new BulletSPlugin and version of BulletSim.dll

addon-modules/BulletSPlugin/BSCharacter.cs

@@ -30,6 +30,7 @@ using log4net;
 using OpenMetaverse;
 using OpenSim.Framework;
 using OpenSim.Region.Physics.Manager;
+using OpenSim.Region.CoreModules.RegionSync.RegionSyncModule;
 
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
@@ -123,7 +124,19 @@ public class BSCharacter : PhysicsActor
 
     public override void RequestPhysicsterseUpdate()
     {
-        base.RequestPhysicsterseUpdate();
+        if (PhysEngineToSceneConnectorModule.IsPhysEngineActorS)
+        {
+            // if the values have changed and it was I who changed them, send an update
+            if (this.lastValues.Changed(this) && ChangingActorID == RegionSyncServerModule.ActorID)
+            {
+                // m_log.DebugFormat("{0}: Sending terse update for {1}", LogHeader, LocalID);
+                PhysEngineToSceneConnectorModule.RouteUpdate(this);
+            }
+        }
+        else
+        {
+            base.RequestPhysicsterseUpdate();
+        }
     }
 
     public override bool Stopped { 
@@ -132,6 +145,7 @@ public class BSCharacter : PhysicsActor
     public override Vector3 Size { 
         get { return _size; } 
         set { _size = value;
+            base.ChangingActorID = RegionSyncServerModule.ActorID;
         } 
     }
     public override PrimitiveBaseShape Shape { 
@@ -158,11 +172,12 @@ public class BSCharacter : PhysicsActor
 
     public override Vector3 Position { 
         get {
-            _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
+            // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
             return _position; 
         } 
         set {
             _position = value;
+            base.ChangingActorID = RegionSyncServerModule.ActorID;
             _scene.TaintedObject(delegate()
             {
                 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
@@ -178,7 +193,7 @@ public class BSCharacter : PhysicsActor
         get { return _force; } 
         set {
             _force = value;
-            m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
+            // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
             _scene.TaintedObject(delegate()
             {
                 BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
@@ -204,6 +219,7 @@ public class BSCharacter : PhysicsActor
         get { return _velocity; } 
         set {
             _velocity = value;
+            base.ChangingActorID = RegionSyncServerModule.ActorID;
             _scene.TaintedObject(delegate()
             {
                 BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity);
@@ -229,7 +245,7 @@ public class BSCharacter : PhysicsActor
             _orientation = value;
             _scene.TaintedObject(delegate()
             {
-                _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
+                // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
                 BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
             });
         } 
@@ -329,15 +345,16 @@ public class BSCharacter : PhysicsActor
             _force.X += force.X;
             _force.Y += force.Y;
             _force.Z += force.Z;
+            base.ChangingActorID = RegionSyncServerModule.ActorID;
+            _scene.TaintedObject(delegate()
+            {
+                BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
+            });
         }
         else
         {
             m_log.WarnFormat("{0}: Got a NaN force applied to a Character", LogHeader);
         }
-        _scene.TaintedObject(delegate()
-        {
-            BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
-        });
         //m_lastUpdateSent = false;
     }
     public override void AddAngularForce(Vector3 force, bool pushforce) { 
@@ -387,14 +404,13 @@ public class BSCharacter : PhysicsActor
         }
         if (changed)
         {
-            base.RequestPhysicsterseUpdate();
+            this.RequestPhysicsterseUpdate();
         }
     }
 
     public void Collide(uint collidingWith, ActorTypes type, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth)
     {
         // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
-        if (_subscribedEventsMs == 0) return;   // don't want collisions
 
         // The following says we're colliding this simulation step
         _collidingStep = _scene.SimulationStep;
@@ -403,6 +419,8 @@ public class BSCharacter : PhysicsActor
             _collidingGroundStep = _scene.SimulationStep;
         }
 
+        if (_subscribedEventsMs == 0) return;   // don't want collisions
+
         Dictionary<uint, ContactPoint> contactPoints = new Dictionary<uint, ContactPoint>();
         contactPoints.Add(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
         CollisionEventUpdate args = new CollisionEventUpdate(LocalID, (int)type, 1, contactPoints);

addon-modules/BulletSPlugin/BSPrim.cs

@@ -56,6 +56,7 @@ public sealed class BSPrim : PhysicsActor
     private bool _stopped;
     private bool _grabbed;
     private bool _isSelected;
+    private bool _isVolumeDetect;
     private OMV.Vector3 _position;
     private float _mass;
     private float _density;
@@ -109,6 +110,7 @@ public sealed class BSPrim : PhysicsActor
         _hullKey = 0;
         _pbs = pbs;
         _isPhysical = pisPhysical;
+        _isVolumeDetect = false;
         _subscribedEventsMs = 0;
         _friction = _scene.DefaultFriction; // TODO: compute based on object material
         _density = _scene.DefaultDensity; // TODO: compute based on object material
@@ -323,7 +325,21 @@ public sealed class BSPrim : PhysicsActor
     public override void VehicleFlags(int param, bool remove) { }
 
     // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
-    public override void SetVolumeDetect(int param) { return; }
+    public override void SetVolumeDetect(int param) {
+        bool newValue = (param != 0);
+        if (_isVolumeDetect != newValue)
+        {
+            _isVolumeDetect = newValue;
+            _scene.TaintedObject(delegate()
+            {
+                // make the object ghostly or not (walk throughable)
+                BulletSimAPI.SetObjectGhost(_scene.WorldID, LocalID, _isVolumeDetect);
+                // set whether we hear about collisions
+                BulletSimAPI.SetObjectCollidable(_scene.WorldID, LocalID, !IsPhantom);
+            });
+        }
+        return; 
+    }
 
     public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
     public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
@@ -1069,15 +1085,15 @@ public sealed class BSPrim : PhysicsActor
     public void Collide(uint collidingWith, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
         // m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
-        if (_subscribedEventsMs == 0) return;   // nothing in the object is waiting for collision events
+        // The following makes IsColliding() and IsCollidingGround() work
-
-        // The following makes it so we can sense we're colliding this simulation step
         _collidingStep = _scene.SimulationStep;
         if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID)
         {
             _collidingGroundStep = _scene.SimulationStep;
         }
 
+        if (_subscribedEventsMs == 0) return;   // nothing in the object is waiting for collision events
+
         // create the event for the collision
         Dictionary<uint, ContactPoint> contactPoints = new Dictionary<uint, ContactPoint>();
         contactPoints.Add(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));

addon-modules/BulletSPlugin/BSScene.cs

@@ -40,14 +40,18 @@ using OpenSim.Region.Framework;
 // Based on material, set density and friction
 // More efficient memory usage in passing hull information from BSPrim to BulletSim
 // 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)
+//     In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground)
-//     Need three states for objects: sense and report collisions, have physical effects, affects other objects
 // LinkSets
 //     Freeing of memory of linksets in BulletSim::DestroyObject
-// Should prim.link() and prim.delink() be done at taint time?
+//     Set child prims phantom since the physicality is handled by the parent prim
+//     Linked children need rotation relative to parent (passed as world rotation)
+// Should prim.link() and prim.delink() membership checking happen at taint time?
 // Pass collision enable flags to BulletSim code so collisions are not reported up unless they are really needed
-// Set child prims phantom since the physicality is handled by the parent prim
+// Set bouyancy(). Maybe generalize SetFlying() to SetBouyancy() and use the factor to change the gravity effect
-// Linked children need rotation relative to parent (passed as world rotation)
+// Test sculpties
+// 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
+// Parameterize BulletSim. Pass a structure of parameters to the C++ code. Capsule size, friction, ...
 // 
 namespace OpenSim.Region.Physics.BulletSPlugin
 {
@@ -82,6 +86,7 @@ public class BSScene : PhysicsScene
 
     public delegate void TaintCallback();
     private List<TaintCallback> _taintedObjects;
+    private Object _taintLock = new Object();
 
     private BulletSimAPI.DebugLogCallback debugLogCallbackHandle;
 
@@ -243,19 +248,22 @@ public class BSScene : PhysicsScene
                 IntPtr updatePointer = updatedEntities[ii];
                 EntityProperties entprop = (EntityProperties)Marshal.PtrToStructure(updatePointer, typeof(EntityProperties));
                 // m_log.DebugFormat("{0}: entprop: id={1}, pos={2}", LogHeader, entprop.ID, entprop.Position);
-                if (m_avatars.ContainsKey(entprop.ID))
+                BSCharacter actor;
+                if (m_avatars.TryGetValue(entprop.ID, out actor))
                 {
-                    BSCharacter actor = m_avatars[entprop.ID];
                     actor.UpdateProperties(entprop);
+                    continue;
                 }
-                if (m_prims.ContainsKey(entprop.ID))
+                BSPrim prim;
+                if (m_prims.TryGetValue(entprop.ID, out prim))
                 {
-                    BSPrim prim = m_prims[entprop.ID];
                     prim.UpdateProperties(entprop);
                 }
             }
         }
 
+        // if (collidersCount > 0 || updatedEntityCount > 0) m_log.WarnFormat("{0}: collisions={1}, updates={2}", LogHeader, collidersCount/2, updatedEntityCount);
+
         return 11f; // returns frames per second
     }
 
@@ -269,20 +277,18 @@ public class BSScene : PhysicsScene
         }
 
         ActorTypes type = ActorTypes.Prim;
-        if (m_avatars.ContainsKey(collidingWith))
+        if (collidingWith == TERRAIN_ID || collidingWith == GROUNDPLANE_ID)
-            type = ActorTypes.Agent;
-        else if (collidingWith == TERRAIN_ID || collidingWith == GROUNDPLANE_ID)
             type = ActorTypes.Ground;
+        else if (m_avatars.ContainsKey(collidingWith))
+            type = ActorTypes.Agent;
 
-        if (m_prims.ContainsKey(localID))
+        BSPrim prim;
-        {
+        if (m_prims.TryGetValue(localID, out prim)) {
-            BSPrim prim = m_prims[localID];
             prim.Collide(collidingWith, type, Vector3.Zero, Vector3.UnitZ, 0.01f);
             return;
         }
-        if (m_avatars.ContainsKey(localID))
+        BSCharacter actor;
-        {
+        if (m_avatars.TryGetValue(localID, out actor)) {
-            BSCharacter actor = m_avatars[localID];
             actor.Collide(collidingWith, type, Vector3.Zero, Vector3.UnitZ, 0.01f);
             return;
         }
@@ -440,8 +446,8 @@ public class BSScene : PhysicsScene
     // We rely on C#'s closure to save and restore the context for the delegate.
     public void TaintedObject(TaintCallback callback)
     {
-        // do we need to lock?
+        lock (_taintLock)
-        _taintedObjects.Add(callback);
+            _taintedObjects.Add(callback);
         return;
     }
 
@@ -451,8 +457,12 @@ public class BSScene : PhysicsScene
     public void ProcessTaints()
     {
         // swizzle a new list into the list location so we can process what's there
-        List<TaintCallback> newList = new List<TaintCallback>();
+        List<TaintCallback> oldList;
-        List<TaintCallback> oldList = (List<TaintCallback>)Interlocked.Exchange(ref _taintedObjects, newList);
+        lock (_taintLock)
+        {
+            oldList = _taintedObjects;
+            _taintedObjects = new List<TaintCallback>();
+        }
 
         foreach (TaintCallback callback in oldList)
         {

addon-modules/BulletSPlugin/BulletSimAPI.cs

@@ -144,6 +144,9 @@ public static extern bool SetObjectCollidable(uint worldID, uint id, bool phanto
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool SetObjectDynamic(uint worldID, uint id, bool isDynamic, float mass);
 
+[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
+public static extern bool SetObjectGhost(uint worldID, uint id, bool ghostly);
+
 [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
 public static extern bool SetObjectFlying(uint worldID, uint id, bool flying);