const bool SHOULD_DAMP_UPDATES = false;
public void UpdateProperties(EntityProperties entprop) public void UpdateProperties(EntityProperties entprop)
{ {
/*
UpdatedProperties changed = 0; UpdatedProperties changed = 0;
if (SHOULD_DAMP_UPDATES) // assign to the local variables so the normal set action does not happen
// if (_position != entprop.Position)
if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE))
{ {
// assign to the local variables so the normal set action does not happen _position = entprop.Position;
// if (_position != entprop.Position) changed |= UpdatedProperties.Position;
if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE))
{
_position = entprop.Position;
// m_log.DebugFormat("{0}: UpdateProperties: id={1}, pos = {2}", LogHeader, LocalID, _position);
changed |= UpdatedProperties.Position;
}
// if (_orientation != entprop.Rotation)
if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE))
{
_orientation = entprop.Rotation;
// m_log.DebugFormat("{0}: UpdateProperties: id={1}, rot = {2}", LogHeader, LocalID, _orientation);
changed |= UpdatedProperties.Rotation;
}
// if (_velocity != entprop.Velocity)
if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE))
{
_velocity = entprop.Velocity;
// m_log.DebugFormat("{0}: UpdateProperties: velocity = {1}", LogHeader, _velocity);
changed |= UpdatedProperties.Velocity;
}
// if (_acceleration != entprop.Acceleration)
if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE))
{
_acceleration = entprop.Acceleration;
// m_log.DebugFormat("{0}: UpdateProperties: acceleration = {1}", LogHeader, _acceleration);
changed |= UpdatedProperties.Acceleration;
}
// if (_rotationalVelocity != entprop.RotationalVelocity)
if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE))
{
_rotationalVelocity = entprop.RotationalVelocity;
// m_log.DebugFormat("{0}: UpdateProperties: rotationalVelocity = {1}", LogHeader, _rotationalVelocity);
changed |= UpdatedProperties.RotationalVel;
}
if (changed != 0)
{
// m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
// Only update the position of single objects and linkset roots
if (this._parentPrim == null)
{
// m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
base.RequestPhysicsterseUpdate();
}
}
} }
else // if (_orientation != entprop.Rotation)
if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE))
{ {
// Don't check for damping here -- it's done in BulletSim and SceneObjectPart. _orientation = entprop.Rotation;
changed |= UpdatedProperties.Rotation;
// Only updates only for individual prims and for the root object of a linkset. }
// if (_velocity != entprop.Velocity)
if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE))
{
_velocity = entprop.Velocity;
changed |= UpdatedProperties.Velocity;
}
// if (_acceleration != entprop.Acceleration)
if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE))
{
_acceleration = entprop.Acceleration;
changed |= UpdatedProperties.Acceleration;
}
// if (_rotationalVelocity != entprop.RotationalVelocity)
if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE))
{
_rotationalVelocity = entprop.RotationalVelocity;
changed |= UpdatedProperties.RotationalVel;
}
if (changed != 0)
{
// Only update the position of single objects and linkset roots
if (this._parentPrim == null) if (this._parentPrim == null)
{ {
// Assign to the local variables so the normal set action does not happen
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}",
// LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
base.RequestPhysicsterseUpdate(); base.RequestPhysicsterseUpdate();
} }
} }
*/
// Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
// Updates only for individual prims and for the root object of a linkset.
if (this._parentPrim == null)
{
// Assign to the local variables so the normal set action does not happen
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}",
// LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
DetailLog("{0},UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
base.RequestPhysicsterseUpdate();
}
} }
// I've collided with something // I've collided with something
@ -1362,5 +1459,11 @@ public sealed class BSPrim : PhysicsActor
collisionCollection.Clear(); collisionCollection.Clear();
} }
} }
// Invoke the detailed logger and output something if it's enabled.
private void DetailLog(string msg, params Object[] args)
{
Scene.PhysicsLogging.Write(msg, args);
}
} }
} }

137
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -29,12 +29,14 @@ using System.Collections.Generic;
using System.Runtime.InteropServices; using System.Runtime.InteropServices;
using System.Text; using System.Text;
using System.Threading; using System.Threading;
using OpenSim.Framework;
using OpenSim.Region.Framework;
using OpenSim.Region.CoreModules;
using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging;
using OpenSim.Region.Physics.Manager;
using Nini.Config; using Nini.Config;
using log4net; using log4net;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OpenMetaverse; using OpenMetaverse;
using OpenSim.Region.Framework;
// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) // TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
// Debug linkset // Debug linkset
@ -44,15 +46,17 @@ using OpenSim.Region.Framework;
// Compute physics FPS reasonably // Compute physics FPS reasonably
// Based on material, set density and friction // Based on material, set density and friction
// More efficient memory usage when passing hull information from BSPrim to BulletSim // More efficient memory usage when passing hull information from BSPrim to BulletSim
// Move all logic out of the C++ code and into the C# code for easier future modifications.
// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly? // Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly?
// In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground) // In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground)
// At the moment, physical and phantom causes object to drop through the terrain // At the moment, physical and phantom causes object to drop through the terrain
// Physical phantom objects and related typing (collision options ) // Physical phantom objects and related typing (collision options )
// Use collision masks for collision with terrain and phantom objects
// Check out llVolumeDetect. Must do something for that. // Check out llVolumeDetect. Must do something for that.
// Should prim.link() and prim.delink() membership checking happen at taint time? // Should prim.link() and prim.delink() membership checking happen at taint time?
// changing the position and orientation of a linked prim must rebuild the constraint with the root.
// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once // Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once
// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
// Use collision masks for collision with terrain and phantom objects
// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions) // Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions)
// Implement LockAngularMotion // Implement LockAngularMotion
// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
@ -60,9 +64,6 @@ using OpenSim.Region.Framework;
// Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet. // Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet.
// Add PID movement operations. What does ScenePresence.MoveToTarget do? // Add PID movement operations. What does ScenePresence.MoveToTarget do?
// Check terrain size. 128 or 127? // Check terrain size. 128 or 127?
// Multiple contact points on collision?
// See code in ode::near... calls to collision_accounting_events()
// (This might not be a problem. ODE collects all the collisions with one object in one tick.)
// Raycast // Raycast
// //
namespace OpenSim.Region.Physics.BulletSPlugin namespace OpenSim.Region.Physics.BulletSPlugin
@ -72,6 +73,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
private static readonly string LogHeader = "[BULLETS SCENE]"; private static readonly string LogHeader = "[BULLETS SCENE]";
private void DebugLog(string mm, params Object[] xx) { if (shouldDebugLog) m_log.DebugFormat(mm, xx); }
public string BulletSimVersion = "?"; public string BulletSimVersion = "?";
private Dictionary<uint, BSCharacter> m_avatars = new Dictionary<uint, BSCharacter>(); private Dictionary<uint, BSCharacter> m_avatars = new Dictionary<uint, BSCharacter>();
@ -105,6 +108,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
private long m_simulationStep = 0; private long m_simulationStep = 0;
public long SimulationStep { get { return m_simulationStep; } } public long SimulationStep { get { return m_simulationStep; } }
public float LastSimulatedTimestep { get; private set; }
// A value of the time now so all the collision and update routines do not have to get their own // A value of the time now so all the collision and update routines do not have to get their own
// Set to 'now' just before all the prims and actors are called for collisions and updates // Set to 'now' just before all the prims and actors are called for collisions and updates
private int m_simulationNowTime; private int m_simulationNowTime;
@ -121,6 +126,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed
private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes
public float PID_D { get; private set; } // derivative
public float PID_P { get; private set; } // proportional
public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero
public const uint GROUNDPLANE_ID = 1; public const uint GROUNDPLANE_ID = 1;
@ -147,8 +155,20 @@ public class BSScene : PhysicsScene, IPhysicsParameters
ConfigurationParameters[] m_params; ConfigurationParameters[] m_params;
GCHandle m_paramsHandle; GCHandle m_paramsHandle;
public bool shouldDebugLog { get; private set; }
private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
// Sometimes you just have to log everything.
public Logging.LogWriter PhysicsLogging;
private bool m_physicsLoggingEnabled;
private string m_physicsLoggingDir;
private string m_physicsLoggingPrefix;
private int m_physicsLoggingFileMinutes;
private bool m_vehicleLoggingEnabled;
public bool VehicleLoggingEnabled { get { return m_vehicleLoggingEnabled; } }
public BSScene(string identifier) public BSScene(string identifier)
{ {
m_initialized = false; m_initialized = false;
@ -169,17 +189,32 @@ public class BSScene : PhysicsScene, IPhysicsParameters
m_updateArray = new EntityProperties[m_maxUpdatesPerFrame]; m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned); m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
// Enable very detailed logging.
// By creating an empty logger when not logging, the log message invocation code
// can be left in and every call doesn't have to check for null.
if (m_physicsLoggingEnabled)
{
PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
}
else
{
PhysicsLogging = new Logging.LogWriter();
}
// Get the version of the DLL // Get the version of the DLL
// TODO: this doesn't work yet. Something wrong with marshaling the returned string. // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
// BulletSimVersion = BulletSimAPI.GetVersion(); // BulletSimVersion = BulletSimAPI.GetVersion();
// m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion); // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
// if Debug, enable logging from the unmanaged code // if Debug, enable logging from the unmanaged code
if (m_log.IsDebugEnabled) if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
{ {
m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader); m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
// the handle is saved to it doesn't get freed after this call if (PhysicsLogging.Enabled)
m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger); m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
else
m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
// the handle is saved in a variable to make sure it doesn't get freed after this call
BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle); BulletSimAPI.SetDebugLogCallback(m_DebugLogCallbackHandle);
} }
@ -209,6 +244,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
m_meshLOD = 8f; m_meshLOD = 8f;
m_sculptLOD = 32f; m_sculptLOD = 32f;
shouldDebugLog = false;
m_detailedStatsStep = 0; // disabled m_detailedStatsStep = 0; // disabled
m_maxSubSteps = 10; m_maxSubSteps = 10;
@ -217,6 +253,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
m_maxUpdatesPerFrame = 2048; m_maxUpdatesPerFrame = 2048;
m_maximumObjectMass = 10000.01f; m_maximumObjectMass = 10000.01f;
PID_D = 2200f;
PID_P = 900f;
parms.defaultFriction = 0.5f; parms.defaultFriction = 0.5f;
parms.defaultDensity = 10.000006836f; // Aluminum g/cm3 parms.defaultDensity = 10.000006836f; // Aluminum g/cm3
parms.defaultRestitution = 0f; parms.defaultRestitution = 0f;
@ -261,7 +300,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
_meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim); _meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", _meshSculptedPrim);
_forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing); _forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", _forceSimplePrimMeshing);
shouldDebugLog = pConfig.GetBoolean("ShouldDebugLog", shouldDebugLog);
m_detailedStatsStep = pConfig.GetInt("DetailedStatsStep", m_detailedStatsStep); m_detailedStatsStep = pConfig.GetInt("DetailedStatsStep", m_detailedStatsStep);
m_meshLOD = pConfig.GetFloat("MeshLevelOfDetail", m_meshLOD); m_meshLOD = pConfig.GetFloat("MeshLevelOfDetail", m_meshLOD);
m_sculptLOD = pConfig.GetFloat("SculptLevelOfDetail", m_sculptLOD); m_sculptLOD = pConfig.GetFloat("SculptLevelOfDetail", m_sculptLOD);
@ -271,6 +312,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame); m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame);
m_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", m_maximumObjectMass); m_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", m_maximumObjectMass);
PID_D = pConfig.GetFloat("PIDDerivative", PID_D);
PID_P = pConfig.GetFloat("PIDProportional", PID_P);
parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction); parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction);
parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity); parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity);
parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution); parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution);
@ -303,6 +347,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
parms.shouldSplitSimulationIslands = ParamBoolean(pConfig, "ShouldSplitSimulationIslands", parms.shouldSplitSimulationIslands); parms.shouldSplitSimulationIslands = ParamBoolean(pConfig, "ShouldSplitSimulationIslands", parms.shouldSplitSimulationIslands);
parms.shouldEnableFrictionCaching = ParamBoolean(pConfig, "ShouldEnableFrictionCaching", parms.shouldEnableFrictionCaching); parms.shouldEnableFrictionCaching = ParamBoolean(pConfig, "ShouldEnableFrictionCaching", parms.shouldEnableFrictionCaching);
parms.numberOfSolverIterations = pConfig.GetFloat("NumberOfSolverIterations", parms.numberOfSolverIterations); parms.numberOfSolverIterations = pConfig.GetFloat("NumberOfSolverIterations", parms.numberOfSolverIterations);
// Very detailed logging for physics debugging
m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-");
m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
// Very detailed logging for vehicle debugging
m_vehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
} }
} }
m_params[0] = parms; m_params[0] = parms;
@ -323,12 +375,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
return ret; return ret;
} }
// Called directly from unmanaged code so don't do much // Called directly from unmanaged code so don't do much
private void BulletLogger(string msg) private void BulletLogger(string msg)
{ {
m_log.Debug("[BULLETS UNMANAGED]:" + msg); m_log.Debug("[BULLETS UNMANAGED]:" + msg);
} }
// Called directly from unmanaged code so don't do much
private void BulletLoggerPhysLog(string msg)
{
PhysicsLogging.Write("[BULLETS UNMANAGED]:" + msg);
}
public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying) public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
{ {
@ -347,34 +404,42 @@ public class BSScene : PhysicsScene, IPhysicsParameters
public override void RemoveAvatar(PhysicsActor actor) public override void RemoveAvatar(PhysicsActor actor)
{ {
// m_log.DebugFormat("{0}: RemoveAvatar", LogHeader); // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader);
if (actor is BSCharacter) BSCharacter bsactor = actor as BSCharacter;
if (bsactor != null)
{ {
((BSCharacter)actor).Destroy(); try
} {
try lock (m_avatars) m_avatars.Remove(actor.LocalID);
{ }
lock (m_avatars) m_avatars.Remove(actor.LocalID); catch (Exception e)
} {
catch (Exception e) m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e);
{ }
m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e); bsactor.Destroy();
// bsactor.dispose();
} }
} }
public override void RemovePrim(PhysicsActor prim) public override void RemovePrim(PhysicsActor prim)
{ {
// m_log.DebugFormat("{0}: RemovePrim", LogHeader); BSPrim bsprim = prim as BSPrim;
if (prim is BSPrim) if (bsprim != null)
{ {
((BSPrim)prim).Destroy(); m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
try
{
lock (m_prims) m_prims.Remove(bsprim.LocalID);
}
catch (Exception e)
{
m_log.ErrorFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e);
}
bsprim.Destroy();
// bsprim.dispose();
} }
try else
{ {
lock (m_prims) m_prims.Remove(prim.LocalID); m_log.ErrorFormat("{0}: Attempt to remove prim that is not a BSPrim type.", LogHeader);
}
catch (Exception e)
{
m_log.WarnFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e);
} }
} }
@ -400,6 +465,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
int collidersCount; int collidersCount;
IntPtr collidersPtr; IntPtr collidersPtr;
LastSimulatedTimestep = timeStep;
// prevent simulation until we've been initialized // prevent simulation until we've been initialized
if (!m_initialized) return 10.0f; if (!m_initialized) return 10.0f;
@ -459,7 +526,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
for (int ii = 0; ii < updatedEntityCount; ii++) for (int ii = 0; ii < updatedEntityCount; ii++)
{ {
EntityProperties entprop = m_updateArray[ii]; EntityProperties entprop = m_updateArray[ii];
// m_log.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position);
BSPrim prim; BSPrim prim;
if (m_prims.TryGetValue(entprop.ID, out prim)) if (m_prims.TryGetValue(entprop.ID, out prim))
{ {
@ -532,8 +598,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
}); });
} }
// Someday we will have complex terrain with caves and tunnels
// For the moment, it's flat and convex
public float GetTerrainHeightAtXYZ(Vector3 loc)
{
return GetTerrainHeightAtXY(loc.X, loc.Y);
}
public float GetTerrainHeightAtXY(float tX, float tY) public float GetTerrainHeightAtXY(float tX, float tY)
{ {
if (tX < 0 || tX >= Constants.RegionSize || tY < 0 || tY >= Constants.RegionSize)
return 30;
return m_heightMap[((int)tX) * Constants.RegionSize + ((int)tY)]; return m_heightMap[((int)tX) * Constants.RegionSize + ((int)tY)];
} }

51
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
View File

@ -146,6 +146,22 @@ public struct ConfigurationParameters
public const float numericFalse = 0f; public const float numericFalse = 0f;
} }
// Values used by Bullet and BulletSim to control collisions
public enum CollisionFlags : uint
{
STATIC_OBJECT = 1 << 0,
KINEMATIC_OBJECT = 1 << 1,
NO_CONTACT_RESPONSE = 1 << 2,
CUSTOM_MATERIAL_CALLBACK = 1 << 3,
CHARACTER_OBJECT = 1 << 4,
DISABLE_VISUALIZE_OBJECT = 1 << 5,
DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
// Following used by BulletSim to control collisions
VOLUME_DETECT_OBJECT = 1 << 10,
PHANTOM_OBJECT = 1 << 11,
PHYSICAL_OBJECT = 1 << 12,
};
static class BulletSimAPI { static class BulletSimAPI {
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@ -213,6 +229,9 @@ public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetObjectPosition(uint WorldID, uint id); public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Quaternion GetObjectOrientation(uint WorldID, uint id);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation); public static extern bool SetObjectTranslation(uint worldID, uint id, Vector3 position, Quaternion rotation);
@ -268,5 +287,37 @@ public static extern void DumpBulletStatistics();
public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg); public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetDebugLogCallback(DebugLogCallback callback); public static extern void SetDebugLogCallback(DebugLogCallback callback);
// ===============================================================================
// ===============================================================================
// ===============================================================================
// A new version of the API that moves all the logic out of the C++ code and into
// the C# code. This will make modifications easier for the next person.
// This interface passes the actual pointers to the objects in the unmanaged
// address space. All the management (calls for creation/destruction/lookup)
// is done in the C# code.
// The names have a 2 tacked on. This will be removed as the code gets rebuilt
// and the old code is removed from the C# code.
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr GetSimHandle2(uint worldID);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr GetBodyHandleWorldID2(uint worldID, uint id);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr GetBodyHandle2(IntPtr sim, uint id);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr ClearForces2(IntPtr obj);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr SetCollisionFlags2(IntPtr obj, uint flags);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr AddToCollisionFlags2(IntPtr obj, uint flags);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr RemoveFromCollisionFlags2(IntPtr obj, uint flags);
} }
} }

5
OpenSim/Region/ScriptEngine/Shared/Api/Implementation/Plugins/SensorRepeat.cs
View File

@ -68,6 +68,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
private const int AGENT = 1; private const int AGENT = 1;
private const int AGENT_BY_USERNAME = 0x10; private const int AGENT_BY_USERNAME = 0x10;
private const int NPC = 0x20; private const int NPC = 0x20;
private const int OS_NPC = 0x01000000;
private const int ACTIVE = 2; private const int ACTIVE = 2;
private const int PASSIVE = 4; private const int PASSIVE = 4;
private const int SCRIPTED = 8; private const int SCRIPTED = 8;
@ -220,7 +221,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
List<SensedEntity> sensedEntities = new List<SensedEntity>(); List<SensedEntity> sensedEntities = new List<SensedEntity>();
// Is the sensor type is AGENT and not SCRIPTED then include agents // Is the sensor type is AGENT and not SCRIPTED then include agents
if ((ts.type & (AGENT | AGENT_BY_USERNAME | NPC)) != 0 && (ts.type & SCRIPTED) == 0) if ((ts.type & (AGENT | AGENT_BY_USERNAME | NPC | OS_NPC)) != 0 && (ts.type & SCRIPTED) == 0)
{ {
sensedEntities.AddRange(doAgentSensor(ts)); sensedEntities.AddRange(doAgentSensor(ts));
} }
@ -479,7 +480,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Plugins
// "[SENSOR REPEAT]: Inspecting scene presence {0}, type {1} on sensor sweep for {2}, type {3}", // "[SENSOR REPEAT]: Inspecting scene presence {0}, type {1} on sensor sweep for {2}, type {3}",
// presence.Name, presence.PresenceType, ts.name, ts.type); // presence.Name, presence.PresenceType, ts.name, ts.type);
if ((ts.type & NPC) == 0 && presence.PresenceType == PresenceType.Npc) if ((ts.type & NPC) == 0 && (ts.type & OS_NPC) == 0 && presence.PresenceType == PresenceType.Npc)
{ {
INPC npcData = npcModule.GetNPC(presence.UUID, presence.Scene); INPC npcData = npcModule.GetNPC(presence.UUID, presence.Scene);
if (npcData == null || !npcData.SenseAsAgent) if (npcData == null || !npcData.SenseAsAgent)

1
OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
View File

@ -56,6 +56,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
public const int ACTIVE = 2; public const int ACTIVE = 2;
public const int PASSIVE = 4; public const int PASSIVE = 4;
public const int SCRIPTED = 8; public const int SCRIPTED = 8;
public const int OS_NPC = 0x01000000;
public const int CONTROL_FWD = 1; public const int CONTROL_FWD = 1;
public const int CONTROL_BACK = 2; public const int CONTROL_BACK = 2;

33
OpenSim/Region/ScriptEngine/Shared/Helpers.cs
View File

@ -35,6 +35,7 @@ using OpenMetaverse;
using OpenSim.Framework; using OpenSim.Framework;
using OpenSim.Region.CoreModules; using OpenSim.Region.CoreModules;
using OpenSim.Region.Framework.Scenes; using OpenSim.Region.Framework.Scenes;
using OpenSim.Region.Framework.Interfaces;
namespace OpenSim.Region.ScriptEngine.Shared namespace OpenSim.Region.ScriptEngine.Shared
{ {
@ -82,6 +83,12 @@ namespace OpenSim.Region.ScriptEngine.Shared
public class DetectParams public class DetectParams
{ {
public const int AGENT = 1;
public const int ACTIVE = 2;
public const int PASSIVE = 4;
public const int SCRIPTED = 8;
public const int OS_NPC = 0x01000000;
public DetectParams() public DetectParams()
{ {
Key = UUID.Zero; Key = UUID.Zero;
@ -188,9 +195,25 @@ namespace OpenSim.Region.ScriptEngine.Shared
presence.Velocity.Y, presence.Velocity.Y,
presence.Velocity.Z); presence.Velocity.Z);
Type = 0x01; // Avatar if (presence.PresenceType != PresenceType.Npc)
{
Type = AGENT;
}
else
{
Type = OS_NPC;
INPCModule npcModule = scene.RequestModuleInterface<INPCModule>();
INPC npcData = npcModule.GetNPC(presence.UUID, presence.Scene);
if (npcData.SenseAsAgent)
{
Type |= AGENT;
}
}
if (presence.Velocity != Vector3.Zero) if (presence.Velocity != Vector3.Zero)
Type |= 0x02; // Active Type |= ACTIVE;
Group = presence.ControllingClient.ActiveGroupId; Group = presence.ControllingClient.ActiveGroupId;
@ -205,15 +228,15 @@ namespace OpenSim.Region.ScriptEngine.Shared
Name = part.Name; Name = part.Name;
Owner = part.OwnerID; Owner = part.OwnerID;
if (part.Velocity == Vector3.Zero) if (part.Velocity == Vector3.Zero)
Type = 0x04; // Passive Type = PASSIVE;
else else
Type = 0x02; // Passive Type = ACTIVE;
foreach (SceneObjectPart p in part.ParentGroup.Parts) foreach (SceneObjectPart p in part.ParentGroup.Parts)
{ {
if (p.Inventory.ContainsScripts()) if (p.Inventory.ContainsScripts())
{ {
Type |= 0x08; // Scripted Type |= SCRIPTED; // Scripted
break; break;
} }
} }

10
bin/RegionConfig.ini.example → bin/Regions/Regions.ini.example
View File

@ -1,7 +1,11 @@
; * This file must be renamed to RegionConfig.ini and moved to the Regions/ ; * This is an example region config file.
; * subdirectory to work! ; *
; * If OpenSimulator is started up without any regions, it will ask you configuration questions to generate a Regions.ini file for you.
; * So there is no need to change this file directly, it is only for reference.
; * However, if you prefer you can also copy this file to Regions.ini and appropriately change the parameters below.
; * Only files ending with .ini and .xml in this directly will be loaded by OpenSimulator.
; * ; *
; * You can put multiple regions into one file or make one file per region ; * You can multiple regions into one file or make one file per region
; * The section name is the region name ; * The section name is the region name
; * ; *

BIN
bin/lib32/BulletSim.dll
View File

Binary file not shown.

BIN
bin/lib32/libBulletSim.so
View File

Binary file not shown.

BIN
bin/lib64/BulletSim.dll
View File

Binary file not shown.

BIN
bin/lib64/libBulletSim.so
View File

Binary file not shown.

116
prebuild.xml
View File

@ -553,64 +553,6 @@
</Files> </Files>
</Project> </Project>
<Project frameworkVersion="v3_5" name="OpenSim.Region.Physics.ConvexDecompositionDotNet" path="OpenSim/Region/Physics/ConvexDecompositionDotNet" type="Library">
<Configuration name="Debug">
<Options>
<OutputPath>../../../../bin/</OutputPath>
</Options>
</Configuration>
<Configuration name="Release">
<Options>
<OutputPath>../../../../bin/</OutputPath>
</Options>
</Configuration>
<ReferencePath>../../../../bin/</ReferencePath>
<Reference name="System"/>
<Reference name="System.Core"/>
<Reference name="System.Data"/>
<Reference name="System.Xml"/>
<Files>
<Match pattern="*.cs" recurse="true">
<Exclude name="Tests" pattern="Tests"/>
</Match>
</Files>
</Project>
<Project frameworkVersion="v3_5" name="OpenSim.Region.Physics.BulletSPlugin" path="OpenSim/Region/Physics/BulletSPlugin" type="Library">
<Configuration name="Debug">
<Options>
<OutputPath>../../../../bin/Physics/</OutputPath>
</Options>
</Configuration>
<Configuration name="Release">
<Options>
<OutputPath>../../../../bin/Physics/</OutputPath>
</Options>
</Configuration>
<ReferencePath>../../../../bin/</ReferencePath>
<Reference name="System"/>
<Reference name="System.Core"/>
<Reference name="System.Xml"/>
<Reference name="OpenMetaverseTypes" path="../../../../bin/"/>
<Reference name="Nini.dll" path="../../../../bin/"/>
<Reference name="OpenSim.Framework"/>
<Reference name="OpenSim.Region.Framework"/>
<Reference name="OpenSim.Region.CoreModules"/>
<Reference name="OpenSim.Framework.Console"/>
<Reference name="OpenSim.Region.Physics.Manager"/>
<Reference name="OpenSim.Region.Physics.ConvexDecompositionDotNet"/>
<Reference name="log4net.dll" path="../../../../bin/"/>
<Files>
<Match pattern="*.cs" recurse="true">
<Exclude name="Tests" pattern="Tests"/>
</Match>
</Files>
</Project>
<Project frameworkVersion="v3_5" name="OpenSim.Region.Physics.Meshing" path="OpenSim/Region/Physics/Meshing" type="Library"> <Project frameworkVersion="v3_5" name="OpenSim.Region.Physics.Meshing" path="OpenSim/Region/Physics/Meshing" type="Library">
<Configuration name="Debug"> <Configuration name="Debug">
<Options> <Options>
@ -1778,6 +1720,64 @@
</Files> </Files>
</Project> </Project>
<Project frameworkVersion="v3_5" name="OpenSim.Region.Physics.ConvexDecompositionDotNet" path="OpenSim/Region/Physics/ConvexDecompositionDotNet" type="Library">
<Configuration name="Debug">
<Options>
<OutputPath>../../../../bin/</OutputPath>
</Options>
</Configuration>
<Configuration name="Release">
<Options>
<OutputPath>../../../../bin/</OutputPath>
</Options>
</Configuration>
<ReferencePath>../../../../bin/</ReferencePath>
<Reference name="System"/>
<Reference name="System.Core"/>
<Reference name="System.Data"/>
<Reference name="System.Xml"/>
<Files>
<Match pattern="*.cs" recurse="true">
<Exclude name="Tests" pattern="Tests"/>
</Match>
</Files>
</Project>
<Project frameworkVersion="v3_5" name="OpenSim.Region.Physics.BulletSPlugin" path="OpenSim/Region/Physics/BulletSPlugin" type="Library">
<Configuration name="Debug">
<Options>
<OutputPath>../../../../bin/Physics/</OutputPath>
</Options>
</Configuration>
<Configuration name="Release">
<Options>
<OutputPath>../../../../bin/Physics/</OutputPath>
</Options>
</Configuration>
<ReferencePath>../../../../bin/</ReferencePath>
<Reference name="System"/>
<Reference name="System.Core"/>
<Reference name="System.Xml"/>
<Reference name="OpenMetaverseTypes" path="../../../../bin/"/>
<Reference name="Nini.dll" path="../../../../bin/"/>
<Reference name="OpenSim.Framework"/>
<Reference name="OpenSim.Region.Framework"/>
<Reference name="OpenSim.Region.CoreModules"/>
<Reference name="OpenSim.Framework.Console"/>
<Reference name="OpenSim.Region.Physics.Manager"/>
<Reference name="OpenSim.Region.Physics.ConvexDecompositionDotNet"/>
<Reference name="log4net.dll" path="../../../../bin/"/>
<Files>
<Match pattern="*.cs" recurse="true">
<Exclude name="Tests" pattern="Tests"/>
</Match>
</Files>
</Project>
<!-- OpenSim app --> <!-- OpenSim app -->
<Project frameworkVersion="v3_5" name="OpenSim" path="OpenSim/Region/Application" type="Exe"> <Project frameworkVersion="v3_5" name="OpenSim" path="OpenSim/Region/Application" type="Exe">
<Configuration name="Debug"> <Configuration name="Debug">