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BulletSim: remove center-of-mass setting for linksets because it causes the constraint calculation to pull the objects together.

integration
Robert Adams 2012-10-30 09:12:07 -07:00
parent 93fe384cce
commit 52be581f71
5 changed files with 33 additions and 54 deletions
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3
OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
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@ -71,8 +71,7 @@ public sealed class BSConstraint6Dof : BSConstraint
BSScene.DetailLogZero, world.worldID,
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
"[BULLETSIM 6DOF CONSTRAINT]", world.worldID,
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
LogHeader, world.worldID, obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
m_enabled = false;
}
else

1
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
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@ -132,7 +132,6 @@ public abstract class BSLinkset
// Cannot remove the root from a linkset.
return this;
}
RemoveChildFromLinkset(child);
}

79
OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
View File

@ -43,20 +43,16 @@ public sealed class BSLinksetConstraints : BSLinkset
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
// This is queued in such a way that the
// refresh will only happen once after all the other taints are applied.
// This is queued in the 'post taint' queue so the
// refresh will happen once after all the other taints are applied.
public override void Refresh(BSPhysObject requestor)
{
// If there are no children, there are no constraints to recompute.
if (!HasAnyChildren)
return;
// Queue to happen after all the other taint processing
PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
{
RecomputeLinksetConstraints();
if (HasAnyChildren && IsRoot(requestor))
RecomputeLinksetConstraints();
});
}
// The object is going dynamic (physical). Do any setup necessary
@ -71,9 +67,10 @@ public sealed class BSLinksetConstraints : BSLinkset
return false;
}
// The object is going static (non-physical). Do any setup necessary
// for a static linkset.
// The object is going static (non-physical). Do any setup necessary for a static linkset.
// Return 'true' if any properties updated on the passed object.
// This doesn't normally happen -- OpenSim removes the objects from the physical
// world if it is a static linkset.
// Called at taint-time!
public override bool MakeStatic(BSPhysObject child)
{
@ -87,21 +84,21 @@ public sealed class BSLinksetConstraints : BSLinkset
// Nothing to do for constraints on property updates
}
// Routine used when rebuilding the body of the root of the linkset
// Destroy all the constraints have have been made to root.
// This is called when the root body is changing.
// Returns 'true' of something eas actually removed and would need restoring
// Routine called when rebuilding the body of some member of the linkset.
// Destroy all the constraints have have been made to root and set
// up to rebuild the constraints before the next simulation step.
// Returns 'true' of something was actually removed and would need restoring
// Called at taint-time!!
public override bool RemoveBodyDependencies(BSPrim child)
{
bool ret = false;
DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
lock (m_linksetActivityLock)
{
// Just undo all the constraints for this linkset. Rebuild at the end of the step.
DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
// Cause the constraints, et al to be rebuilt before the next simulation step.
Refresh(LinksetRoot);
@ -114,13 +111,12 @@ public sealed class BSLinksetConstraints : BSLinkset
// Called at taint-time!!
public override void RestoreBodyDependencies(BSPrim child)
{
// The Refresh operation will build any missing constraints.
// The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
}
// ================================================================
// Below this point is internal magic
// I am the root of a linkset and a new child is being added
// Add a new child to the linkset.
// Called while LinkActivity is locked.
protected override void AddChildToLinkset(BSPhysObject child)
{
@ -131,7 +127,7 @@ public sealed class BSLinksetConstraints : BSLinkset
BSPhysObject rootx = LinksetRoot; // capture the root as of now
BSPhysObject childx = child;
DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
// Cause constraints and assorted properties to be recomputed before the next simulation step.
Refresh(LinksetRoot);
@ -150,7 +146,7 @@ public sealed class BSLinksetConstraints : BSLinkset
RemoveChildFromLinkset(pchild);
}
// I am the root of a linkset and one of my children is being removed.
// Remove the specified child from the linkset.
// Safe to call even if the child is not really in my linkset.
protected override void RemoveChildFromLinkset(BSPhysObject child)
{
@ -159,12 +155,12 @@ public sealed class BSLinksetConstraints : BSLinkset
BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
BSPhysObject childx = child;
DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
childx.LocalID,
rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
childx.LocalID, childx.BSBody.ptr.ToString("X"));
PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
{
PhysicallyUnlinkAChildFromRoot(rootx, childx);
});
@ -173,7 +169,7 @@ public sealed class BSLinksetConstraints : BSLinkset
}
else
{
// This will happen if we remove the root of the linkset first. Non-fatal occurance.
// Non-fatal occurance.
// PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
}
return;
@ -215,7 +211,7 @@ public sealed class BSLinksetConstraints : BSLinkset
/* NOTE: below is an attempt to build constraint with full frame computation, etc.
* Using the midpoint is easier since it lets the Bullet code manipulate the transforms
* of the objects.
* Code left as a warning to future programmers.
* Code left for future programmers.
// ==================================================================================
// relative position normalized to the root prim
OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
@ -225,8 +221,6 @@ public sealed class BSLinksetConstraints : BSLinkset
OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
// create a constraint that allows no freedom of movement between the two objects
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
BS6DofConstraint constrain = new BS6DofConstraint(
PhysicsScene.World, rootPrim.Body, childPrim.Body,
@ -234,11 +228,6 @@ public sealed class BSLinksetConstraints : BSLinkset
OMV.Quaternion.Inverse(rootPrim.Orientation),
OMV.Vector3.Zero,
OMV.Quaternion.Inverse(childPrim.Orientation),
// A point half way between the parent and child
// childRelativePosition/2,
// childRelativeRotation,
// childRelativePosition/2,
// inverseChildRelativeRotation,
true,
true
);
@ -264,9 +253,9 @@ public sealed class BSLinksetConstraints : BSLinkset
return constrain;
}
// Remove linkage between myself and a particular child
// Remove linkage between the linkset root and a particular child
// The root and child bodies are passed in because we need to remove the constraint between
// the bodies that were at unlink time.
// the bodies that were present at unlink time.
// Called at taint time!
private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
{
@ -288,44 +277,36 @@ public sealed class BSLinksetConstraints : BSLinkset
}
// Remove linkage between myself and any possible children I might have.
// Returns 'true' of any constraints were destroyed.
// Called at taint time!
private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
{
DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
bool ret = false;
if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody))
{
ret = true;
}
return ret;
return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody);
}
// Call each of the constraints that make up this linkset and recompute the
// various transforms and variables. Create constraints of not created yet.
// Called before the simulation step to make sure the constraint based linkset
// is all initialized.
// Must only be called at taint time!!
// Called at taint time!!
private void RecomputeLinksetConstraints()
{
float linksetMass = LinksetMass;
LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
// For a multiple object linkset, set everybody's center of mass to the set's center of mass
OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
// DEBUG: see of inter-linkset collisions are causing problems
// BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
// (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,setCenterOfMass,COM={1},rBody={2},linksetMass={3}",
LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X"), linksetMass);
DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,setCenterOfMass,rBody={1},linksetMass={2}",
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), linksetMass);
foreach (BSPhysObject child in m_children)
{
// A child in the linkset physically shows the mass of the whole linkset.
// This allows Bullet to apply enough force on the child to move the whole linkset.
// (Also do the mass stuff before recomputing the constraint so mass is not zero.)
BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
child.UpdatePhysicalMassProperties(linksetMass);
BSConstraint constrain;

2
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -634,7 +634,7 @@ public sealed class BSPrim : BSPhysObject
// had been automatically disabled when the mass was set to zero.
Linkset.Refresh(this);
DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
}

2
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
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@ -109,7 +109,7 @@ public sealed class BSShapeCollection : IDisposable
prim.BSShape, shapeData, bodyCallback);
ret = newGeom || newBody;
}
DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}",
DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape);
return ret;