From caad1edabf755c2ef8e00f94f39a8b4c524012b4 Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Thu, 17 Jan 2013 14:44:54 -0800
Subject: [PATCH 01/36] Add utility function to clamp a vector to a maximum
magnitude.
---
OpenSim/Framework/Util.cs | 12 ++++++++++++
1 file changed, 12 insertions(+)
diff --git a/OpenSim/Framework/Util.cs b/OpenSim/Framework/Util.cs
index f51149435d..f6c9d15450 100644
--- a/OpenSim/Framework/Util.cs
+++ b/OpenSim/Framework/Util.cs
@@ -299,6 +299,18 @@ namespace OpenSim.Framework
x;
}
+ // Clamp the maximum magnitude of a vector
+ public static Vector3 ClampV(Vector3 x, float max)
+ {
+ Vector3 ret = x;
+ float lenSq = x.LengthSquared();
+ if (lenSq > (max * max))
+ {
+ x = x / x.Length() * max;
+ }
+ return x;
+ }
+
// Inclusive, within range test (true if equal to the endpoints)
public static bool InRange<T>(T x, T min, T max)
where T : IComparable<T>
From 75f710f1e70a3c9d3459d549eb4334a445aca834 Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Thu, 17 Jan 2013 14:47:35 -0800
Subject: [PATCH 02/36] BulletSim: Add one function that all actors who act on
the physical can use to know if the object is currently active. Code cleaning
including use of Util.ClampV function.
---
.../Physics/BulletSPlugin/BSCharacter.cs | 3 ++
.../Physics/BulletSPlugin/BSDynamics.cs | 3 +-
.../Physics/BulletSPlugin/BSPhysObject.cs | 10 ++++--
.../Region/Physics/BulletSPlugin/BSPrim.cs | 33 ++++++++-----------
.../Physics/BulletSPlugin/BulletSimTODO.txt | 6 +++-
5 files changed, 31 insertions(+), 24 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 87a06c1453..6d5e23f7d9 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -652,6 +652,9 @@ public sealed class BSCharacter : BSPhysObject
public override bool IsStatic {
get { return false; }
}
+ public override bool IsPhysicallyActive {
+ get { return true; }
+ }
public override bool Flying {
get { return _flying; }
set {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 6601479d62..f2c7cec0b3 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -35,6 +35,7 @@ using System.Collections.Generic;
using System.Reflection;
using System.Runtime.InteropServices;
using OpenMetaverse;
+using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
namespace OpenSim.Region.Physics.BulletSPlugin
@@ -154,7 +155,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Return 'true' if this vehicle is doing vehicle things
public bool IsActive
{
- get { return (Type != Vehicle.TYPE_NONE && !Prim.IsStatic); }
+ get { return (Type != Vehicle.TYPE_NONE && Prim.IsPhysicallyActive); }
}
#region Vehicle parameter setting
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 821f470bd2..bac0427274 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -139,6 +139,11 @@ public abstract class BSPhysObject : PhysicsActor
public abstract bool IsStatic { get; }
public abstract bool IsSelected { get; }
+ // It can be confusing for an actor to know if it should move or update an object
+ // depeneding on the setting of 'selected', 'physical, ...
+ // This flag is the true test -- if true, the object is being acted on in the physical world
+ public abstract bool IsPhysicallyActive { get; }
+
// Materialness
public MaterialAttributes.Material Material { get; private set; }
public override void SetMaterial(int material)
@@ -302,8 +307,9 @@ public abstract class BSPhysObject : PhysicsActor
public virtual bool SendCollisions()
{
bool ret = true;
+
// If the 'no collision' call, force it to happen right now so quick collision_end
- bool force = (CollisionCollection.Count == 0);
+ bool force = (CollisionCollection.Count == 0 && CollisionsLastTick.Count != 0);
// throttle the collisions to the number of milliseconds specified in the subscription
if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
@@ -318,7 +324,7 @@ public abstract class BSPhysObject : PhysicsActor
ret = false;
}
- // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
+ DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
base.SendCollisionUpdate(CollisionCollection);
// Remember the collisions from this tick for some collision specific processing.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 79fe632a8e..7aa2d92ca6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -132,8 +132,8 @@ public sealed class BSPrim : BSPhysObject
base.Destroy();
// Undo any links between me and any other object
- BSPhysObject parentBefore = Linkset.LinksetRoot;
- int childrenBefore = Linkset.NumberOfChildren;
+ BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG DEBUG
+ int childrenBefore = Linkset.NumberOfChildren; // DEBUG DEBUG
Linkset = Linkset.RemoveMeFromLinkset(this);
@@ -727,6 +727,12 @@ public sealed class BSPrim : BSPhysObject
get { return !IsPhantom && !_isVolumeDetect; }
}
+ // The object is moving and is actively being dynamic in the physical world
+ public override bool IsPhysicallyActive
+ {
+ get { return !_isSelected && IsPhysical; }
+ }
+
// Make gravity work if the object is physical and not selected
// Called at taint-time!!
private void SetObjectDynamic(bool forceRebuild)
@@ -1174,18 +1180,11 @@ public sealed class BSPrim : BSPhysObject
// This added force will only last the next simulation tick.
public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
// for an object, doesn't matter if force is a pushforce or not
- if (!IsStatic)
+ if (IsPhysicallyActive)
{
if (force.IsFinite())
{
- float magnitude = force.Length();
- if (magnitude > BSParam.MaxAddForceMagnitude)
- {
- // Force has a limit
- force = force / magnitude * BSParam.MaxAddForceMagnitude;
- }
-
- OMV.Vector3 addForce = force;
+ OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
// DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
@@ -1209,19 +1208,13 @@ public sealed class BSPrim : BSPhysObject
public void AddForceImpulse(OMV.Vector3 impulse, bool pushforce, bool inTaintTime) {
// for an object, doesn't matter if force is a pushforce or not
- if (!IsStatic)
+ if (!IsPhysicallyActive)
{
if (impulse.IsFinite())
{
- float magnitude = impulse.Length();
- if (magnitude > BSParam.MaxAddForceMagnitude)
- {
- // Force has a limit
- impulse = impulse / magnitude * BSParam.MaxAddForceMagnitude;
- }
-
+ OMV.Vector3 addImpulse = Util.ClampV(impulse, BSParam.MaxAddForceMagnitude);
// DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse);
- OMV.Vector3 addImpulse = impulse;
+
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate()
{
// Bullet adds this impulse immediately to the velocity
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index d4545f7ffc..9bfec19e0e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -16,6 +16,7 @@ vehicle angular banking
Avatars walking up stairs (HALF DONE)
Radius of the capsule affects ability to climb edges.
Vehicle movement on terrain smoothness
+When is force introduced by SetForce removed? The prestep action could go forever.
Boats float low in the water (DONE)
Avatar movement
flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
@@ -72,8 +73,11 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
GENERAL TODO LIST:
=================================================
+Implement llSetPhysicalMaterial.
+Implement llSetForceAndTorque.
Implement an avatar mesh shape. The Bullet capsule is way too limited.
Consider just hand creating a vertex/index array in a new BSShapeAvatar.
+Verify/fix phantom, volume-detect objects do not fall to infinity. Should stop at terrain.
Revisit CollisionMargin. Builders notice the 0.04 spacing between prims.
Duplicating a physical prim causes old prim to jump away
Dup a phys prim and the original become unselected and thus interacts w/ selected prim.
@@ -121,7 +125,7 @@ Physical and phantom will drop through the terrain
LINKSETS
======================================================
Editing a child of a linkset causes the child to go phantom
- Move a child prim once when it is physical and can never move it again without it going phantom
+ Move a child prim once when it is physical and can never move it again without it going phantom
Offset the center of the linkset to be the geometric center of all the prims
Not quite the same as the center-of-gravity
Linksets should allow collisions to individual children
From 482c7b5368faa034b73b3434fd90ce3702644cb8 Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Fri, 18 Jan 2013 11:37:36 -0800
Subject: [PATCH 03/36] BulletSim: add logic to turn off pre-step actions when
object goes non-active. This turns off 'setForce', 'setTorque' and
'moveToTarget' when the object is selected or made non-physical.
---
.../Region/Physics/BulletSPlugin/BSPrim.cs | 21 +++++++++++++++++++
1 file changed, 21 insertions(+)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 7aa2d92ca6..aaa6fe580d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -502,6 +502,12 @@ public sealed class BSPrim : BSPhysObject
RegisterPreStepAction("BSPrim.setForce", LocalID,
delegate(float timeStep)
{
+ if (!IsPhysicallyActive)
+ {
+ UnRegisterPreStepAction("BSPrim.setForce", LocalID);
+ return;
+ }
+
DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
if (PhysBody.HasPhysicalBody)
{
@@ -627,6 +633,12 @@ public sealed class BSPrim : BSPhysObject
RegisterPreStepAction("BSPrim.setTorque", LocalID,
delegate(float timeStep)
{
+ if (!IsPhysicallyActive)
+ {
+ UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
+ return;
+ }
+
if (PhysBody.HasPhysicalBody)
AddAngularForce(_torque, false, true);
}
@@ -1061,6 +1073,12 @@ public sealed class BSPrim : BSPhysObject
RegisterPreStepAction("BSPrim.PIDTarget", LocalID, delegate(float timeStep)
{
+ if (!IsPhysicallyActive)
+ {
+ UnRegisterPreStepAction("BSPrim.PIDTarget", LocalID);
+ return;
+ }
+
OMV.Vector3 origPosition = RawPosition; // DEBUG DEBUG (for printout below)
// 'movePosition' is where we'd like the prim to be at this moment.
@@ -1108,6 +1126,9 @@ public sealed class BSPrim : BSPhysObject
RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep)
{
+ if (!IsPhysicallyActive)
+ return;
+
_hoverMotor.SetCurrent(RawPosition.Z);
_hoverMotor.SetTarget(ComputeCurrentPIDHoverHeight());
float targetHeight = _hoverMotor.Step(timeStep);
From c6b6c94ccbbbd5226a377a510a988bedec7a418c Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Fri, 18 Jan 2013 11:39:24 -0800
Subject: [PATCH 04/36] BulletSim: reduce jitter in avatar velocity when
walking or flying. OpenSimulator is VERY sensitive to changes in avatar
velocity and will send an avatar update message when velocity changes more
than 0.001m/s. This significantly reduces the number of avatar update
messages by smoothing the avatar velocity returned by Bullet.
---
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 9 ++++++++-
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 2 +-
2 files changed, 9 insertions(+), 2 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 6d5e23f7d9..478aeab799 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -853,7 +853,14 @@ public sealed class BSCharacter : BSPhysObject
{
_position = entprop.Position;
_orientation = entprop.Rotation;
- _velocity = entprop.Velocity;
+
+ // Smooth velocity. OpenSimulator is very sensitive to changes in velocity of the avatar
+ // and will send agent updates to the clients if velocity changes by more than
+ // 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many
+ // extra updates.
+ if (!entprop.Velocity.ApproxEquals(_velocity, 0.1f))
+ _velocity = entprop.Velocity;
+
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index bac0427274..5353c756cf 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -141,7 +141,7 @@ public abstract class BSPhysObject : PhysicsActor
// It can be confusing for an actor to know if it should move or update an object
// depeneding on the setting of 'selected', 'physical, ...
- // This flag is the true test -- if true, the object is being acted on in the physical world
+ // This flag is the true test -- if true, the object is being acted on in the physical world
public abstract bool IsPhysicallyActive { get; }
// Materialness
From 74256c0cc47870f6057b64ce117479af79f02ab0 Mon Sep 17 00:00:00 2001
From: "Justin Clark-Casey (justincc)" <jjustincc@googlemail.com>
Date: Fri, 18 Jan 2013 22:57:09 +0000
Subject: [PATCH 05/36] Restore previous client AO behaviour by not allowing
them to remove the default animation but continue to allow scripts to do so.
This keeps the fix from http://opensimulator.org/mantis/view.php?id=6327
and fixes the behaviour regression in http://opensimulator.org/mantis/view.php?id=6483
Animations may still exhibit different behaviour if both scripts and clients are adjusting animations.
A change in the behaviour of client AO to not remove all animations may be a better long term approach.
---
.../Framework/Scenes/Animation/AnimationSet.cs | 15 +++++++++++++--
.../Scenes/Animation/ScenePresenceAnimator.cs | 14 +++++++++++---
OpenSim/Region/Framework/Scenes/ScenePresence.cs | 2 +-
.../Shared/Api/Implementation/LSL_Api.cs | 2 +-
.../Shared/Api/Implementation/OSSL_Api.cs | 2 +-
5 files changed, 27 insertions(+), 8 deletions(-)
diff --git a/OpenSim/Region/Framework/Scenes/Animation/AnimationSet.cs b/OpenSim/Region/Framework/Scenes/Animation/AnimationSet.cs
index 65ae445950..66edfed393 100644
--- a/OpenSim/Region/Framework/Scenes/Animation/AnimationSet.cs
+++ b/OpenSim/Region/Framework/Scenes/Animation/AnimationSet.cs
@@ -87,13 +87,24 @@ namespace OpenSim.Region.Framework.Scenes.Animation
return false;
}
- public bool Remove(UUID animID)
+ /// <summary>
+ /// Remove the specified animation
+ /// </summary>
+ /// <param name='animID'></param>
+ /// <param name='allowNoDefault'>
+ /// If true, then the default animation can be entirely removed.
+ /// If false, then removing the default animation will reset it to the simulator default (currently STAND).
+ /// </param>
+ public bool Remove(UUID animID, bool allowNoDefault)
{
lock (m_animations)
{
if (m_defaultAnimation.AnimID == animID)
{
- m_defaultAnimation = new OpenSim.Framework.Animation(UUID.Zero, 1, UUID.Zero);
+ if (allowNoDefault)
+ m_defaultAnimation = new OpenSim.Framework.Animation(UUID.Zero, 1, UUID.Zero);
+ else
+ ResetDefaultAnimation();
}
else if (HasAnimation(animID))
{
diff --git a/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs b/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs
index 5b16b67916..3657dc4ebc 100644
--- a/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs
+++ b/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs
@@ -109,14 +109,22 @@ namespace OpenSim.Region.Framework.Scenes.Animation
AddAnimation(animID, objectID);
}
- public void RemoveAnimation(UUID animID)
+ /// <summary>
+ /// Remove the specified animation
+ /// </summary>
+ /// <param name='animID'></param>
+ /// <param name='allowNoDefault'>
+ /// If true, then the default animation can be entirely removed.
+ /// If false, then removing the default animation will reset it to the simulator default (currently STAND).
+ /// </param>
+ public void RemoveAnimation(UUID animID, bool allowNoDefault)
{
if (m_scenePresence.IsChildAgent)
return;
// m_log.DebugFormat("[SCENE PRESENCE ANIMATOR]: Removing animation {0} for {1}", animID, m_scenePresence.Name);
- if (m_animations.Remove(animID))
+ if (m_animations.Remove(animID, allowNoDefault))
SendAnimPack();
}
@@ -132,7 +140,7 @@ namespace OpenSim.Region.Framework.Scenes.Animation
if (animID == UUID.Zero)
return;
- RemoveAnimation(animID);
+ RemoveAnimation(animID, true);
}
public void ResetAnimations()
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index 6979c33d11..c295305a7d 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -2260,7 +2260,7 @@ namespace OpenSim.Region.Framework.Scenes
public void HandleStopAnim(IClientAPI remoteClient, UUID animID)
{
- Animator.RemoveAnimation(animID);
+ Animator.RemoveAnimation(animID, false);
}
/// <summary>
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index d47fd6b5ac..a2f1ff2e95 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -3364,7 +3364,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
if (animID == UUID.Zero)
presence.Animator.RemoveAnimation(anim);
else
- presence.Animator.RemoveAnimation(animID);
+ presence.Animator.RemoveAnimation(animID, true);
}
}
}
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
index 25635ff767..5c0ff1c6c4 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
@@ -986,7 +986,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
if (animID == UUID.Zero)
target.Animator.RemoveAnimation(animation);
else
- target.Animator.RemoveAnimation(animID);
+ target.Animator.RemoveAnimation(animID, true);
}
}
}
From 115e1c2abb7755eb7b5ffeafbc0aecd255ccfc4e Mon Sep 17 00:00:00 2001
From: "Justin Clark-Casey (justincc)" <jjustincc@googlemail.com>
Date: Fri, 18 Jan 2013 23:22:02 +0000
Subject: [PATCH 06/36] Add "debug set set animations true|false" region
console command.
Setting this logs extra information about animation add/remove, such as uuid and animation name
Unfortunately cannot be done per client yet
---
.../Scenes/Animation/ScenePresenceAnimator.cs | 33 ++++++++++++++++---
OpenSim/Region/Framework/Scenes/Scene.cs | 5 +++
.../Animations/AnimationsCommandModule.cs | 23 +++----------
.../SceneCommands/SceneCommandsModule.cs | 11 +++++++
4 files changed, 48 insertions(+), 24 deletions(-)
diff --git a/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs b/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs
index 3657dc4ebc..e92a087625 100644
--- a/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs
+++ b/OpenSim/Region/Framework/Scenes/Animation/ScenePresenceAnimator.cs
@@ -86,7 +86,10 @@ namespace OpenSim.Region.Framework.Scenes.Animation
if (m_scenePresence.IsChildAgent)
return;
-// m_log.DebugFormat("[SCENE PRESENCE ANIMATOR]: Adding animation {0} for {1}", animID, m_scenePresence.Name);
+ if (m_scenePresence.Scene.DebugAnimations)
+ m_log.DebugFormat(
+ "[SCENE PRESENCE ANIMATOR]: Adding animation {0} {1} for {2}",
+ GetAnimName(animID), animID, m_scenePresence.Name);
if (m_animations.Add(animID, m_scenePresence.ControllingClient.NextAnimationSequenceNumber, objectID))
SendAnimPack();
@@ -122,7 +125,10 @@ namespace OpenSim.Region.Framework.Scenes.Animation
if (m_scenePresence.IsChildAgent)
return;
-// m_log.DebugFormat("[SCENE PRESENCE ANIMATOR]: Removing animation {0} for {1}", animID, m_scenePresence.Name);
+ if (m_scenePresence.Scene.DebugAnimations)
+ m_log.DebugFormat(
+ "[SCENE PRESENCE ANIMATOR]: Removing animation {0} {1} for {2}",
+ GetAnimName(animID), animID, m_scenePresence.Name);
if (m_animations.Remove(animID, allowNoDefault))
SendAnimPack();
@@ -145,9 +151,10 @@ namespace OpenSim.Region.Framework.Scenes.Animation
public void ResetAnimations()
{
-// m_log.DebugFormat(
-// "[SCENE PRESENCE ANIMATOR]: Resetting animations for {0} in {1}",
-// m_scenePresence.Name, m_scenePresence.Scene.RegionInfo.RegionName);
+ if (m_scenePresence.Scene.DebugAnimations)
+ m_log.DebugFormat(
+ "[SCENE PRESENCE ANIMATOR]: Resetting animations for {0} in {1}",
+ m_scenePresence.Name, m_scenePresence.Scene.RegionInfo.RegionName);
m_animations.Clear();
}
@@ -558,5 +565,21 @@ namespace OpenSim.Region.Framework.Scenes.Animation
SendAnimPack(animIDs, sequenceNums, objectIDs);
}
+
+ public string GetAnimName(UUID animId)
+ {
+ string animName;
+
+ if (!DefaultAvatarAnimations.AnimsNames.TryGetValue(animId, out animName))
+ {
+ AssetMetadata amd = m_scenePresence.Scene.AssetService.GetMetadata(animId.ToString());
+ if (amd != null)
+ animName = amd.Name;
+ else
+ animName = "Unknown";
+ }
+
+ return animName;
+ }
}
}
diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs
index 4859dffadb..5778176e44 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.cs
@@ -67,6 +67,11 @@ namespace OpenSim.Region.Framework.Scenes
public bool EmergencyMonitoring = false;
+ /// <summary>
+ /// Show debug information about animations.
+ /// </summary>
+ public bool DebugAnimations { get; set; }
+
/// <summary>
/// Show debug information about teleports.
/// </summary>
diff --git a/OpenSim/Region/OptionalModules/Avatar/Animations/AnimationsCommandModule.cs b/OpenSim/Region/OptionalModules/Avatar/Animations/AnimationsCommandModule.cs
index e951d9e37c..84211a9ba9 100644
--- a/OpenSim/Region/OptionalModules/Avatar/Animations/AnimationsCommandModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/Animations/AnimationsCommandModule.cs
@@ -161,12 +161,13 @@ namespace OpenSim.Region.OptionalModules.Avatar.Animations
UUID defaultAnimId = anims.DefaultAnimation.AnimID;
cdl.AddRow(
"Default anim",
- string.Format("{0}, {1}", defaultAnimId, GetAnimName(sp.Scene.AssetService, defaultAnimId)));
+ string.Format("{0}, {1}", defaultAnimId, sp.Animator.GetAnimName(defaultAnimId)));
UUID implicitDefaultAnimId = anims.ImplicitDefaultAnimation.AnimID;
cdl.AddRow(
"Implicit default anim",
- string.Format("{0}, {1}", implicitDefaultAnimId, GetAnimName(sp.Scene.AssetService, implicitDefaultAnimId)));
+ string.Format("{0}, {1}",
+ implicitDefaultAnimId, sp.Animator.GetAnimName(implicitDefaultAnimId)));
cdl.AddToStringBuilder(sb);
@@ -185,7 +186,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Animations
for (int i = 0; i < animIds.Length; i++)
{
UUID animId = animIds[i];
- string animName = GetAnimName(sp.Scene.AssetService, animId);
+ string animName = sp.Animator.GetAnimName(animId);
int seq = sequenceNumbers[i];
UUID objectId = objectIds[i];
@@ -195,21 +196,5 @@ namespace OpenSim.Region.OptionalModules.Avatar.Animations
cdt.AddToStringBuilder(sb);
sb.Append("\n");
}
-
- private string GetAnimName(IAssetService assetService, UUID animId)
- {
- string animName;
-
- if (!DefaultAvatarAnimations.AnimsNames.TryGetValue(animId, out animName))
- {
- AssetMetadata amd = assetService.GetMetadata(animId.ToString());
- if (amd != null)
- animName = amd.Name;
- else
- animName = "Unknown";
- }
-
- return animName;
- }
}
}
\ No newline at end of file
diff --git a/OpenSim/Region/OptionalModules/World/SceneCommands/SceneCommandsModule.cs b/OpenSim/Region/OptionalModules/World/SceneCommands/SceneCommandsModule.cs
index 8b8758e59c..521141a851 100644
--- a/OpenSim/Region/OptionalModules/World/SceneCommands/SceneCommandsModule.cs
+++ b/OpenSim/Region/OptionalModules/World/SceneCommands/SceneCommandsModule.cs
@@ -94,6 +94,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Attachments
"debug scene get",
"List current scene options.",
"If active is false then main scene update and maintenance loops are suspended.\n"
+ + "If animations is true then extra animations debug information is logged.\n"
+ "If collisions is false then collisions with other objects are turned off.\n"
+ "If pbackup is false then periodic scene backup is turned off.\n"
+ "If physics is false then all physics objects are non-physical.\n"
@@ -107,6 +108,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Attachments
"debug scene set active|collisions|pbackup|physics|scripting|teleport|updates true|false",
"Turn on scene debugging options.",
"If active is false then main scene update and maintenance loops are suspended.\n"
+ + "If animations is true then extra animations debug information is logged.\n"
+ "If collisions is false then collisions with other objects are turned off.\n"
+ "If pbackup is false then periodic scene backup is turned off.\n"
+ "If physics is false then all physics objects are non-physical.\n"
@@ -135,6 +137,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Attachments
{
ConsoleDisplayList cdl = new ConsoleDisplayList();
cdl.AddRow("active", m_scene.Active);
+ cdl.AddRow("animations", m_scene.DebugAnimations);
cdl.AddRow("pbackup", m_scene.PeriodicBackup);
cdl.AddRow("physics", m_scene.PhysicsEnabled);
cdl.AddRow("scripting", m_scene.ScriptsEnabled);
@@ -178,6 +181,14 @@ namespace OpenSim.Region.OptionalModules.Avatar.Attachments
m_scene.Active = active;
}
+ if (options.ContainsKey("animations"))
+ {
+ bool active;
+
+ if (bool.TryParse(options["animations"], out active))
+ m_scene.DebugAnimations = active;
+ }
+
if (options.ContainsKey("pbackup"))
{
bool active;
From 652cfa2ee2ce54c4b53fc4001a715406d66c3cf1 Mon Sep 17 00:00:00 2001
From: "Justin Clark-Casey (justincc)" <jjustincc@googlemail.com>
Date: Sat, 19 Jan 2013 00:27:17 +0000
Subject: [PATCH 07/36] Fix use of scene debug commands when region is set to
root or a specific region where there is more than one region on the
simulator.
---
.../SceneCommands/SceneCommandsModule.cs | 27 +++++++++----------
1 file changed, 12 insertions(+), 15 deletions(-)
diff --git a/OpenSim/Region/OptionalModules/World/SceneCommands/SceneCommandsModule.cs b/OpenSim/Region/OptionalModules/World/SceneCommands/SceneCommandsModule.cs
index 521141a851..12169ab617 100644
--- a/OpenSim/Region/OptionalModules/World/SceneCommands/SceneCommandsModule.cs
+++ b/OpenSim/Region/OptionalModules/World/SceneCommands/SceneCommandsModule.cs
@@ -122,10 +122,10 @@ namespace OpenSim.Region.OptionalModules.Avatar.Attachments
{
if (args.Length == 3)
{
- if (MainConsole.Instance.ConsoleScene == null)
- MainConsole.Instance.Output("Please use 'change region <regioname>' first");
- else
- OutputSceneDebugOptions();
+ if (MainConsole.Instance.ConsoleScene != m_scene && MainConsole.Instance.ConsoleScene != null)
+ return;
+
+ OutputSceneDebugOptions();
}
else
{
@@ -144,6 +144,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Attachments
cdl.AddRow("teleport", m_scene.DebugTeleporting);
cdl.AddRow("updates", m_scene.DebugUpdates);
+ MainConsole.Instance.OutputFormat("Scene {0} options:", m_scene.Name);
MainConsole.Instance.Output(cdl.ToString());
}
@@ -151,18 +152,14 @@ namespace OpenSim.Region.OptionalModules.Avatar.Attachments
{
if (args.Length == 5)
{
- if (MainConsole.Instance.ConsoleScene == null)
- {
- MainConsole.Instance.Output("Please use 'change region <regioname>' first");
- }
- else
- {
- string key = args[3];
- string value = args[4];
- SetSceneDebugOptions(new Dictionary<string, string>() { { key, value } });
+ if (MainConsole.Instance.ConsoleScene != m_scene && MainConsole.Instance.ConsoleScene != null)
+ return;
- MainConsole.Instance.OutputFormat("Set debug scene {0} = {1}", key, value);
- }
+ string key = args[3];
+ string value = args[4];
+ SetSceneDebugOptions(new Dictionary<string, string>() { { key, value } });
+
+ MainConsole.Instance.OutputFormat("Set {0} debug scene {1} = {2}", m_scene.Name, key, value);
}
else
{
From 4f70e423df97f3fd52f4a36ac296f696f46b7d34 Mon Sep 17 00:00:00 2001
From: Talun <None>
Date: Fri, 18 Jan 2013 19:16:21 +0000
Subject: [PATCH 08/36] Mantis 6507 keys returned by llGetAgentList incorrect
for llList2Key
The type of the keys returned by llGetAgentList corrected to LSL_Key
---
.../Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index a2f1ff2e95..50597b7fda 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -5793,13 +5793,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
if (parcelOwned && land.LandData.OwnerID == id ||
parcel && land.LandData.GlobalID == id)
{
- result.Add(ssp.UUID.ToString());
+ result.Add(new LSL_Key(ssp.UUID.ToString()));
}
}
}
else
{
- result.Add(ssp.UUID.ToString());
+ result.Add(new LSL_Key(ssp.UUID.ToString()));
}
}
// Maximum of 100 results
From 607558fe21ab6c200789a148e419f39730d3c420 Mon Sep 17 00:00:00 2001
From: Talun <None>
Date: Mon, 14 Jan 2013 18:17:33 +0000
Subject: [PATCH 09/36] New constants for llGetObjectDetails
New constants for llGetObjectDetails OBJECT_CHARACTER_TIME,
OBJECT_ROOT, OBJECT_ATTACHED_POINT, OBJECT_PATHFINDING_TYPE,
OBJECT_PHYSICS, OBJECT_PHANTOM and OBJECT_TEMP_ON_REZ
also Pathfining constants, 3 of which are used by llGetObjectDetails
---
.../Shared/Api/Implementation/LSL_Api.cs | 75 +++++++++++++++++++
.../Shared/Api/Runtime/LSL_Constants.cs | 17 +++++
2 files changed, 92 insertions(+)
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 50597b7fda..db5add19e6 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -10590,6 +10590,35 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
case ScriptBaseClass.OBJECT_PHYSICS_COST:
ret.Add(new LSL_Float(0));
break;
+ case ScriptBaseClass.OBJECT_CHARACTER_TIME: // Pathfinding
+ ret.Add(new LSL_Float(0));
+ break;
+ case ScriptBaseClass.OBJECT_ROOT:
+ SceneObjectPart p = av.ParentPart;
+ if (p != null)
+ {
+ ret.Add(new LSL_String(p.ParentGroup.RootPart.UUID.ToString()));
+ }
+ else
+ {
+ ret.Add(new LSL_String(id));
+ }
+ break;
+ case ScriptBaseClass.OBJECT_ATTACHED_POINT:
+ ret.Add(new LSL_Integer(0));
+ break;
+ case ScriptBaseClass.OBJECT_PATHFINDING_TYPE: // Pathfinding
+ ret.Add(new LSL_Integer(ScriptBaseClass.OPT_AVATAR));
+ break;
+ case ScriptBaseClass.OBJECT_PHYSICS:
+ ret.Add(new LSL_Integer(0));
+ break;
+ case ScriptBaseClass.OBJECT_PHANTOM:
+ ret.Add(new LSL_Integer(0));
+ break;
+ case ScriptBaseClass.OBJECT_TEMP_ON_REZ:
+ ret.Add(new LSL_Integer(0));
+ break;
default:
// Invalid or unhandled constant.
ret.Add(new LSL_Integer(ScriptBaseClass.OBJECT_UNKNOWN_DETAIL));
@@ -10685,6 +10714,52 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
// The value returned in SL for normal prims looks like the prim count
ret.Add(new LSL_Float(0));
break;
+ case ScriptBaseClass.OBJECT_CHARACTER_TIME: // Pathfinding
+ ret.Add(new LSL_Float(0));
+ break;
+ case ScriptBaseClass.OBJECT_ROOT:
+ ret.Add(new LSL_String(obj.ParentGroup.RootPart.UUID.ToString()));
+ break;
+ case ScriptBaseClass.OBJECT_ATTACHED_POINT:
+ ret.Add(new LSL_Integer(obj.ParentGroup.AttachmentPoint));
+ break;
+ case ScriptBaseClass.OBJECT_PATHFINDING_TYPE:
+ byte pcode = obj.Shape.PCode;
+ if (obj.ParentGroup.AttachmentPoint != 0
+ || pcode == (byte)PCode.Grass
+ || pcode == (byte)PCode.Tree
+ || pcode == (byte)PCode.NewTree)
+ {
+ ret.Add(new LSL_Integer(ScriptBaseClass.OPT_OTHER));
+ }
+ else
+ {
+ ret.Add(new LSL_Integer(ScriptBaseClass.OPT_LEGACY_LINKSET));
+ }
+ break;
+ case ScriptBaseClass.OBJECT_PHYSICS:
+ if (obj.ParentGroup.AttachmentPoint != 0)
+ {
+ ret.Add(new LSL_Integer(0)); // Always false if attached
+ }
+ else
+ {
+ ret.Add(new LSL_Integer(obj.ParentGroup.UsesPhysics ? 1 : 0));
+ }
+ break;
+ case ScriptBaseClass.OBJECT_PHANTOM:
+ if (obj.ParentGroup.AttachmentPoint != 0)
+ {
+ ret.Add(new LSL_Integer(0)); // Always false if attached
+ }
+ else
+ {
+ ret.Add(new LSL_Integer(obj.ParentGroup.IsPhantom ? 1 : 0));
+ }
+ break;
+ case ScriptBaseClass.OBJECT_TEMP_ON_REZ:
+ ret.Add(new LSL_Integer(obj.ParentGroup.IsTemporary ? 1 : 0));
+ break;
default:
// Invalid or unhandled constant.
ret.Add(new LSL_Integer(ScriptBaseClass.OBJECT_UNKNOWN_DETAIL));
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
index 880841b5d9..9bf1a64cf9 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
@@ -556,6 +556,23 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
public const int OBJECT_SERVER_COST = 14;
public const int OBJECT_STREAMING_COST = 15;
public const int OBJECT_PHYSICS_COST = 16;
+ public const int OBJECT_CHARACTER_TIME = 17;
+ public const int OBJECT_ROOT = 18;
+ public const int OBJECT_ATTACHED_POINT = 19;
+ public const int OBJECT_PATHFINDING_TYPE = 20;
+ public const int OBJECT_PHYSICS = 21;
+ public const int OBJECT_PHANTOM = 22;
+ public const int OBJECT_TEMP_ON_REZ = 23;
+
+ // Pathfinding types
+ public const int OPT_OTHER = -1;
+ public const int OPT_LEGACY_LINKSET = 0;
+ public const int OPT_AVATAR = 1;
+ public const int OPT_CHARACTER = 2;
+ public const int OPT_WALKABLE = 3;
+ public const int OPT_STATIC_OBSTACLE = 4;
+ public const int OPT_MATERIAL_VOLUME = 5;
+ public const int OPT_EXCLUSION_VOLUME = 6;
// for llGetAgentList
public const int AGENT_LIST_PARCEL = 1;
From 27e2ec177a7e44e5456c7f18c1256b79a9655151 Mon Sep 17 00:00:00 2001
From: Talun <None>
Date: Mon, 14 Jan 2013 18:17:33 +0000
Subject: [PATCH 10/36] New constants for llGetObjectDetails
New constants for llGetObjectDetails OBJECT_CHARACTER_TIME,
OBJECT_ROOT, OBJECT_ATTACHED_POINT, OBJECT_PATHFINDING_TYPE,
OBJECT_PHYSICS, OBJECT_PHANTOM and OBJECT_TEMP_ON_REZ
also Pathfining constants, 3 of which are used by llGetObjectDetails
---
.../Shared/Api/Implementation/LSL_Api.cs | 75 +++++++++++++++++++
.../Shared/Api/Runtime/LSL_Constants.cs | 17 +++++
2 files changed, 92 insertions(+)
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 50597b7fda..db5add19e6 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -10590,6 +10590,35 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
case ScriptBaseClass.OBJECT_PHYSICS_COST:
ret.Add(new LSL_Float(0));
break;
+ case ScriptBaseClass.OBJECT_CHARACTER_TIME: // Pathfinding
+ ret.Add(new LSL_Float(0));
+ break;
+ case ScriptBaseClass.OBJECT_ROOT:
+ SceneObjectPart p = av.ParentPart;
+ if (p != null)
+ {
+ ret.Add(new LSL_String(p.ParentGroup.RootPart.UUID.ToString()));
+ }
+ else
+ {
+ ret.Add(new LSL_String(id));
+ }
+ break;
+ case ScriptBaseClass.OBJECT_ATTACHED_POINT:
+ ret.Add(new LSL_Integer(0));
+ break;
+ case ScriptBaseClass.OBJECT_PATHFINDING_TYPE: // Pathfinding
+ ret.Add(new LSL_Integer(ScriptBaseClass.OPT_AVATAR));
+ break;
+ case ScriptBaseClass.OBJECT_PHYSICS:
+ ret.Add(new LSL_Integer(0));
+ break;
+ case ScriptBaseClass.OBJECT_PHANTOM:
+ ret.Add(new LSL_Integer(0));
+ break;
+ case ScriptBaseClass.OBJECT_TEMP_ON_REZ:
+ ret.Add(new LSL_Integer(0));
+ break;
default:
// Invalid or unhandled constant.
ret.Add(new LSL_Integer(ScriptBaseClass.OBJECT_UNKNOWN_DETAIL));
@@ -10685,6 +10714,52 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
// The value returned in SL for normal prims looks like the prim count
ret.Add(new LSL_Float(0));
break;
+ case ScriptBaseClass.OBJECT_CHARACTER_TIME: // Pathfinding
+ ret.Add(new LSL_Float(0));
+ break;
+ case ScriptBaseClass.OBJECT_ROOT:
+ ret.Add(new LSL_String(obj.ParentGroup.RootPart.UUID.ToString()));
+ break;
+ case ScriptBaseClass.OBJECT_ATTACHED_POINT:
+ ret.Add(new LSL_Integer(obj.ParentGroup.AttachmentPoint));
+ break;
+ case ScriptBaseClass.OBJECT_PATHFINDING_TYPE:
+ byte pcode = obj.Shape.PCode;
+ if (obj.ParentGroup.AttachmentPoint != 0
+ || pcode == (byte)PCode.Grass
+ || pcode == (byte)PCode.Tree
+ || pcode == (byte)PCode.NewTree)
+ {
+ ret.Add(new LSL_Integer(ScriptBaseClass.OPT_OTHER));
+ }
+ else
+ {
+ ret.Add(new LSL_Integer(ScriptBaseClass.OPT_LEGACY_LINKSET));
+ }
+ break;
+ case ScriptBaseClass.OBJECT_PHYSICS:
+ if (obj.ParentGroup.AttachmentPoint != 0)
+ {
+ ret.Add(new LSL_Integer(0)); // Always false if attached
+ }
+ else
+ {
+ ret.Add(new LSL_Integer(obj.ParentGroup.UsesPhysics ? 1 : 0));
+ }
+ break;
+ case ScriptBaseClass.OBJECT_PHANTOM:
+ if (obj.ParentGroup.AttachmentPoint != 0)
+ {
+ ret.Add(new LSL_Integer(0)); // Always false if attached
+ }
+ else
+ {
+ ret.Add(new LSL_Integer(obj.ParentGroup.IsPhantom ? 1 : 0));
+ }
+ break;
+ case ScriptBaseClass.OBJECT_TEMP_ON_REZ:
+ ret.Add(new LSL_Integer(obj.ParentGroup.IsTemporary ? 1 : 0));
+ break;
default:
// Invalid or unhandled constant.
ret.Add(new LSL_Integer(ScriptBaseClass.OBJECT_UNKNOWN_DETAIL));
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
index 880841b5d9..9bf1a64cf9 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Constants.cs
@@ -556,6 +556,23 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
public const int OBJECT_SERVER_COST = 14;
public const int OBJECT_STREAMING_COST = 15;
public const int OBJECT_PHYSICS_COST = 16;
+ public const int OBJECT_CHARACTER_TIME = 17;
+ public const int OBJECT_ROOT = 18;
+ public const int OBJECT_ATTACHED_POINT = 19;
+ public const int OBJECT_PATHFINDING_TYPE = 20;
+ public const int OBJECT_PHYSICS = 21;
+ public const int OBJECT_PHANTOM = 22;
+ public const int OBJECT_TEMP_ON_REZ = 23;
+
+ // Pathfinding types
+ public const int OPT_OTHER = -1;
+ public const int OPT_LEGACY_LINKSET = 0;
+ public const int OPT_AVATAR = 1;
+ public const int OPT_CHARACTER = 2;
+ public const int OPT_WALKABLE = 3;
+ public const int OPT_STATIC_OBSTACLE = 4;
+ public const int OPT_MATERIAL_VOLUME = 5;
+ public const int OPT_EXCLUSION_VOLUME = 6;
// for llGetAgentList
public const int AGENT_LIST_PARCEL = 1;
From 3eee991935393feeee753ced28c794f12367f19d Mon Sep 17 00:00:00 2001
From: "Justin Clark-Casey (justincc)" <jjustincc@googlemail.com>
Date: Sat, 19 Jan 2013 02:04:36 +0000
Subject: [PATCH 11/36] Explicitly stop PollServiceRequestManager() rather than
relying on its destructor.
Hopes to address occasional shutdown failures from http://opensimulator.org/mantis/view.php?id=6503
---
.../Servers/HttpServer/BaseHttpServer.cs | 3 +++
.../HttpServer/PollServiceRequestManager.cs | 17 ++++++++++++-----
2 files changed, 15 insertions(+), 5 deletions(-)
diff --git a/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs b/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
index 85b19c067e..251a8ad3ce 100644
--- a/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
+++ b/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
@@ -1731,6 +1731,7 @@ namespace OpenSim.Framework.Servers.HttpServer
// Long Poll Service Manager with 3 worker threads a 25 second timeout for no events
m_PollServiceManager = new PollServiceRequestManager(this, 3, 25000);
+ m_PollServiceManager.Start();
HTTPDRunning = true;
//HttpListenerContext context;
@@ -1781,6 +1782,8 @@ namespace OpenSim.Framework.Servers.HttpServer
HTTPDRunning = false;
try
{
+ m_PollServiceManager.Stop();
+
m_httpListener2.ExceptionThrown -= httpServerException;
//m_httpListener2.DisconnectHandler = null;
diff --git a/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs b/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs
index 8d5015110d..3e84c55a17 100644
--- a/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs
+++ b/OpenSim/Framework/Servers/HttpServer/PollServiceRequestManager.cs
@@ -45,19 +45,26 @@ namespace OpenSim.Framework.Servers.HttpServer
private uint m_WorkerThreadCount = 0;
private Thread[] m_workerThreads;
private PollServiceWorkerThread[] m_PollServiceWorkerThreads;
- private bool m_running = true;
+ private volatile bool m_running = true;
+ private int m_pollTimeout;
public PollServiceRequestManager(BaseHttpServer pSrv, uint pWorkerThreadCount, int pTimeout)
{
m_server = pSrv;
m_WorkerThreadCount = pWorkerThreadCount;
+ m_pollTimeout = pTimeout;
+ }
+
+ public void Start()
+ {
+ m_running = true;
m_workerThreads = new Thread[m_WorkerThreadCount];
m_PollServiceWorkerThreads = new PollServiceWorkerThread[m_WorkerThreadCount];
//startup worker threads
for (uint i = 0; i < m_WorkerThreadCount; i++)
{
- m_PollServiceWorkerThreads[i] = new PollServiceWorkerThread(m_server, pTimeout);
+ m_PollServiceWorkerThreads[i] = new PollServiceWorkerThread(m_server, m_pollTimeout);
m_PollServiceWorkerThreads[i].ReQueue += ReQueueEvent;
m_workerThreads[i]
@@ -136,8 +143,10 @@ namespace OpenSim.Framework.Servers.HttpServer
}
- ~PollServiceRequestManager()
+ public void Stop()
{
+ m_running = false;
+
foreach (object o in m_requests)
{
PollServiceHttpRequest req = (PollServiceHttpRequest) o;
@@ -151,8 +160,6 @@ namespace OpenSim.Framework.Servers.HttpServer
{
t.Abort();
}
-
- m_running = false;
}
}
}
\ No newline at end of file
From b77da5039eba6db0f904bfa9ca0852d640436055 Mon Sep 17 00:00:00 2001
From: Oren Hurvitz <orenh@kitely.com>
Date: Fri, 4 Jan 2013 08:43:05 +0200
Subject: [PATCH 12/36] Assign the SmartThreadPool name in the constructor
This is required because some threads are created in the constructor, so assigning the name afterwards would be too late.
---
OpenSim/Framework/Util.cs | 9 +++++++--
OpenSim/Region/ScriptEngine/XEngine/XEngine.cs | 4 ++--
ThirdParty/SmartThreadPool/STPStartInfo.cs | 14 ++++++++++++++
ThirdParty/SmartThreadPool/SmartThreadPool.cs | 8 +++++++-
4 files changed, 30 insertions(+), 5 deletions(-)
diff --git a/OpenSim/Framework/Util.cs b/OpenSim/Framework/Util.cs
index f6c9d15450..9b1e97d237 100644
--- a/OpenSim/Framework/Util.cs
+++ b/OpenSim/Framework/Util.cs
@@ -1658,8 +1658,13 @@ namespace OpenSim.Framework
if (m_ThreadPool != null)
throw new InvalidOperationException("SmartThreadPool is already initialized");
- m_ThreadPool = new SmartThreadPool(2000, maxThreads, 2);
- m_ThreadPool.Name = "Util";
+ STPStartInfo startInfo = new STPStartInfo();
+ startInfo.ThreadPoolName = "Util";
+ startInfo.IdleTimeout = 2000;
+ startInfo.MaxWorkerThreads = maxThreads;
+ startInfo.MinWorkerThreads = 2;
+
+ m_ThreadPool = new SmartThreadPool(startInfo);
}
public static int FireAndForgetCount()
diff --git a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
index a17a0188bb..72646f6ccb 100644
--- a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
+++ b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs
@@ -1486,7 +1486,8 @@ namespace OpenSim.Region.ScriptEngine.XEngine
m_MaxScriptQueue = maxScriptQueue;
STPStartInfo startInfo = new STPStartInfo();
- startInfo.IdleTimeout = idleTimeout*1000; // convert to seconds as stated in .ini
+ startInfo.ThreadPoolName = "XEngine";
+ startInfo.IdleTimeout = idleTimeout * 1000; // convert to seconds as stated in .ini
startInfo.MaxWorkerThreads = maxThreads;
startInfo.MinWorkerThreads = minThreads;
startInfo.ThreadPriority = threadPriority;;
@@ -1494,7 +1495,6 @@ namespace OpenSim.Region.ScriptEngine.XEngine
startInfo.StartSuspended = true;
m_ThreadPool = new SmartThreadPool(startInfo);
- m_ThreadPool.Name = "XEngine";
}
//
diff --git a/ThirdParty/SmartThreadPool/STPStartInfo.cs b/ThirdParty/SmartThreadPool/STPStartInfo.cs
index d1815639db..fa9ceb4bb5 100644
--- a/ThirdParty/SmartThreadPool/STPStartInfo.cs
+++ b/ThirdParty/SmartThreadPool/STPStartInfo.cs
@@ -32,6 +32,11 @@ namespace Amib.Threading
/// </summary>
private ThreadPriority _threadPriority;
+ /// <summary>
+ /// The thread pool name. Threads will get names depending on this.
+ /// </summary>
+ private string _threadPoolName;
+
/// <summary>
/// If this field is not null then the performance counters are enabled
/// and use the string as the name of the instance.
@@ -46,6 +51,7 @@ namespace Amib.Threading
_minWorkerThreads = SmartThreadPool.DefaultMinWorkerThreads;
_maxWorkerThreads = SmartThreadPool.DefaultMaxWorkerThreads;
_threadPriority = SmartThreadPool.DefaultThreadPriority;
+ _threadPoolName = SmartThreadPool.DefaultThreadPoolName;
_pcInstanceName = SmartThreadPool.DefaultPerformanceCounterInstanceName;
_stackSize = SmartThreadPool.DefaultStackSize;
}
@@ -56,6 +62,7 @@ namespace Amib.Threading
_minWorkerThreads = stpStartInfo._minWorkerThreads;
_maxWorkerThreads = stpStartInfo._maxWorkerThreads;
_threadPriority = stpStartInfo._threadPriority;
+ _threadPoolName = stpStartInfo._threadPoolName;
_pcInstanceName = stpStartInfo._pcInstanceName;
_stackSize = stpStartInfo._stackSize;
}
@@ -84,6 +91,13 @@ namespace Amib.Threading
set { _threadPriority = value; }
}
+ public virtual string ThreadPoolName
+ {
+ get { return _threadPoolName; }
+ set { _threadPoolName = value; }
+ }
+
+
public string PerformanceCounterInstanceName
{
get { return _pcInstanceName; }
diff --git a/ThirdParty/SmartThreadPool/SmartThreadPool.cs b/ThirdParty/SmartThreadPool/SmartThreadPool.cs
index bd52f6245a..19a000717e 100644
--- a/ThirdParty/SmartThreadPool/SmartThreadPool.cs
+++ b/ThirdParty/SmartThreadPool/SmartThreadPool.cs
@@ -135,6 +135,11 @@ namespace Amib.Threading
/// </summary>
public const ThreadPriority DefaultThreadPriority = ThreadPriority.Normal;
+ /// <summary>
+ /// The default thread pool name
+ /// </summary>
+ public const string DefaultThreadPoolName = "SmartThreadPool";
+
#endregion
#region Member Variables
@@ -143,7 +148,7 @@ namespace Amib.Threading
/// Contains the name of this instance of SmartThreadPool.
/// Can be changed by the user.
/// </summary>
- private string _name = "SmartThreadPool";
+ private string _name = DefaultThreadPoolName;
/// <summary>
/// Hashtable of all the threads in the thread pool.
@@ -307,6 +312,7 @@ namespace Amib.Threading
private void Initialize()
{
+ Name = _stpStartInfo.ThreadPoolName;
ValidateSTPStartInfo();
if (null != _stpStartInfo.PerformanceCounterInstanceName)
From fc6115f77755734d5a60b9eeebef25b98696f4e4 Mon Sep 17 00:00:00 2001
From: "Justin Clark-Casey (justincc)" <jjustincc@googlemail.com>
Date: Sat, 19 Jan 2013 02:29:02 +0000
Subject: [PATCH 13/36] Check the existing ScenePresence.ParentPart to make
sure we're not trying to sit on a prim we're already sat upon, rather than
looking up the part from scratch.
An adaptation of commit 055b8a2
Having both ParentID and ParentPart references now is redundant. ParentID should probably be eliminated.
---
OpenSim/Region/Framework/Scenes/ScenePresence.cs | 3 +--
1 file changed, 1 insertion(+), 2 deletions(-)
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index c295305a7d..a90872e541 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -1954,8 +1954,7 @@ namespace OpenSim.Region.Framework.Scenes
{
if (ParentID != 0)
{
- var targetPart = m_scene.GetSceneObjectPart(targetID);
- if (targetPart != null && targetPart.LocalId == ParentID)
+ if (ParentPart.UUID == targetID)
return; // already sitting here, ignore
StandUp();
From 41ae006e9bd602f425fc9fae9e9ab35ab646af9d Mon Sep 17 00:00:00 2001
From: "Justin Clark-Casey (justincc)" <jjustincc@googlemail.com>
Date: Sat, 19 Jan 2013 02:32:41 +0000
Subject: [PATCH 14/36] minor: adjust formatting in TESTING.txt to make headers
more wiki-like
---
TESTING.txt | 10 +++++-----
1 file changed, 5 insertions(+), 5 deletions(-)
diff --git a/TESTING.txt b/TESTING.txt
index a7346ff34b..e7ab0882a8 100644
--- a/TESTING.txt
+++ b/TESTING.txt
@@ -1,4 +1,4 @@
-===== The Quick Guide to OpenSim Unit Testing ===
+= The Quick Guide to OpenSim Unit Testing =
== Running Tests ==
@@ -27,7 +27,7 @@ must list it in both ".nant/local.include"
for it to be accessible to Linux users and to the continuous
integration system.
-==TESTING ON WINDOWS==
+== TESTING ON WINDOWS ==
To use nunit testing on opensim code, you have a variety of methods. The
easiast methods involve using IDE capabilities to test code. Using
@@ -58,14 +58,14 @@ Nunit console allows you to execute the nunit tests of assemblies via console.
Its output will show test failures and successes and a summary of what
happened. This is very useful for a quick overview and/or automated testing.
-Windows
+=== Windows ===
Windows version of nunit-console is by default .Net 2.0 if you downloaded the
.Net 2.0 version of Nunit. Be sure to setup your PATH environment variable.
-Linux & OSX
+=== Linux & OSX ===
On these operating systems you will have to use the command "nunit-console2"
-Example
+=== Example ===
nunit-console2 OpenSim.Framework.Tests.dll (on linux)
nunit-console OpenSim.Framework.Tests.dll (on windows)
From 9c590e51b6a1457ccb9eaee525d1e5a244b50274 Mon Sep 17 00:00:00 2001
From: PixelTomsen <pixel.tomsen@gridnet.info>
Date: Sun, 13 Jan 2013 20:18:40 +0100
Subject: [PATCH 15/36] IRCBridgeModule: optional agent-alertbox for IRC
enabled Regions look in OpenSimDefaults.ini / section [IRC]
http://opensimulator.org/mantis/view.php?id=6470
idea: https://github.com/ssm2017/IrcBridgeAlert
---
.../Avatar/Chat/ChannelState.cs | 154 +++++-----
.../Avatar/Chat/IRCBridgeModule.cs | 41 +--
.../Avatar/Chat/IRCConnector.cs | 289 +++++++++---------
.../Avatar/Chat/RegionState.cs | 96 +++---
bin/OpenSimDefaults.ini | 11 +
5 files changed, 317 insertions(+), 274 deletions(-)
diff --git a/OpenSim/Region/OptionalModules/Avatar/Chat/ChannelState.cs b/OpenSim/Region/OptionalModules/Avatar/Chat/ChannelState.cs
index 66265d84b7..5a37fadcc2 100644
--- a/OpenSim/Region/OptionalModules/Avatar/Chat/ChannelState.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/Chat/ChannelState.cs
@@ -55,42 +55,42 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
// These are the IRC Connector configurable parameters with hard-wired
// default values (retained for compatability).
- internal string Server = null;
- internal string Password = null;
- internal string IrcChannel = null;
- internal string BaseNickname = "OSimBot";
- internal uint Port = 6667;
- internal string User = null;
+ internal string Server = null;
+ internal string Password = null;
+ internal string IrcChannel = null;
+ internal string BaseNickname = "OSimBot";
+ internal uint Port = 6667;
+ internal string User = null;
- internal bool ClientReporting = true;
- internal bool RelayChat = true;
- internal bool RelayPrivateChannels = false;
- internal int RelayChannel = 1;
+ internal bool ClientReporting = true;
+ internal bool RelayChat = true;
+ internal bool RelayPrivateChannels = false;
+ internal int RelayChannel = 1;
internal List<int> ValidInWorldChannels = new List<int>();
// Connector agnostic parameters. These values are NOT shared with the
// connector and do not differentiate at an IRC level
internal string PrivateMessageFormat = "PRIVMSG {0} :<{2}> {1} {3}";
- internal string NoticeMessageFormat = "PRIVMSG {0} :<{2}> {3}";
- internal int RelayChannelOut = -1;
- internal bool RandomizeNickname = true;
- internal bool CommandsEnabled = false;
- internal int CommandChannel = -1;
- internal int ConnectDelay = 10;
- internal int PingDelay = 15;
- internal string DefaultZone = "Sim";
+ internal string NoticeMessageFormat = "PRIVMSG {0} :<{2}> {3}";
+ internal int RelayChannelOut = -1;
+ internal bool RandomizeNickname = true;
+ internal bool CommandsEnabled = false;
+ internal int CommandChannel = -1;
+ internal int ConnectDelay = 10;
+ internal int PingDelay = 15;
+ internal string DefaultZone = "Sim";
- internal string _accessPassword = String.Empty;
- internal Regex AccessPasswordRegex = null;
- internal List<string> ExcludeList = new List<string>();
+ internal string _accessPassword = String.Empty;
+ internal Regex AccessPasswordRegex = null;
+ internal List<string> ExcludeList = new List<string>();
internal string AccessPassword
{
get { return _accessPassword; }
- set
+ set
{
_accessPassword = value;
- AccessPasswordRegex = new Regex(String.Format(@"^{0},\s*(?<avatar>[^,]+),\s*(?<message>.+)$", _accessPassword),
+ AccessPasswordRegex = new Regex(String.Format(@"^{0},\s*(?<avatar>[^,]+),\s*(?<message>.+)$", _accessPassword),
RegexOptions.Compiled);
}
}
@@ -99,9 +99,9 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
// IRC connector reference
- internal IRCConnector irc = null;
+ internal IRCConnector irc = null;
- internal int idn = _idk_++;
+ internal int idn = _idk_++;
// List of regions dependent upon this connection
@@ -119,29 +119,29 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
internal ChannelState(ChannelState model)
{
- Server = model.Server;
- Password = model.Password;
- IrcChannel = model.IrcChannel;
- Port = model.Port;
- BaseNickname = model.BaseNickname;
- RandomizeNickname = model.RandomizeNickname;
- User = model.User;
- CommandsEnabled = model.CommandsEnabled;
- CommandChannel = model.CommandChannel;
- RelayChat = model.RelayChat;
+ Server = model.Server;
+ Password = model.Password;
+ IrcChannel = model.IrcChannel;
+ Port = model.Port;
+ BaseNickname = model.BaseNickname;
+ RandomizeNickname = model.RandomizeNickname;
+ User = model.User;
+ CommandsEnabled = model.CommandsEnabled;
+ CommandChannel = model.CommandChannel;
+ RelayChat = model.RelayChat;
RelayPrivateChannels = model.RelayPrivateChannels;
- RelayChannelOut = model.RelayChannelOut;
- RelayChannel = model.RelayChannel;
+ RelayChannelOut = model.RelayChannelOut;
+ RelayChannel = model.RelayChannel;
ValidInWorldChannels = model.ValidInWorldChannels;
PrivateMessageFormat = model.PrivateMessageFormat;
- NoticeMessageFormat = model.NoticeMessageFormat;
- ClientReporting = model.ClientReporting;
- AccessPassword = model.AccessPassword;
- DefaultZone = model.DefaultZone;
- ConnectDelay = model.ConnectDelay;
- PingDelay = model.PingDelay;
+ NoticeMessageFormat = model.NoticeMessageFormat;
+ ClientReporting = model.ClientReporting;
+ AccessPassword = model.AccessPassword;
+ DefaultZone = model.DefaultZone;
+ ConnectDelay = model.ConnectDelay;
+ PingDelay = model.PingDelay;
}
-
+
// Read the configuration file, performing variable substitution and any
// necessary aliasing. See accompanying documentation for how this works.
// If you don't need variables, then this works exactly as before.
@@ -160,54 +160,54 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
m_log.DebugFormat("[IRC-Channel-{0}] Initial request by Region {1} to connect to IRC", cs.idn, rs.Region);
- cs.Server = Substitute(rs, config.GetString("server", null));
+ cs.Server = Substitute(rs, config.GetString("server", null));
m_log.DebugFormat("[IRC-Channel-{0}] Server : <{1}>", cs.idn, cs.Server);
- cs.Password = Substitute(rs, config.GetString("password", null));
+ cs.Password = Substitute(rs, config.GetString("password", null));
// probably not a good idea to put a password in the log file
- cs.User = Substitute(rs, config.GetString("user", null));
- cs.IrcChannel = Substitute(rs, config.GetString("channel", null));
+ cs.User = Substitute(rs, config.GetString("user", null));
+ cs.IrcChannel = Substitute(rs, config.GetString("channel", null));
m_log.DebugFormat("[IRC-Channel-{0}] IrcChannel : <{1}>", cs.idn, cs.IrcChannel);
- cs.Port = Convert.ToUInt32(Substitute(rs, config.GetString("port", Convert.ToString(cs.Port))));
+ cs.Port = Convert.ToUInt32(Substitute(rs, config.GetString("port", Convert.ToString(cs.Port))));
m_log.DebugFormat("[IRC-Channel-{0}] Port : <{1}>", cs.idn, cs.Port);
- cs.BaseNickname = Substitute(rs, config.GetString("nick", cs.BaseNickname));
+ cs.BaseNickname = Substitute(rs, config.GetString("nick", cs.BaseNickname));
m_log.DebugFormat("[IRC-Channel-{0}] BaseNickname : <{1}>", cs.idn, cs.BaseNickname);
- cs.RandomizeNickname = Convert.ToBoolean(Substitute(rs, config.GetString("randomize_nick", Convert.ToString(cs.RandomizeNickname))));
+ cs.RandomizeNickname = Convert.ToBoolean(Substitute(rs, config.GetString("randomize_nick", Convert.ToString(cs.RandomizeNickname))));
m_log.DebugFormat("[IRC-Channel-{0}] RandomizeNickname : <{1}>", cs.idn, cs.RandomizeNickname);
- cs.RandomizeNickname = Convert.ToBoolean(Substitute(rs, config.GetString("nicknum", Convert.ToString(cs.RandomizeNickname))));
+ cs.RandomizeNickname = Convert.ToBoolean(Substitute(rs, config.GetString("nicknum", Convert.ToString(cs.RandomizeNickname))));
m_log.DebugFormat("[IRC-Channel-{0}] RandomizeNickname : <{1}>", cs.idn, cs.RandomizeNickname);
- cs.User = Substitute(rs, config.GetString("username", cs.User));
+ cs.User = Substitute(rs, config.GetString("username", cs.User));
m_log.DebugFormat("[IRC-Channel-{0}] User : <{1}>", cs.idn, cs.User);
- cs.CommandsEnabled = Convert.ToBoolean(Substitute(rs, config.GetString("commands_enabled", Convert.ToString(cs.CommandsEnabled))));
+ cs.CommandsEnabled = Convert.ToBoolean(Substitute(rs, config.GetString("commands_enabled", Convert.ToString(cs.CommandsEnabled))));
m_log.DebugFormat("[IRC-Channel-{0}] CommandsEnabled : <{1}>", cs.idn, cs.CommandsEnabled);
- cs.CommandChannel = Convert.ToInt32(Substitute(rs, config.GetString("commandchannel", Convert.ToString(cs.CommandChannel))));
+ cs.CommandChannel = Convert.ToInt32(Substitute(rs, config.GetString("commandchannel", Convert.ToString(cs.CommandChannel))));
m_log.DebugFormat("[IRC-Channel-{0}] CommandChannel : <{1}>", cs.idn, cs.CommandChannel);
- cs.CommandChannel = Convert.ToInt32(Substitute(rs, config.GetString("command_channel", Convert.ToString(cs.CommandChannel))));
+ cs.CommandChannel = Convert.ToInt32(Substitute(rs, config.GetString("command_channel", Convert.ToString(cs.CommandChannel))));
m_log.DebugFormat("[IRC-Channel-{0}] CommandChannel : <{1}>", cs.idn, cs.CommandChannel);
- cs.RelayChat = Convert.ToBoolean(Substitute(rs, config.GetString("relay_chat", Convert.ToString(cs.RelayChat))));
+ cs.RelayChat = Convert.ToBoolean(Substitute(rs, config.GetString("relay_chat", Convert.ToString(cs.RelayChat))));
m_log.DebugFormat("[IRC-Channel-{0}] RelayChat : <{1}>", cs.idn, cs.RelayChat);
cs.RelayPrivateChannels = Convert.ToBoolean(Substitute(rs, config.GetString("relay_private_channels", Convert.ToString(cs.RelayPrivateChannels))));
m_log.DebugFormat("[IRC-Channel-{0}] RelayPrivateChannels : <{1}>", cs.idn, cs.RelayPrivateChannels);
cs.RelayPrivateChannels = Convert.ToBoolean(Substitute(rs, config.GetString("useworldcomm", Convert.ToString(cs.RelayPrivateChannels))));
m_log.DebugFormat("[IRC-Channel-{0}] RelayPrivateChannels : <{1}>", cs.idn, cs.RelayPrivateChannels);
- cs.RelayChannelOut = Convert.ToInt32(Substitute(rs, config.GetString("relay_private_channel_out", Convert.ToString(cs.RelayChannelOut))));
+ cs.RelayChannelOut = Convert.ToInt32(Substitute(rs, config.GetString("relay_private_channel_out", Convert.ToString(cs.RelayChannelOut))));
m_log.DebugFormat("[IRC-Channel-{0}] RelayChannelOut : <{1}>", cs.idn, cs.RelayChannelOut);
- cs.RelayChannel = Convert.ToInt32(Substitute(rs, config.GetString("relay_private_channel_in", Convert.ToString(cs.RelayChannel))));
+ cs.RelayChannel = Convert.ToInt32(Substitute(rs, config.GetString("relay_private_channel_in", Convert.ToString(cs.RelayChannel))));
m_log.DebugFormat("[IRC-Channel-{0}] RelayChannel : <{1}>", cs.idn, cs.RelayChannel);
- cs.RelayChannel = Convert.ToInt32(Substitute(rs, config.GetString("inchannel", Convert.ToString(cs.RelayChannel))));
+ cs.RelayChannel = Convert.ToInt32(Substitute(rs, config.GetString("inchannel", Convert.ToString(cs.RelayChannel))));
m_log.DebugFormat("[IRC-Channel-{0}] RelayChannel : <{1}>", cs.idn, cs.RelayChannel);
cs.PrivateMessageFormat = Substitute(rs, config.GetString("msgformat", cs.PrivateMessageFormat));
m_log.DebugFormat("[IRC-Channel-{0}] PrivateMessageFormat : <{1}>", cs.idn, cs.PrivateMessageFormat);
cs.NoticeMessageFormat = Substitute(rs, config.GetString("noticeformat", cs.NoticeMessageFormat));
m_log.DebugFormat("[IRC-Channel-{0}] NoticeMessageFormat : <{1}>", cs.idn, cs.NoticeMessageFormat);
- cs.ClientReporting = Convert.ToInt32(Substitute(rs, config.GetString("verbosity", cs.ClientReporting?"1":"0"))) > 0;
+ cs.ClientReporting = Convert.ToInt32(Substitute(rs, config.GetString("verbosity", cs.ClientReporting ? "1" : "0"))) > 0;
m_log.DebugFormat("[IRC-Channel-{0}] ClientReporting : <{1}>", cs.idn, cs.ClientReporting);
- cs.ClientReporting = Convert.ToBoolean(Substitute(rs, config.GetString("report_clients", Convert.ToString(cs.ClientReporting))));
+ cs.ClientReporting = Convert.ToBoolean(Substitute(rs, config.GetString("report_clients", Convert.ToString(cs.ClientReporting))));
m_log.DebugFormat("[IRC-Channel-{0}] ClientReporting : <{1}>", cs.idn, cs.ClientReporting);
- cs.DefaultZone = Substitute(rs, config.GetString("fallback_region", cs.DefaultZone));
+ cs.DefaultZone = Substitute(rs, config.GetString("fallback_region", cs.DefaultZone));
m_log.DebugFormat("[IRC-Channel-{0}] DefaultZone : <{1}>", cs.idn, cs.DefaultZone);
- cs.ConnectDelay = Convert.ToInt32(Substitute(rs, config.GetString("connect_delay", Convert.ToString(cs.ConnectDelay))));
+ cs.ConnectDelay = Convert.ToInt32(Substitute(rs, config.GetString("connect_delay", Convert.ToString(cs.ConnectDelay))));
m_log.DebugFormat("[IRC-Channel-{0}] ConnectDelay : <{1}>", cs.idn, cs.ConnectDelay);
- cs.PingDelay = Convert.ToInt32(Substitute(rs, config.GetString("ping_delay", Convert.ToString(cs.PingDelay))));
+ cs.PingDelay = Convert.ToInt32(Substitute(rs, config.GetString("ping_delay", Convert.ToString(cs.PingDelay))));
m_log.DebugFormat("[IRC-Channel-{0}] PingDelay : <{1}>", cs.idn, cs.PingDelay);
cs.AccessPassword = Substitute(rs, config.GetString("access_password", cs.AccessPassword));
m_log.DebugFormat("[IRC-Channel-{0}] AccessPassword : <{1}>", cs.idn, cs.AccessPassword);
@@ -217,7 +217,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
{
cs.ExcludeList.Add(name.Trim().ToLower());
}
-
+
// Fail if fundamental information is still missing
if (cs.Server == null)
@@ -306,8 +306,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
IRCBridgeModule.m_channels.Add(cs);
- m_log.InfoFormat("[IRC-Channel-{0}] New channel initialized for {1}, nick: {2}, commands {3}, private channels {4}",
- cs.idn, rs.Region, cs.DefaultZone,
+ m_log.InfoFormat("[IRC-Channel-{0}] New channel initialized for {1}, nick: {2}, commands {3}, private channels {4}",
+ cs.idn, rs.Region, cs.DefaultZone,
cs.CommandsEnabled ? "enabled" : "not enabled",
cs.RelayPrivateChannels ? "relayed" : "not relayed");
}
@@ -417,7 +417,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
private bool IsAConnectionMatchFor(ChannelState cs)
{
return (
- Server == cs.Server &&
+ Server == cs.Server &&
IrcChannel == cs.IrcChannel &&
Port == cs.Port &&
BaseNickname == cs.BaseNickname &&
@@ -473,27 +473,27 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
{
string vvar = arg.Match(result).ToString();
- string var = vvar.Substring(1,vvar.Length-2).Trim();
+ string var = vvar.Substring(1, vvar.Length - 2).Trim();
switch (var.ToLower())
{
- case "%region" :
+ case "%region":
result = result.Replace(vvar, rs.Region);
break;
- case "%host" :
+ case "%host":
result = result.Replace(vvar, rs.Host);
break;
- case "%locx" :
+ case "%locx":
result = result.Replace(vvar, rs.LocX);
break;
- case "%locy" :
+ case "%locy":
result = result.Replace(vvar, rs.LocY);
break;
- case "%k" :
+ case "%k":
result = result.Replace(vvar, rs.IDK);
break;
- default :
- result = result.Replace(vvar, rs.config.GetString(var,var));
+ default:
+ result = result.Replace(vvar, rs.config.GetString(var, var));
break;
}
// m_log.DebugFormat("[IRC-Channel] Parse[2]: {0}", result);
diff --git a/OpenSim/Region/OptionalModules/Avatar/Chat/IRCBridgeModule.cs b/OpenSim/Region/OptionalModules/Avatar/Chat/IRCBridgeModule.cs
index 2e1d03d530..351dbfe78c 100644
--- a/OpenSim/Region/OptionalModules/Avatar/Chat/IRCBridgeModule.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/Chat/IRCBridgeModule.cs
@@ -46,18 +46,18 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
{
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
- internal static bool m_pluginEnabled = false;
+ internal static bool Enabled = false;
internal static IConfig m_config = null;
internal static List<ChannelState> m_channels = new List<ChannelState>();
- internal static List<RegionState> m_regions = new List<RegionState>();
+ internal static List<RegionState> m_regions = new List<RegionState>();
internal static string m_password = String.Empty;
internal RegionState m_region = null;
#region INonSharedRegionModule Members
- public Type ReplaceableInterface
+ public Type ReplaceableInterface
{
get { return null; }
}
@@ -72,13 +72,13 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
m_config = config.Configs["IRC"];
if (m_config == null)
{
-// m_log.InfoFormat("[IRC-Bridge] module not configured");
+ // m_log.InfoFormat("[IRC-Bridge] module not configured");
return;
}
if (!m_config.GetBoolean("enabled", false))
{
-// m_log.InfoFormat("[IRC-Bridge] module disabled in configuration");
+ // m_log.InfoFormat("[IRC-Bridge] module disabled in configuration");
return;
}
@@ -87,19 +87,22 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
m_password = config.Configs["RemoteAdmin"].GetString("access_password", m_password);
}
- m_pluginEnabled = true;
- m_log.InfoFormat("[IRC-Bridge]: Module enabled");
+ Enabled = true;
+
+ m_log.InfoFormat("[IRC-Bridge]: Module is enabled");
}
public void AddRegion(Scene scene)
{
- if (m_pluginEnabled)
+ if (Enabled)
{
try
{
m_log.InfoFormat("[IRC-Bridge] Connecting region {0}", scene.RegionInfo.RegionName);
+
if (!String.IsNullOrEmpty(m_password))
MainServer.Instance.AddXmlRPCHandler("irc_admin", XmlRpcAdminMethod, false);
+
m_region = new RegionState(scene, m_config);
lock (m_regions) m_regions.Add(m_region);
m_region.Open();
@@ -123,7 +126,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
public void RemoveRegion(Scene scene)
{
- if (!m_pluginEnabled)
+ if (!Enabled)
return;
if (m_region == null)
@@ -150,12 +153,12 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
m_log.Debug("[IRC-Bridge]: XML RPC Admin Entry");
XmlRpcResponse response = new XmlRpcResponse();
- Hashtable responseData = new Hashtable();
+ Hashtable responseData = new Hashtable();
try
{
Hashtable requestData = (Hashtable)request.Params[0];
- bool found = false;
+ bool found = false;
string region = String.Empty;
if (m_password != String.Empty)
@@ -169,18 +172,18 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
if (!requestData.ContainsKey("region"))
throw new Exception("No region name specified");
region = (string)requestData["region"];
-
+
foreach (RegionState rs in m_regions)
{
if (rs.Region == region)
{
- responseData["server"] = rs.cs.Server;
- responseData["port"] = (int)rs.cs.Port;
- responseData["user"] = rs.cs.User;
- responseData["channel"] = rs.cs.IrcChannel;
- responseData["enabled"] = rs.cs.irc.Enabled;
+ responseData["server"] = rs.cs.Server;
+ responseData["port"] = (int)rs.cs.Port;
+ responseData["user"] = rs.cs.User;
+ responseData["channel"] = rs.cs.IrcChannel;
+ responseData["enabled"] = rs.cs.irc.Enabled;
responseData["connected"] = rs.cs.irc.Connected;
- responseData["nickname"] = rs.cs.irc.Nick;
+ responseData["nickname"] = rs.cs.irc.Nick;
found = true;
break;
}
@@ -195,7 +198,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
m_log.ErrorFormat("[IRC-Bridge] XML RPC Admin request failed : {0}", e.Message);
responseData["success"] = "false";
- responseData["error"] = e.Message;
+ responseData["error"] = e.Message;
}
finally
{
diff --git a/OpenSim/Region/OptionalModules/Avatar/Chat/IRCConnector.cs b/OpenSim/Region/OptionalModules/Avatar/Chat/IRCConnector.cs
index a01479896e..c5cba8e22c 100644
--- a/OpenSim/Region/OptionalModules/Avatar/Chat/IRCConnector.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/Chat/IRCConnector.cs
@@ -53,16 +53,16 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
// Local constants
private static readonly Vector3 CenterOfRegion = new Vector3(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), 20);
- private static readonly char[] CS_SPACE = { ' ' };
+ private static readonly char[] CS_SPACE = { ' ' };
- private const int WD_INTERVAL = 1000; // base watchdog interval
- private static int PING_PERIOD = 15; // WD intervals per PING
- private static int ICCD_PERIOD = 10; // WD intervals between Connects
- private static int L_TIMEOUT = 25; // Login time out interval
+ private const int WD_INTERVAL = 1000; // base watchdog interval
+ private static int PING_PERIOD = 15; // WD intervals per PING
+ private static int ICCD_PERIOD = 10; // WD intervals between Connects
+ private static int L_TIMEOUT = 25; // Login time out interval
- private static int _idk_ = 0; // core connector identifier
- private static int _pdk_ = 0; // ping interval counter
- private static int _icc_ = ICCD_PERIOD; // IRC connect counter
+ private static int _idk_ = 0; // core connector identifier
+ private static int _pdk_ = 0; // ping interval counter
+ private static int _icc_ = ICCD_PERIOD; // IRC connect counter
// List of configured connectors
@@ -113,7 +113,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
private Object msyncConnect = new Object();
- internal bool m_randomizeNick = true; // add random suffix
+ internal bool m_randomizeNick = true; // add random suffix
internal string m_baseNick = null; // base name for randomizing
internal string m_nick = null; // effective nickname
@@ -122,7 +122,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
get { return m_nick; }
set { m_nick = value; }
}
-
+
private bool m_enabled = false; // connector enablement
public bool Enabled
{
@@ -130,8 +130,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
}
private bool m_connected = false; // connection status
- private bool m_pending = false; // login disposition
- private int m_timeout = L_TIMEOUT; // login timeout counter
+ private bool m_pending = false; // login disposition
+ private int m_timeout = L_TIMEOUT; // login timeout counter
public bool Connected
{
get { return m_connected; }
@@ -143,9 +143,9 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
get { return m_ircChannel; }
set { m_ircChannel = value; }
}
-
+
private uint m_port = 6667; // session port
- public uint Port
+ public uint Port
{
get { return m_port; }
set { m_port = value; }
@@ -172,10 +172,10 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
// Network interface
- private TcpClient m_tcp;
+ private TcpClient m_tcp;
private NetworkStream m_stream = null;
- private StreamReader m_reader;
- private StreamWriter m_writer;
+ private StreamReader m_reader;
+ private StreamWriter m_writer;
// Channel characteristic info (if available)
@@ -193,26 +193,26 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
// Prepare network interface
- m_tcp = null;
+ m_tcp = null;
m_writer = null;
m_reader = null;
// Setup IRC session parameters
- m_server = cs.Server;
- m_password = cs.Password;
- m_baseNick = cs.BaseNickname;
+ m_server = cs.Server;
+ m_password = cs.Password;
+ m_baseNick = cs.BaseNickname;
m_randomizeNick = cs.RandomizeNickname;
- m_ircChannel = cs.IrcChannel;
- m_port = cs.Port;
- m_user = cs.User;
+ m_ircChannel = cs.IrcChannel;
+ m_port = cs.Port;
+ m_user = cs.User;
if (m_watchdog == null)
{
// Non-differentiating
- ICCD_PERIOD = cs.ConnectDelay;
- PING_PERIOD = cs.PingDelay;
+ ICCD_PERIOD = cs.ConnectDelay;
+ PING_PERIOD = cs.PingDelay;
// Smaller values are not reasonable
@@ -235,7 +235,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
if (m_randomizeNick)
m_nick = m_baseNick + Util.RandomClass.Next(1, 99);
- else
+ else
m_nick = m_baseNick;
m_log.InfoFormat("[IRC-Connector-{0}]: Initialization complete", idn);
@@ -295,18 +295,22 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
m_nick, m_ircChannel, m_server));
m_writer.Flush();
}
- catch (Exception) {}
-
+ catch (Exception) { }
+
m_connected = false;
- try { m_writer.Close(); } catch (Exception) {}
- try { m_reader.Close(); } catch (Exception) {}
- try { m_stream.Close(); } catch (Exception) {}
- try { m_tcp.Close(); } catch (Exception) {}
+ try { m_writer.Close(); }
+ catch (Exception) { }
+ try { m_reader.Close(); }
+ catch (Exception) { }
+ try { m_stream.Close(); }
+ catch (Exception) { }
+ try { m_tcp.Close(); }
+ catch (Exception) { }
}
-
+
lock (m_connectors)
m_connectors.Remove(this);
@@ -347,15 +351,15 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
if (m_connected) return;
m_connected = true;
- m_pending = true;
- m_timeout = L_TIMEOUT;
+ m_pending = true;
+ m_timeout = L_TIMEOUT;
- m_tcp = new TcpClient(m_server, (int)m_port);
+ m_tcp = new TcpClient(m_server, (int)m_port);
m_stream = m_tcp.GetStream();
m_reader = new StreamReader(m_stream);
m_writer = new StreamWriter(m_stream);
- m_log.InfoFormat("[IRC-Connector-{0}]: Connected to {1}:{2}", idn, m_server, m_port);
+ m_log.InfoFormat("[IRC-Connector-{0}]: Connected to {1}:{2}", idn, m_server, m_port);
m_listener = new Thread(new ThreadStart(ListenerRun));
m_listener.Name = "IRCConnectorListenerThread";
@@ -418,12 +422,15 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
// the socket and it will disappear of its own accord, once this
// processing is completed.
- try { m_writer.Close(); } catch (Exception) {}
- try { m_reader.Close(); } catch (Exception) {}
- try { m_tcp.Close(); } catch (Exception) {}
+ try { m_writer.Close(); }
+ catch (Exception) { }
+ try { m_reader.Close(); }
+ catch (Exception) { }
+ try { m_tcp.Close(); }
+ catch (Exception) { }
m_connected = false;
- m_pending = false;
+ m_pending = false;
m_resetk++;
}
@@ -495,7 +502,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
{
string inputLine;
- int resetk = m_resetk;
+ int resetk = m_resetk;
try
{
@@ -555,7 +562,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
Reconnect();
}
- private Regex RE = new Regex(@":(?<nick>[\w-]*)!(?<user>\S*) PRIVMSG (?<channel>\S+) :(?<msg>.*)",
+ private Regex RE = new Regex(@":(?<nick>[\w-]*)!(?<user>\S*) PRIVMSG (?<channel>\S+) :(?<msg>.*)",
RegexOptions.Multiline);
private Dictionary<string, string> ExtractMsg(string input)
@@ -617,8 +624,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
string[] commArgs;
string c_server = m_server;
- string pfx = String.Empty;
- string cmd = String.Empty;
+ string pfx = String.Empty;
+ string cmd = String.Empty;
string parms = String.Empty;
// ":" indicates that a prefix is present
@@ -627,15 +634,15 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
// ":" indicates that the remainder of the
// line is a single parameter value.
- commArgs = command.Split(CS_SPACE,2);
+ commArgs = command.Split(CS_SPACE, 2);
if (commArgs[0].StartsWith(":"))
{
pfx = commArgs[0].Substring(1);
- commArgs = commArgs[1].Split(CS_SPACE,2);
+ commArgs = commArgs[1].Split(CS_SPACE, 2);
}
- cmd = commArgs[0];
+ cmd = commArgs[0];
parms = commArgs[1];
// m_log.DebugFormat("[IRC-Connector-{0}] prefix = <{1}> cmd = <{2}>", idn, pfx, cmd);
@@ -646,44 +653,44 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
// Messages 001-004 are always sent
// following signon.
- case "001" : // Welcome ...
- case "002" : // Server information
- case "003" : // Welcome ...
+ case "001": // Welcome ...
+ case "002": // Server information
+ case "003": // Welcome ...
break;
- case "004" : // Server information
+ case "004": // Server information
m_log.DebugFormat("[IRC-Connector-{0}] [{1}] parms = <{2}>", idn, cmd, parms);
commArgs = parms.Split(CS_SPACE);
c_server = commArgs[1];
m_server = c_server;
- version = commArgs[2];
- usermod = commArgs[3];
- chanmod = commArgs[4];
+ version = commArgs[2];
+ usermod = commArgs[3];
+ chanmod = commArgs[4];
break;
- case "005" : // Server information
+ case "005": // Server information
break;
- case "042" :
- case "250" :
- case "251" :
- case "252" :
- case "254" :
- case "255" :
- case "265" :
- case "266" :
- case "332" : // Subject
- case "333" : // Subject owner (?)
- case "353" : // Name list
- case "366" : // End-of-Name list marker
- case "372" : // MOTD body
- case "375" : // MOTD start
+ case "042":
+ case "250":
+ case "251":
+ case "252":
+ case "254":
+ case "255":
+ case "265":
+ case "266":
+ case "332": // Subject
+ case "333": // Subject owner (?)
+ case "353": // Name list
+ case "366": // End-of-Name list marker
+ case "372": // MOTD body
+ case "375": // MOTD start
// m_log.InfoFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]);
break;
- case "376" : // MOTD end
+ case "376": // MOTD end
// m_log.InfoFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]);
motd = true;
break;
- case "451" : // Not registered
+ case "451": // Not registered
break;
- case "433" : // Nickname in use
+ case "433": // Nickname in use
// Gen a new name
m_nick = m_baseNick + Util.RandomClass.Next(1, 99);
m_log.ErrorFormat("[IRC-Connector-{0}]: [{1}] IRC SERVER reports NicknameInUse, trying {2}", idn, cmd, m_nick);
@@ -695,29 +702,29 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
m_writer.WriteLine(String.Format("JOIN {0}", m_ircChannel));
m_writer.Flush();
break;
- case "479" : // Bad channel name, etc. This will never work, so disable the connection
- m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]);
+ case "479": // Bad channel name, etc. This will never work, so disable the connection
+ m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE, 2)[1]);
m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] Connector disabled", idn, cmd);
- m_enabled = false;
+ m_enabled = false;
m_connected = false;
- m_pending = false;
+ m_pending = false;
break;
- case "NOTICE" :
+ case "NOTICE":
// m_log.WarnFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]);
break;
- case "ERROR" :
- m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE,2)[1]);
+ case "ERROR":
+ m_log.ErrorFormat("[IRC-Connector-{0}] [{1}] {2}", idn, cmd, parms.Split(CS_SPACE, 2)[1]);
if (parms.Contains("reconnect too fast"))
ICCD_PERIOD++;
- m_pending = false;
+ m_pending = false;
Reconnect();
break;
- case "PING" :
+ case "PING":
m_log.DebugFormat("[IRC-Connector-{0}] [{1}] parms = <{2}>", idn, cmd, parms);
m_writer.WriteLine(String.Format("PONG {0}", parms));
m_writer.Flush();
break;
- case "PONG" :
+ case "PONG":
break;
case "JOIN":
if (m_pending)
@@ -748,19 +755,19 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
m_log.DebugFormat("[IRC-Connector-{0}] [{1}] parms = <{2}>", idn, cmd, parms);
eventIrcQuit(pfx, cmd, parms);
break;
- default :
+ default:
m_log.DebugFormat("[IRC-Connector-{0}] Command '{1}' ignored, parms = {2}", idn, cmd, parms);
break;
}
// m_log.DebugFormat("[IRC-Connector-{0}] prefix = <{1}> cmd = <{2}> complete", idn, pfx, cmd);
-
+
}
public void eventIrcJoin(string prefix, string command, string parms)
{
- string[] args = parms.Split(CS_SPACE,2);
- string IrcUser = prefix.Split('!')[0];
+ string[] args = parms.Split(CS_SPACE, 2);
+ string IrcUser = prefix.Split('!')[0];
string IrcChannel = args[0];
if (IrcChannel.StartsWith(":"))
@@ -772,8 +779,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
public void eventIrcPart(string prefix, string command, string parms)
{
- string[] args = parms.Split(CS_SPACE,2);
- string IrcUser = prefix.Split('!')[0];
+ string[] args = parms.Split(CS_SPACE, 2);
+ string IrcUser = prefix.Split('!')[0];
string IrcChannel = args[0];
m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCPart {1}:{2}", idn, m_server, m_ircChannel);
@@ -782,7 +789,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
public void eventIrcMode(string prefix, string command, string parms)
{
- string[] args = parms.Split(CS_SPACE,2);
+ string[] args = parms.Split(CS_SPACE, 2);
string UserMode = args[1];
m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCMode {1}:{2}", idn, m_server, m_ircChannel);
@@ -794,7 +801,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
public void eventIrcNickChange(string prefix, string command, string parms)
{
- string[] args = parms.Split(CS_SPACE,2);
+ string[] args = parms.Split(CS_SPACE, 2);
string UserOldNick = prefix.Split('!')[0];
string UserNewNick = args[0].Remove(0, 1);
@@ -804,11 +811,11 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
public void eventIrcKick(string prefix, string command, string parms)
{
- string[] args = parms.Split(CS_SPACE,3);
- string UserKicker = prefix.Split('!')[0];
- string IrcChannel = args[0];
- string UserKicked = args[1];
- string KickMessage = args[2];
+ string[] args = parms.Split(CS_SPACE, 3);
+ string UserKicker = prefix.Split('!')[0];
+ string IrcChannel = args[0];
+ string UserKicked = args[1];
+ string KickMessage = args[2];
m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCKick {1}:{2}", idn, m_server, m_ircChannel);
BroadcastSim(UserKicker, "/me kicks kicks {0} off {1} saying \"{2}\"", UserKicked, IrcChannel, KickMessage);
@@ -822,7 +829,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
public void eventIrcQuit(string prefix, string command, string parms)
{
- string IrcUser = prefix.Split('!')[0];
+ string IrcUser = prefix.Split('!')[0];
string QuitMessage = parms;
m_log.DebugFormat("[IRC-Connector-{0}] Event: IRCQuit {1}:{2}", idn, m_server, m_ircChannel);
@@ -842,65 +849,65 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
// m_log.InfoFormat("[IRC-Watchdog] Status scan, pdk = {0}, icc = {1}", _pdk_, _icc_);
- _pdk_ = (_pdk_+1)%PING_PERIOD; // cycle the ping trigger
+ _pdk_ = (_pdk_ + 1) % PING_PERIOD; // cycle the ping trigger
_icc_++; // increment the inter-consecutive-connect-delay counter
lock (m_connectors)
- foreach (IRCConnector connector in m_connectors)
- {
-
- // m_log.InfoFormat("[IRC-Watchdog] Scanning {0}", connector);
-
- if (connector.Enabled)
+ foreach (IRCConnector connector in m_connectors)
{
- if (!connector.Connected)
+
+ // m_log.InfoFormat("[IRC-Watchdog] Scanning {0}", connector);
+
+ if (connector.Enabled)
{
- try
- {
- // m_log.DebugFormat("[IRC-Watchdog] Connecting {1}:{2}", connector.idn, connector.m_server, connector.m_ircChannel);
- connector.Connect();
- }
- catch (Exception e)
- {
- m_log.ErrorFormat("[IRC-Watchdog] Exception on connector {0}: {1} ", connector.idn, e.Message);
- }
- }
- else
- {
-
- if (connector.m_pending)
- {
- if (connector.m_timeout == 0)
- {
- m_log.ErrorFormat("[IRC-Watchdog] Login timed-out for connector {0}, reconnecting", connector.idn);
- connector.Reconnect();
- }
- else
- connector.m_timeout--;
- }
-
- // Being marked connected is not enough to ping. Socket establishment can sometimes take a long
- // time, in which case the watch dog might try to ping the server before the socket has been
- // set up, with nasty side-effects.
-
- else if (_pdk_ == 0)
+ if (!connector.Connected)
{
try
{
- connector.m_writer.WriteLine(String.Format("PING :{0}", connector.m_server));
- connector.m_writer.Flush();
+ // m_log.DebugFormat("[IRC-Watchdog] Connecting {1}:{2}", connector.idn, connector.m_server, connector.m_ircChannel);
+ connector.Connect();
}
catch (Exception e)
{
- m_log.ErrorFormat("[IRC-PingRun] Exception on connector {0}: {1} ", connector.idn, e.Message);
- m_log.Debug(e);
- connector.Reconnect();
+ m_log.ErrorFormat("[IRC-Watchdog] Exception on connector {0}: {1} ", connector.idn, e.Message);
}
}
+ else
+ {
+ if (connector.m_pending)
+ {
+ if (connector.m_timeout == 0)
+ {
+ m_log.ErrorFormat("[IRC-Watchdog] Login timed-out for connector {0}, reconnecting", connector.idn);
+ connector.Reconnect();
+ }
+ else
+ connector.m_timeout--;
+ }
+
+ // Being marked connected is not enough to ping. Socket establishment can sometimes take a long
+ // time, in which case the watch dog might try to ping the server before the socket has been
+ // set up, with nasty side-effects.
+
+ else if (_pdk_ == 0)
+ {
+ try
+ {
+ connector.m_writer.WriteLine(String.Format("PING :{0}", connector.m_server));
+ connector.m_writer.Flush();
+ }
+ catch (Exception e)
+ {
+ m_log.ErrorFormat("[IRC-PingRun] Exception on connector {0}: {1} ", connector.idn, e.Message);
+ m_log.Debug(e);
+ connector.Reconnect();
+ }
+ }
+
+ }
}
}
- }
// m_log.InfoFormat("[IRC-Watchdog] Status scan completed");
diff --git a/OpenSim/Region/OptionalModules/Avatar/Chat/RegionState.cs b/OpenSim/Region/OptionalModules/Avatar/Chat/RegionState.cs
index 53b103e8ca..d4fe5e0cde 100644
--- a/OpenSim/Region/OptionalModules/Avatar/Chat/RegionState.cs
+++ b/OpenSim/Region/OptionalModules/Avatar/Chat/RegionState.cs
@@ -41,49 +41,71 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
internal class RegionState
{
-
private static readonly ILog m_log =
LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private static readonly OpenMetaverse.Vector3 CenterOfRegion = new OpenMetaverse.Vector3(((int)Constants.RegionSize * 0.5f), ((int)Constants.RegionSize * 0.5f), 20);
- private const int DEBUG_CHANNEL = 2147483647;
+ private const int DEBUG_CHANNEL = 2147483647;
- private static int _idk_ = 0;
+ private static int _idk_ = 0;
// Runtime variables; these values are assigned when the
// IrcState is created and remain constant thereafter.
- internal string Region = String.Empty;
- internal string Host = String.Empty;
- internal string LocX = String.Empty;
- internal string LocY = String.Empty;
- internal string IDK = String.Empty;
+ internal string Region = String.Empty;
+ internal string Host = String.Empty;
+ internal string LocX = String.Empty;
+ internal string LocY = String.Empty;
+ internal string IDK = String.Empty;
// System values - used only be the IRC classes themselves
- internal ChannelState cs = null; // associated IRC configuration
- internal Scene scene = null; // associated scene
- internal IConfig config = null; // configuration file reference
- internal bool enabled = true;
-
+ internal ChannelState cs = null; // associated IRC configuration
+ internal Scene scene = null; // associated scene
+ internal IConfig config = null; // configuration file reference
+ internal bool enabled = true;
+
+ //AgentAlert
+ internal bool showAlert = false;
+ internal string alertMessage = String.Empty;
+ internal IDialogModule dialogModule = null;
+
// This list is used to keep track of who is here, and by
// implication, who is not.
- internal List<IClientAPI> clients = new List<IClientAPI>();
+ internal List<IClientAPI> clients = new List<IClientAPI>();
// Setup runtime variable values
public RegionState(Scene p_scene, IConfig p_config)
{
-
- scene = p_scene;
+ scene = p_scene;
config = p_config;
Region = scene.RegionInfo.RegionName;
- Host = scene.RegionInfo.ExternalHostName;
- LocX = Convert.ToString(scene.RegionInfo.RegionLocX);
- LocY = Convert.ToString(scene.RegionInfo.RegionLocY);
- IDK = Convert.ToString(_idk_++);
+ Host = scene.RegionInfo.ExternalHostName;
+ LocX = Convert.ToString(scene.RegionInfo.RegionLocX);
+ LocY = Convert.ToString(scene.RegionInfo.RegionLocY);
+ IDK = Convert.ToString(_idk_++);
+
+ showAlert = config.GetBoolean("alert_show", false);
+ string alertServerInfo = String.Empty;
+
+ if (showAlert)
+ {
+ bool showAlertServerInfo = config.GetBoolean("alert_show_serverinfo", true);
+
+ if (showAlertServerInfo)
+ alertServerInfo = String.Format("\nServer: {0}\nPort: {1}\nChannel: {2}\n\n",
+ config.GetString("server", ""), config.GetString("port", ""), config.GetString("channel", ""));
+
+ string alertPreMessage = config.GetString("alert_msg_pre", "This region is linked to Irc.");
+ string alertPostMessage = config.GetString("alert_msg_post", "Everything you say in public chat can be listened.");
+
+ alertMessage = String.Format("{0}\n{1}{2}", alertPreMessage, alertServerInfo, alertPostMessage);
+
+ dialogModule = scene.RequestModuleInterface<IDialogModule>();
+ }
// OpenChannel conditionally establishes a connection to the
// IRC server. The request will either succeed, or it will
@@ -93,9 +115,9 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
// Connect channel to world events
- scene.EventManager.OnChatFromWorld += OnSimChat;
+ scene.EventManager.OnChatFromWorld += OnSimChat;
scene.EventManager.OnChatFromClient += OnSimChat;
- scene.EventManager.OnMakeRootAgent += OnMakeRootAgent;
+ scene.EventManager.OnMakeRootAgent += OnMakeRootAgent;
scene.EventManager.OnMakeChildAgent += OnMakeChildAgent;
m_log.InfoFormat("[IRC-Region {0}] Initialization complete", Region);
@@ -106,8 +128,8 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
~RegionState()
{
- if (cs != null)
- cs.RemoveRegion(this);
+ if (cs != null)
+ cs.RemoveRegion(this);
}
// Called by PostInitialize after all regions have been created
@@ -138,7 +160,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
{
if (clients.Contains(client))
{
- if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting))
+ if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting))
{
m_log.InfoFormat("[IRC-Region {0}]: {1} has left", Region, client.Name);
//Check if this person is excluded from IRC
@@ -147,7 +169,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
cs.irc.PrivMsg(cs.NoticeMessageFormat, cs.irc.Nick, Region, String.Format("{0} has left", client.Name));
}
}
- client.OnLogout -= OnClientLoggedOut;
+ client.OnLogout -= OnClientLoggedOut;
client.OnConnectionClosed -= OnClientLoggedOut;
clients.Remove(client);
}
@@ -171,13 +193,13 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
{
if (clients.Contains(client))
{
- if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting))
+ if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting))
{
string clientName = String.Format("{0} {1}", presence.Firstname, presence.Lastname);
m_log.DebugFormat("[IRC-Region {0}] {1} has left", Region, clientName);
cs.irc.PrivMsg(cs.NoticeMessageFormat, cs.irc.Nick, Region, String.Format("{0} has left", clientName));
}
- client.OnLogout -= OnClientLoggedOut;
+ client.OnLogout -= OnClientLoggedOut;
client.OnConnectionClosed -= OnClientLoggedOut;
clients.Remove(client);
}
@@ -195,14 +217,13 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
private void OnMakeRootAgent(ScenePresence presence)
{
-
IClientAPI client = presence.ControllingClient;
try
{
if (!clients.Contains(client))
{
- client.OnLogout += OnClientLoggedOut;
+ client.OnLogout += OnClientLoggedOut;
client.OnConnectionClosed += OnClientLoggedOut;
clients.Add(client);
if (enabled && (cs.irc.Enabled) && (cs.irc.Connected) && (cs.ClientReporting))
@@ -216,17 +237,18 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
}
}
}
+
+ if (dialogModule != null && showAlert)
+ dialogModule.SendAlertToUser(client, alertMessage, true);
}
catch (Exception ex)
{
m_log.ErrorFormat("[IRC-Region {0}]: MakeRootAgent exception: {1}", Region, ex.Message);
m_log.Debug(ex);
}
-
}
// This handler detects chat events int he virtual world.
-
public void OnSimChat(Object sender, OSChatMessage msg)
{
@@ -317,14 +339,14 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
// that evident.
default:
- m_log.DebugFormat("[IRC-Region {0}] Forwarding unrecognized command to IRC : {1}",
+ m_log.DebugFormat("[IRC-Region {0}] Forwarding unrecognized command to IRC : {1}",
Region, msg.Message);
cs.irc.Send(msg.Message);
break;
}
}
catch (Exception ex)
- {
+ {
m_log.WarnFormat("[IRC-Region {0}] error processing in-world command channel input: {1}",
Region, ex.Message);
m_log.Debug(ex);
@@ -366,7 +388,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
m_log.DebugFormat("[IRC-Region {0}] heard on channel {1} : {2}", Region, msg.Channel, msg.Message);
- if (null != avatar && cs.RelayChat && (msg.Channel == 0 || msg.Channel == DEBUG_CHANNEL))
+ if (null != avatar && cs.RelayChat && (msg.Channel == 0 || msg.Channel == DEBUG_CHANNEL))
{
string txt = msg.Message;
if (txt.StartsWith("/me "))
@@ -376,13 +398,13 @@ namespace OpenSim.Region.OptionalModules.Avatar.Chat
return;
}
- if (null == avatar && cs.RelayPrivateChannels && null != cs.AccessPassword &&
+ if (null == avatar && cs.RelayPrivateChannels && null != cs.AccessPassword &&
msg.Channel == cs.RelayChannelOut)
{
Match m = cs.AccessPasswordRegex.Match(msg.Message);
if (null != m)
{
- m_log.DebugFormat("[IRC] relaying message from {0}: {1}", m.Groups["avatar"].ToString(),
+ m_log.DebugFormat("[IRC] relaying message from {0}: {1}", m.Groups["avatar"].ToString(),
m.Groups["message"].ToString());
cs.irc.PrivMsg(cs.PrivateMessageFormat, m.Groups["avatar"].ToString(),
scene.RegionInfo.RegionName, m.Groups["message"].ToString());
diff --git a/bin/OpenSimDefaults.ini b/bin/OpenSimDefaults.ini
index 45c3d401c9..54b88b4875 100644
--- a/bin/OpenSimDefaults.ini
+++ b/bin/OpenSimDefaults.ini
@@ -1109,6 +1109,17 @@
;exclude_list=User 1,User 2,User 3
+ ;;Shows modal alertbox for entering agent on IRC enabled regions
+ ;;
+ ;; Enable Alert, default = false
+ ;alert_show = false
+ ;;
+ ;; Show IRC serverinfo, default = true
+ ;alert_show_serverinfo = true
+ ;;
+ ;alert_msg_pre = "This region is linked to Irc."
+ ;alert_msg_post = "Everything you say in public chat can be listened."
+
; The following settings control the progression of daytime
; in the Sim. The defaults are the same as the commented out settings
From 10de5d81697c645d10d5aab605f89daba85b654b Mon Sep 17 00:00:00 2001
From: teravus <teravus@gmail.com>
Date: Sun, 20 Jan 2013 08:03:17 -0500
Subject: [PATCH 16/36] * Allow unsafe code with BulletSim
---
prebuild.xml | 2 ++
1 file changed, 2 insertions(+)
diff --git a/prebuild.xml b/prebuild.xml
index abf8f364d7..bb9b7d6de4 100644
--- a/prebuild.xml
+++ b/prebuild.xml
@@ -1727,11 +1727,13 @@
<Configuration name="Debug">
<Options>
<OutputPath>../../../../bin/Physics/</OutputPath>
+ <AllowUnsafe>true</AllowUnsafe>
</Options>
</Configuration>
<Configuration name="Release">
<Options>
<OutputPath>../../../../bin/Physics/</OutputPath>
+ <AllowUnsafe>true</AllowUnsafe>
</Options>
</Configuration>
From 82b954b2125acf3c3647422fbbe543e96b6d4e91 Mon Sep 17 00:00:00 2001
From: teravus <teravus@gmail.com>
Date: Sun, 20 Jan 2013 08:06:15 -0500
Subject: [PATCH 17/36] * Tweak the BulletSimN API a bit.
---
.../Region/Physics/BulletSNPlugin/BSScene.cs | 8 +++---
.../Physics/BulletSNPlugin/BulletSimAPI.cs | 27 ++++++++++---------
2 files changed, 18 insertions(+), 17 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs
index 1a7c34b4ff..4fc3e2a55c 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs
@@ -106,11 +106,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
// Pinned memory used to pass step information between managed and unmanaged
internal int m_maxCollisionsPerFrame;
- private List<BulletXNA.CollisionDesc> m_collisionArray;
+ private BulletXNA.CollisionDesc[] m_collisionArray;
//private GCHandle m_collisionArrayPinnedHandle;
internal int m_maxUpdatesPerFrame;
- private List<BulletXNA.EntityProperties> m_updateArray;
+ private BulletXNA.EntityProperties[] m_updateArray;
//private GCHandle m_updateArrayPinnedHandle;
@@ -201,9 +201,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
GetInitialParameterValues(config);
// allocate more pinned memory close to the above in an attempt to get the memory all together
- m_collisionArray = new List<BulletXNA.CollisionDesc>();
+ m_collisionArray = new BulletXNA.CollisionDesc[0];
//m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
- m_updateArray = new List<BulletXNA.EntityProperties>();
+ m_updateArray = new BulletXNA.EntityProperties[0];
//m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
// Enable very detailed logging.
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
index 93643c9f50..ba969058bc 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
@@ -894,7 +894,7 @@ static class BulletSimAPI {
return capsuleShapeZ;
}
- public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray, int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray, object mDebugLogCallbackHandle)
+ public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref BulletXNA.CollisionDesc[] collisionArray, int mMaxUpdatesPerFrame, ref BulletXNA.EntityProperties[] updateArray, object mDebugLogCallbackHandle)
{
CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
@@ -1436,14 +1436,14 @@ static class BulletSimAPI {
}
- internal static int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc>colliders)
+ internal static int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out BulletXNA.EntityProperties[] updatedEntities, out int collidersCount, out BulletXNA.CollisionDesc[] colliders)
{
int epic = PhysicsStepint2(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
out collidersCount, out colliders);
return epic;
}
- private static int PhysicsStepint2(object pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc> colliders)
+ private static int PhysicsStepint2(object pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out BulletXNA.EntityProperties[] updatedEntities, out int collidersCount, out BulletXNA.CollisionDesc[] colliders)
{
int numSimSteps = 0;
@@ -1462,16 +1462,16 @@ static class BulletSimAPI {
numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
int updates = 0;
- updatedEntityCount = world.UpdatedObjects.Count;
- updatedEntities = new List<BulletXNA.EntityProperties>(world.UpdatedObjects);
- updatedEntityCount = updatedEntities.Count;
- world.UpdatedObjects.Clear();
+ updatedEntityCount = world.UpdatedObjects.Length;
+ updatedEntities = (world.UpdatedObjects);
+ updatedEntityCount = updatedEntities.Length;
+ //world.UpdatedObjects = ;
- collidersCount = world.UpdatedCollisions.Count;
- colliders = new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions);
+ collidersCount = world.UpdatedCollisions.Length;
+ colliders = (world.UpdatedCollisions);
- world.UpdatedCollisions.Clear();
+ world.UpdatedCollisions = new BulletXNA.CollisionDesc[0];
m_collisionsThisFrame = 0;
int numManifolds = world.GetDispatcher().GetNumManifolds();
for (int j = 0; j < numManifolds; j++)
@@ -1501,10 +1501,10 @@ static class BulletSimAPI {
else
{
//if (updatedEntities is null)
- updatedEntities = new List<BulletXNA.EntityProperties>();
+ updatedEntities = new BulletXNA.EntityProperties[0];
updatedEntityCount = 0;
//if (colliders is null)
- colliders = new List<BulletXNA.CollisionDesc>();
+ colliders = new BulletXNA.CollisionDesc[0];
collidersCount = 0;
}
return numSimSteps;
@@ -1538,7 +1538,8 @@ static class BulletSimAPI {
point = contact,
normal = contactNormal
};
- world.UpdatedCollisions.Add(cDesc);
+ if (world.LastCollisionDesc < world.UpdatedCollisions.Length)
+ world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc);
m_collisionsThisFrame++;
From 6a75949323dedce1e141190cc90175f04afdad0a Mon Sep 17 00:00:00 2001
From: teravus <teravus@gmail.com>
Date: Sun, 20 Jan 2013 08:07:49 -0500
Subject: [PATCH 18/36] * Dumping BulletSimNPlugin in favor of combining the
API
---
.../Physics/BulletSNPlugin/BSCharacter.cs | 814 ---------
.../Physics/BulletSNPlugin/BSConstraint.cs | 135 --
.../BulletSNPlugin/BSConstraint6Dof.cs | 153 --
.../BulletSNPlugin/BSConstraintCollection.cs | 180 --
.../BulletSNPlugin/BSConstraintHinge.cs | 57 -
.../Physics/BulletSNPlugin/BSDynamics.cs | 1377 --------------
.../Physics/BulletSNPlugin/BSLinkset.cs | 329 ----
.../BulletSNPlugin/BSLinksetCompound.cs | 397 ----
.../BulletSNPlugin/BSLinksetConstraints.cs | 316 ----
.../Physics/BulletSNPlugin/BSMaterials.cs | 200 --
.../Region/Physics/BulletSNPlugin/BSMotors.cs | 347 ----
.../Region/Physics/BulletSNPlugin/BSParam.cs | 559 ------
.../Physics/BulletSNPlugin/BSPhysObject.cs | 346 ----
.../Region/Physics/BulletSNPlugin/BSPlugin.cs | 81 -
.../Region/Physics/BulletSNPlugin/BSPrim.cs | 1494 ---------------
.../Region/Physics/BulletSNPlugin/BSScene.cs | 957 ----------
.../BulletSNPlugin/BSShapeCollection.cs | 1015 -----------
.../Region/Physics/BulletSNPlugin/BSShapes.cs | 208 ---
.../BulletSNPlugin/BSTerrainHeightmap.cs | 175 --
.../BulletSNPlugin/BSTerrainManager.cs | 461 -----
.../Physics/BulletSNPlugin/BSTerrainMesh.cs | 267 ---
.../Physics/BulletSNPlugin/BulletSimAPI.cs | 1604 -----------------
.../Physics/BulletSNPlugin/BulletSimData.cs | 280 ---
23 files changed, 11752 deletions(-)
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
delete mode 100644 OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs
deleted file mode 100644
index d91c47f1a3..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs
+++ /dev/null
@@ -1,814 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.Reflection;
-using log4net;
-using OMV = OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public sealed class BSCharacter : BSPhysObject
-{
- private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
- private static readonly string LogHeader = "[BULLETS CHAR]";
-
- // private bool _stopped;
- private OMV.Vector3 _size;
- private bool _grabbed;
- private bool _selected;
- private OMV.Vector3 _position;
- private float _mass;
- private float _avatarDensity;
- private float _avatarVolume;
- private OMV.Vector3 _force;
- private OMV.Vector3 _velocity;
- private OMV.Vector3 _torque;
- private float _collisionScore;
- private OMV.Vector3 _acceleration;
- private OMV.Quaternion _orientation;
- private int _physicsActorType;
- private bool _isPhysical;
- private bool _flying;
- private bool _setAlwaysRun;
- private bool _throttleUpdates;
- private bool _isColliding;
- private bool _collidingObj;
- private bool _floatOnWater;
- private OMV.Vector3 _rotationalVelocity;
- private bool _kinematic;
- private float _buoyancy;
-
- // The friction and velocity of the avatar is modified depending on whether walking or not.
- private OMV.Vector3 _appliedVelocity; // the last velocity applied to the avatar
- private float _currentFriction; // the friction currently being used (changed by setVelocity).
-
- private BSVMotor _velocityMotor;
-
- private OMV.Vector3 _PIDTarget;
- private bool _usePID;
- private float _PIDTau;
- private bool _useHoverPID;
- private float _PIDHoverHeight;
- private PIDHoverType _PIDHoverType;
- private float _PIDHoverTao;
-
- public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
- : base(parent_scene, localID, avName, "BSCharacter")
- {
- _physicsActorType = (int)ActorTypes.Agent;
- _position = pos;
-
- // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
- // replace with the default values.
- _size = size;
- if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
- if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
-
- // A motor to control the acceleration and deceleration of the avatar movement.
- // _velocityMotor = new BSVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
- // _velocityMotor = new BSPIDVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
- // Infinite decay and timescale values so motor only changes current to target values.
- _velocityMotor = new BSVMotor("BSCharacter.Velocity",
- 0.2f, // time scale
- BSMotor.Infinite, // decay time scale
- BSMotor.InfiniteVector, // friction timescale
- 1f // efficiency
- );
- _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
-
- _flying = isFlying;
- _orientation = OMV.Quaternion.Identity;
- _velocity = OMV.Vector3.Zero;
- _appliedVelocity = OMV.Vector3.Zero;
- _buoyancy = ComputeBuoyancyFromFlying(isFlying);
- _currentFriction = BSParam.AvatarStandingFriction;
- _avatarDensity = BSParam.AvatarDensity;
-
- // The dimensions of the avatar capsule are kept in the scale.
- // Physics creates a unit capsule which is scaled by the physics engine.
- ComputeAvatarScale(_size);
- // set _avatarVolume and _mass based on capsule size, _density and Scale
- ComputeAvatarVolumeAndMass();
- DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
- LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
-
- // do actual creation in taint time
- PhysicsScene.TaintedObject("BSCharacter.create", delegate()
- {
- DetailLog("{0},BSCharacter.create,taint", LocalID);
- // New body and shape into PhysBody and PhysShape
- PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this);
-
- SetPhysicalProperties();
- });
- return;
- }
-
- // called when this character is being destroyed and the resources should be released
- public override void Destroy()
- {
- base.Destroy();
-
- DetailLog("{0},BSCharacter.Destroy", LocalID);
- PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
- {
- PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
- PhysBody.Clear();
- PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
- PhysShape.Clear();
- });
- }
-
- private void SetPhysicalProperties()
- {
- BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
-
- ZeroMotion(true);
- ForcePosition = _position;
- // Set the velocity and compute the proper friction
- ForceVelocity = _velocity;
- // Setting the current and target in the motor will cause it to start computing any deceleration.
- _velocityMotor.Reset();
- _velocityMotor.SetCurrent(_velocity);
- _velocityMotor.SetTarget(_velocity);
- _velocityMotor.Enabled = false;
-
- // This will enable or disable the flying buoyancy of the avatar.
- // Needs to be reset especially when an avatar is recreated after crossing a region boundry.
- Flying = _flying;
-
- BulletSimAPI.SetRestitution2(PhysBody.ptr, BSParam.AvatarRestitution);
- BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
- BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
- BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
- if (BSParam.CcdMotionThreshold > 0f)
- {
- BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
- BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
- }
-
- UpdatePhysicalMassProperties(RawMass, false);
-
- // Make so capsule does not fall over
- BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero);
-
- BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
-
- BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr, _position, _orientation);
-
- // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
- BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_DEACTIVATION);
- BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
-
- // Do this after the object has been added to the world
- PhysBody.collisionType = CollisionType.Avatar;
- PhysBody.ApplyCollisionMask();
- }
-
- public override void RequestPhysicsterseUpdate()
- {
- base.RequestPhysicsterseUpdate();
- }
- // No one calls this method so I don't know what it could possibly mean
- public override bool Stopped { get { return false; } }
-
- public override OMV.Vector3 Size {
- get
- {
- // Avatar capsule size is kept in the scale parameter.
- return _size;
- }
-
- set {
- // When an avatar's size is set, only the height is changed.
- _size = value;
- // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
- // replace with the default values.
- if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
- if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
-
- ComputeAvatarScale(_size);
- ComputeAvatarVolumeAndMass();
- DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
- LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
-
- PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
- {
- if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
- {
- BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
- UpdatePhysicalMassProperties(RawMass, true);
- // Make sure this change appears as a property update event
- BulletSimAPI.PushUpdate2(PhysBody.ptr);
- }
- });
-
- }
- }
-
- public override PrimitiveBaseShape Shape
- {
- set { BaseShape = value; }
- }
- // I want the physics engine to make an avatar capsule
- public override BSPhysicsShapeType PreferredPhysicalShape
- {
- get {return BSPhysicsShapeType.SHAPE_CAPSULE; }
- }
-
- public override bool Grabbed {
- set { _grabbed = value; }
- }
- public override bool Selected {
- set { _selected = value; }
- }
- public override void CrossingFailure() { return; }
- public override void link(PhysicsActor obj) { return; }
- public override void delink() { return; }
-
- // Set motion values to zero.
- // Do it to the properties so the values get set in the physics engine.
- // Push the setting of the values to the viewer.
- // Called at taint time!
- public override void ZeroMotion(bool inTaintTime)
- {
- _velocity = OMV.Vector3.Zero;
- _acceleration = OMV.Vector3.Zero;
- _rotationalVelocity = OMV.Vector3.Zero;
-
- // Zero some other properties directly into the physics engine
- PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- BulletSimAPI.ClearAllForces2(PhysBody.ptr);
- });
- }
- public override void ZeroAngularMotion(bool inTaintTime)
- {
- _rotationalVelocity = OMV.Vector3.Zero;
-
- PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- {
- BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
- BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
- // The next also get rid of applied linear force but the linear velocity is untouched.
- BulletSimAPI.ClearForces2(PhysBody.ptr);
- }
- });
- }
-
-
- public override void LockAngularMotion(OMV.Vector3 axis) { return; }
-
- public override OMV.Vector3 RawPosition
- {
- get { return _position; }
- set { _position = value; }
- }
- public override OMV.Vector3 Position {
- get {
- // Don't refetch the position because this function is called a zillion times
- // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
- return _position;
- }
- set {
- _position = value;
- PositionSanityCheck();
-
- PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
- {
- DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
- if (PhysBody.HasPhysicalBody)
- BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
- });
- }
- }
- public override OMV.Vector3 ForcePosition {
- get {
- _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
- return _position;
- }
- set {
- _position = value;
- PositionSanityCheck();
- BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
- }
- }
-
-
- // Check that the current position is sane and, if not, modify the position to make it so.
- // Check for being below terrain or on water.
- // Returns 'true' of the position was made sane by some action.
- private bool PositionSanityCheck()
- {
- bool ret = false;
-
- // TODO: check for out of bounds
- if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position))
- {
- // The character is out of the known/simulated area.
- // Upper levels of code will handle the transition to other areas so, for
- // the time, we just ignore the position.
- return ret;
- }
-
- // If below the ground, move the avatar up
- float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
- if (Position.Z < terrainHeight)
- {
- DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
- _position.Z = terrainHeight + 2.0f;
- ret = true;
- }
- if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
- {
- float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
- if (Position.Z < waterHeight)
- {
- _position.Z = waterHeight;
- ret = true;
- }
- }
-
- return ret;
- }
-
- // A version of the sanity check that also makes sure a new position value is
- // pushed back to the physics engine. This routine would be used by anyone
- // who is not already pushing the value.
- private bool PositionSanityCheck(bool inTaintTime)
- {
- bool ret = false;
- if (PositionSanityCheck())
- {
- // The new position value must be pushed into the physics engine but we can't
- // just assign to "Position" because of potential call loops.
- PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
- {
- DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
- if (PhysBody.HasPhysicalBody)
- BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
- });
- ret = true;
- }
- return ret;
- }
-
- public override float Mass { get { return _mass; } }
-
- // used when we only want this prim's mass and not the linkset thing
- public override float RawMass {
- get {return _mass; }
- }
- public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
- {
- OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
- BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
- }
-
- public override OMV.Vector3 Force {
- get { return _force; }
- set {
- _force = value;
- // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
- PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
- {
- DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
- if (PhysBody.HasPhysicalBody)
- BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
- });
- }
- }
-
- public bool TouchingGround()
- {
- bool ret = BulletSimAPI.RayCastGround(PhysicsScene.World.ptr,_position,_size.Z * 0.55f, PhysBody.ptr);
- return ret;
- }
- // Avatars don't do vehicles
- public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } }
- public override void VehicleFloatParam(int param, float value) { }
- public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
- public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
- 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 OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
- public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
-
- // Sets the target in the motor. This starts the changing of the avatar's velocity.
- public override OMV.Vector3 TargetVelocity
- {
- get
- {
- return _velocityMotor.TargetValue;
- }
- set
- {
- DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value);
-
- if (!_flying)
- if ((value.Z >= 0.0001f) || (value.Z <= -0.0001f) || _velocity.Z < -0.0001f)
- if (!TouchingGround())
- value.Z = _velocity.Z;
- if (_setAlwaysRun)
- value *= 1.3f;
-
- OMV.Vector3 targetVel = value;
-
- PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
- {
-
- _velocityMotor.Reset();
- _velocityMotor.SetTarget(targetVel);
- _velocityMotor.SetCurrent(_velocity);
- _velocityMotor.Enabled = true;
-
- // Make sure a property update happens next step so the motor gets incorporated.
- BulletSimAPI.PushUpdate2(PhysBody.ptr);
- });
- }
- }
- // Directly setting velocity means this is what the user really wants now.
- public override OMV.Vector3 Velocity {
- get { return _velocity; }
- set {
- _velocity = value;
- // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
- PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
- {
- _velocityMotor.Reset();
- _velocityMotor.SetCurrent(_velocity);
- _velocityMotor.SetTarget(_velocity);
- // Even though the motor is initialized, it's not used and the velocity goes straight into the avatar.
- _velocityMotor.Enabled = false;
-
- DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
- ForceVelocity = _velocity;
- });
- }
- }
- public override OMV.Vector3 ForceVelocity {
- get { return _velocity; }
- set {
- PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
-
- _velocity = value;
- // Depending on whether the avatar is moving or not, change the friction
- // to keep the avatar from slipping around
- if (_velocity.Length() == 0)
- {
- if (_currentFriction != BSParam.AvatarStandingFriction)
- {
- _currentFriction = BSParam.AvatarStandingFriction;
- if (PhysBody.HasPhysicalBody)
- BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
- }
- }
- else
- {
- if (_currentFriction != BSParam.AvatarFriction)
- {
- _currentFriction = BSParam.AvatarFriction;
- if (PhysBody.HasPhysicalBody)
- BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
- }
- }
- // Remember the set velocity so we can suppress the reduction by friction, ...
- _appliedVelocity = value;
-
- BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
- BulletSimAPI.Activate2(PhysBody.ptr, true);
- }
- }
- public override OMV.Vector3 Torque {
- get { return _torque; }
- set { _torque = value;
- }
- }
- public override float CollisionScore {
- get { return _collisionScore; }
- set { _collisionScore = value;
- }
- }
- public override OMV.Vector3 Acceleration {
- get { return _acceleration; }
- set { _acceleration = value; }
- }
- public override OMV.Quaternion RawOrientation
- {
- get { return _orientation; }
- set { _orientation = value; }
- }
- public override OMV.Quaternion Orientation {
- get { return _orientation; }
- set {
- _orientation = value;
- // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
- PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- {
- // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
- BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
- }
- });
- }
- }
- // Go directly to Bullet to get/set the value.
- public override OMV.Quaternion ForceOrientation
- {
- get
- {
- _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
- return _orientation;
- }
- set
- {
- _orientation = value;
- BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
- }
- }
- public override int PhysicsActorType {
- get { return _physicsActorType; }
- set { _physicsActorType = value;
- }
- }
- public override bool IsPhysical {
- get { return _isPhysical; }
- set { _isPhysical = value;
- }
- }
- public override bool IsSolid {
- get { return true; }
- }
- public override bool IsStatic {
- get { return false; }
- }
- public override bool Flying {
- get { return _flying; }
- set {
- _flying = value;
-
- // simulate flying by changing the effect of gravity
- Buoyancy = ComputeBuoyancyFromFlying(_flying);
- }
- }
- // Flying is implimented by changing the avatar's buoyancy.
- // Would this be done better with a vehicle type?
- private float ComputeBuoyancyFromFlying(bool ifFlying) {
- return ifFlying ? 1f : 0f;
- }
- public override bool
- SetAlwaysRun {
- get { return _setAlwaysRun; }
- set { _setAlwaysRun = value; }
- }
- public override bool ThrottleUpdates {
- get { return _throttleUpdates; }
- set { _throttleUpdates = value; }
- }
- public override bool IsColliding {
- get { return (CollidingStep == PhysicsScene.SimulationStep); }
- set { _isColliding = value; }
- }
- public override bool CollidingGround {
- get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
- set { CollidingGround = value; }
- }
- public override bool CollidingObj {
- get { return _collidingObj; }
- set { _collidingObj = value; }
- }
- public override bool FloatOnWater {
- set {
- _floatOnWater = value;
- PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- {
- if (_floatOnWater)
- CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
- else
- CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
- }
- });
- }
- }
- public override OMV.Vector3 RotationalVelocity {
- get { return _rotationalVelocity; }
- set { _rotationalVelocity = value; }
- }
- public override OMV.Vector3 ForceRotationalVelocity {
- get { return _rotationalVelocity; }
- set { _rotationalVelocity = value; }
- }
- public override bool Kinematic {
- get { return _kinematic; }
- set { _kinematic = value; }
- }
- // neg=fall quickly, 0=1g, 1=0g, pos=float up
- public override float Buoyancy {
- get { return _buoyancy; }
- set { _buoyancy = value;
- PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
- {
- DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
- ForceBuoyancy = _buoyancy;
- });
- }
- }
- public override float ForceBuoyancy {
- get { return _buoyancy; }
- set {
- PhysicsScene.AssertInTaintTime("BSCharacter.ForceBuoyancy");
-
- _buoyancy = value;
- DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
- // Buoyancy is faked by changing the gravity applied to the object
- float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
- if (PhysBody.HasPhysicalBody)
- BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
- }
- }
-
- // Used for MoveTo
- public override OMV.Vector3 PIDTarget {
- set { _PIDTarget = value; }
- }
- public override bool PIDActive {
- set { _usePID = value; }
- }
- public override float PIDTau {
- set { _PIDTau = value; }
- }
-
- // Used for llSetHoverHeight and maybe vehicle height
- // Hover Height will override MoveTo target's Z
- public override bool PIDHoverActive {
- set { _useHoverPID = value; }
- }
- public override float PIDHoverHeight {
- set { _PIDHoverHeight = value; }
- }
- public override PIDHoverType PIDHoverType {
- set { _PIDHoverType = value; }
- }
- public override float PIDHoverTau {
- set { _PIDHoverTao = value; }
- }
-
- // For RotLookAt
- public override OMV.Quaternion APIDTarget { set { return; } }
- public override bool APIDActive { set { return; } }
- public override float APIDStrength { set { return; } }
- public override float APIDDamping { set { return; } }
-
- public override void AddForce(OMV.Vector3 force, bool pushforce) {
- if (force.IsFinite())
- {
- _force.X += force.X;
- _force.Y += force.Y;
- _force.Z += force.Z;
- // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
- PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
- {
- DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
- if (PhysBody.HasPhysicalBody)
- BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
- });
- }
- else
- {
- m_log.ErrorFormat("{0}: Got a NaN force applied to a Character", LogHeader);
- }
- //m_lastUpdateSent = false;
- }
-
- public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
- }
- public override void SetMomentum(OMV.Vector3 momentum) {
- }
-
- private void ComputeAvatarScale(OMV.Vector3 size)
- {
- OMV.Vector3 newScale = size;
- // newScale.X = PhysicsScene.Params.avatarCapsuleWidth;
- // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth;
-
- // From the total height, remove the capsule half spheres that are at each end
- // The 1.15f came from ODE. Not sure what this factors in.
- // newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y);
-
- // The total scale height is the central cylindar plus the caps on the two ends.
- newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f);
-
- // Convert diameters to radii and height to half height -- the way Bullet expects it.
- Scale = newScale / 2f;
- }
-
- // set _avatarVolume and _mass based on capsule size, _density and Scale
- private void ComputeAvatarVolumeAndMass()
- {
- _avatarVolume = (float)(
- Math.PI
- * Scale.X
- * Scale.Y // the area of capsule cylinder
- * Scale.Z // times height of capsule cylinder
- + 1.33333333f
- * Math.PI
- * Scale.X
- * Math.Min(Scale.X, Scale.Y)
- * Scale.Y // plus the volume of the capsule end caps
- );
- _mass = _avatarDensity * _avatarVolume;
- }
-
- // The physics engine says that properties have updated. Update same and inform
- // the world that things have changed.
- public override void UpdateProperties(EntityProperties entprop)
- {
- _position = entprop.Position;
- _orientation = entprop.Rotation;
- _velocity = entprop.Velocity;
- _acceleration = entprop.Acceleration;
- _rotationalVelocity = entprop.RotationalVelocity;
-
- // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
- PositionSanityCheck(true);
-
- if (_velocityMotor.Enabled)
- {
- // TODO: Decide if the step parameters should be changed depending on the avatar's
- // state (flying, colliding, ...).
-
- OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep);
-
- // If falling, we keep the world's downward vector no matter what the other axis specify.
- if (!Flying && !IsColliding)
- {
- stepVelocity.Z = entprop.Velocity.Z;
- DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
- }
-
- // If the user has said stop and we've stopped applying velocity correction,
- // the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer.
- if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero)
- {
- ZeroMotion(true);
- stepVelocity = OMV.Vector3.Zero;
- _velocityMotor.Enabled = false;
- DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);
- }
-
- _velocity = stepVelocity;
- entprop.Velocity = _velocity;
- BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
- }
-
- // remember the current and last set values
- LastEntityProperties = CurrentEntityProperties;
- CurrentEntityProperties = entprop;
-
- // Tell the linkset about value changes
- Linkset.UpdateProperties(this, true);
-
- // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
- // base.RequestPhysicsterseUpdate();
-
- DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
- LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs
deleted file mode 100644
index f1bed3987b..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs
+++ /dev/null
@@ -1,135 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-public abstract class BSConstraint : IDisposable
-{
- private static string LogHeader = "[BULLETSIM CONSTRAINT]";
-
- protected BulletWorld m_world;
- protected BulletBody m_body1;
- protected BulletBody m_body2;
- protected BulletConstraint m_constraint;
- protected bool m_enabled = false;
-
- public BulletBody Body1 { get { return m_body1; } }
- public BulletBody Body2 { get { return m_body2; } }
- public BulletConstraint Constraint { get { return m_constraint; } }
- public abstract ConstraintType Type { get; }
- public bool IsEnabled { get { return m_enabled; } }
-
- public BSConstraint()
- {
- }
-
- public virtual void Dispose()
- {
- if (m_enabled)
- {
- m_enabled = false;
- if (m_constraint.HasPhysicalConstraint)
- {
- bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
- m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
- BSScene.DetailLogZero,
- m_body1.ID, m_body1.ptr.ToString(),
- m_body2.ID, m_body2.ptr.ToString(),
- success);
- m_constraint.Clear();
- }
- }
- }
-
- public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
- {
- bool ret = false;
- if (m_enabled)
- ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high);
- return ret;
- }
-
- public virtual bool SetAngularLimits(Vector3 low, Vector3 high)
- {
- bool ret = false;
- if (m_enabled)
- ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high);
- return ret;
- }
-
- public virtual bool SetSolverIterations(float cnt)
- {
- bool ret = false;
- if (m_enabled)
- {
- BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt);
- ret = true;
- }
- return ret;
- }
-
- public virtual bool CalculateTransforms()
- {
- bool ret = false;
- if (m_enabled)
- {
- // Recompute the internal transforms
- BulletSimAPI.CalculateTransforms2(m_constraint.ptr);
- ret = true;
- }
- return ret;
- }
-
- // Reset this constraint making sure it has all its internal structures
- // recomputed and is enabled and ready to go.
- public virtual bool RecomputeConstraintVariables(float mass)
- {
- bool ret = false;
- if (m_enabled)
- {
- ret = CalculateTransforms();
- if (ret)
- {
- // Setting an object's mass to zero (making it static like when it's selected)
- // automatically disables the constraints.
- // If the link is enabled, be sure to set the constraint itself to enabled.
- BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, BSParam.NumericBool(true));
- }
- else
- {
- m_world.physicsScene.Logger.ErrorFormat("{0} CalculateTransforms failed. A={1}, B={2}", LogHeader, Body1.ID, Body2.ID);
- }
- }
- return ret;
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs
deleted file mode 100644
index d1e3f550a1..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs
+++ /dev/null
@@ -1,153 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-public sealed class BSConstraint6Dof : BSConstraint
-{
- private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]";
-
- public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }
-
- // Create a btGeneric6DofConstraint
- public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 frame1, Quaternion frame1rot,
- Vector3 frame2, Quaternion frame2rot,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
- {
- m_world = world;
- m_body1 = obj1;
- m_body2 = obj2;
- m_constraint = new BulletConstraint(
- BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
- frame1, frame1rot,
- frame2, frame2rot,
- useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
- m_enabled = true;
- world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
- BSScene.DetailLogZero, world.worldID,
- obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
- }
-
- public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 joinPoint,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
- {
- m_world = world;
- m_body1 = obj1;
- m_body2 = obj2;
- if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
- {
- world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
- BSScene.DetailLogZero, world.worldID,
- obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
- world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
- LogHeader, world.worldID, obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
- m_enabled = false;
- }
- else
- {
- m_constraint = new BulletConstraint(
- BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
- joinPoint,
- useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
- world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
- BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString(),
- obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
- if (!m_constraint.HasPhysicalConstraint)
- {
- world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
- LogHeader, obj1.ID, obj2.ID);
- m_enabled = false;
- }
- else
- {
- m_enabled = true;
- }
- }
- }
-
- public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
- {
- bool ret = false;
- if (m_enabled)
- {
- BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
- ret = true;
- }
- return ret;
- }
-
- public bool SetCFMAndERP(float cfm, float erp)
- {
- bool ret = false;
- if (m_enabled)
- {
- BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
- BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
- BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
- ret = true;
- }
- return ret;
- }
-
- public bool UseFrameOffset(bool useOffset)
- {
- bool ret = false;
- float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
- if (m_enabled)
- ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff);
- return ret;
- }
-
- public bool TranslationalLimitMotor(bool enable, float targetVelocity, float maxMotorForce)
- {
- bool ret = false;
- float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
- if (m_enabled)
- {
- ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce);
- m_world.physicsScene.DetailLog("{0},BS6DOFConstraint,TransLimitMotor,enable={1},vel={2},maxForce={3}",
- BSScene.DetailLogZero, enable, targetVelocity, maxMotorForce);
- }
- return ret;
- }
-
- public bool SetBreakingImpulseThreshold(float threshold)
- {
- bool ret = false;
- if (m_enabled)
- ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
- return ret;
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs
deleted file mode 100644
index 87d1e44d30..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs
+++ /dev/null
@@ -1,180 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.Text;
-using log4net;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-public sealed class BSConstraintCollection : IDisposable
-{
- // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
- // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]";
-
- delegate bool ConstraintAction(BSConstraint constrain);
-
- private List<BSConstraint> m_constraints;
- private BulletWorld m_world;
-
- public BSConstraintCollection(BulletWorld world)
- {
- m_world = world;
- m_constraints = new List<BSConstraint>();
- }
-
- public void Dispose()
- {
- this.Clear();
- }
-
- public void Clear()
- {
- lock (m_constraints)
- {
- foreach (BSConstraint cons in m_constraints)
- {
- cons.Dispose();
- }
- m_constraints.Clear();
- }
- }
-
- public bool AddConstraint(BSConstraint cons)
- {
- lock (m_constraints)
- {
- // There is only one constraint between any bodies. Remove any old just to make sure.
- RemoveAndDestroyConstraint(cons.Body1, cons.Body2);
-
- m_constraints.Add(cons);
- }
-
- return true;
- }
-
- // Get the constraint between two bodies. There can be only one.
- // Return 'true' if a constraint was found.
- public bool TryGetConstraint(BulletBody body1, BulletBody body2, out BSConstraint returnConstraint)
- {
- bool found = false;
- BSConstraint foundConstraint = null;
-
- uint lookingID1 = body1.ID;
- uint lookingID2 = body2.ID;
- lock (m_constraints)
- {
- foreach (BSConstraint constrain in m_constraints)
- {
- if ((constrain.Body1.ID == lookingID1 && constrain.Body2.ID == lookingID2)
- || (constrain.Body1.ID == lookingID2 && constrain.Body2.ID == lookingID1))
- {
- foundConstraint = constrain;
- found = true;
- break;
- }
- }
- }
- returnConstraint = foundConstraint;
- return found;
- }
-
- // Remove any constraint between the passed bodies.
- // Presumed there is only one such constraint possible.
- // Return 'true' if a constraint was found and destroyed.
- public bool RemoveAndDestroyConstraint(BulletBody body1, BulletBody body2)
- {
- bool ret = false;
- lock (m_constraints)
- {
- BSConstraint constrain;
- if (this.TryGetConstraint(body1, body2, out constrain))
- {
- // remove the constraint from our collection
- RemoveAndDestroyConstraint(constrain);
- ret = true;
- }
- }
-
- return ret;
- }
-
- // The constraint MUST exist in the collection
- public bool RemoveAndDestroyConstraint(BSConstraint constrain)
- {
- lock (m_constraints)
- {
- // remove the constraint from our collection
- m_constraints.Remove(constrain);
- }
- // tell the engine that all its structures need to be freed
- constrain.Dispose();
- // we destroyed something
- return true;
- }
-
- // Remove all constraints that reference the passed body.
- // Return 'true' if any constraints were destroyed.
- public bool RemoveAndDestroyConstraint(BulletBody body1)
- {
- List<BSConstraint> toRemove = new List<BSConstraint>();
- uint lookingID = body1.ID;
- lock (m_constraints)
- {
- foreach (BSConstraint constrain in m_constraints)
- {
- if (constrain.Body1.ID == lookingID || constrain.Body2.ID == lookingID)
- {
- toRemove.Add(constrain);
- }
- }
- foreach (BSConstraint constrain in toRemove)
- {
- m_constraints.Remove(constrain);
- constrain.Dispose();
- }
- }
- return (toRemove.Count > 0);
- }
-
- public bool RecalculateAllConstraints()
- {
- bool ret = false;
- lock (m_constraints)
- {
- foreach (BSConstraint constrain in m_constraints)
- {
- constrain.CalculateTransforms();
- ret = true;
- }
- }
- return ret;
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs
deleted file mode 100644
index fbd1bc0c21..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs
+++ /dev/null
@@ -1,57 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.Text;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-public sealed class BSConstraintHinge : BSConstraint
-{
- public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } }
-
- public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2,
- Vector3 pivotInA, Vector3 pivotInB,
- Vector3 axisInA, Vector3 axisInB,
- bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
- {
- m_world = world;
- m_body1 = obj1;
- m_body2 = obj2;
- m_constraint = new BulletConstraint(
- BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
- pivotInA, pivotInB,
- axisInA, axisInB,
- useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
- m_enabled = true;
- }
-
-}
-
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs
deleted file mode 100644
index 415ad4f34f..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs
+++ /dev/null
@@ -1,1377 +0,0 @@
-/*
- * 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.
- *
- * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
- * are Copyright (c) 2009 Linden Research, Inc and are used under their license
- * of Creative Commons Attribution-Share Alike 3.0
- * (http://creativecommons.org/licenses/by-sa/3.0/).
- */
-
-using System;
-using System.Collections.Generic;
-using System.Reflection;
-using System.Runtime.InteropServices;
-using OpenMetaverse;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
- public sealed class BSDynamics
- {
- private static string LogHeader = "[BULLETSIM VEHICLE]";
-
- private BSScene PhysicsScene { get; set; }
- // the prim this dynamic controller belongs to
- private BSPrim Prim { get; set; }
-
- // mass of the vehicle fetched each time we're calles
- private float m_vehicleMass;
-
- // Vehicle properties
- public Vehicle Type { get; set; }
-
- // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
- private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
- // HOVER_TERRAIN_ONLY
- // HOVER_GLOBAL_HEIGHT
- // NO_DEFLECTION_UP
- // HOVER_WATER_ONLY
- // HOVER_UP_ONLY
- // LIMIT_MOTOR_UP
- // LIMIT_ROLL_ONLY
- private Vector3 m_BlockingEndPoint = Vector3.Zero;
- private Quaternion m_RollreferenceFrame = Quaternion.Identity;
- private Quaternion m_referenceFrame = Quaternion.Identity;
-
- // Linear properties
- private BSVMotor m_linearMotor = new BSVMotor("LinearMotor");
- private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
- private Vector3 m_linearMotorOffset = Vector3.Zero; // the point of force can be offset from the center
- private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL
- private Vector3 m_linearFrictionTimescale = Vector3.Zero;
- private float m_linearMotorDecayTimescale = 0;
- private float m_linearMotorTimescale = 0;
- private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
- private Vector3 m_lastPositionVector = Vector3.Zero;
- // private bool m_LinearMotorSetLastFrame = false;
- // private Vector3 m_linearMotorOffset = Vector3.Zero;
-
- //Angular properties
- private BSVMotor m_angularMotor = new BSVMotor("AngularMotor");
- private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
- // private int m_angularMotorApply = 0; // application frame counter
- private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity
- private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate
- private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
- private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
- private Vector3 m_lastAngularVelocity = Vector3.Zero;
- private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
-
- //Deflection properties
- private BSVMotor m_angularDeflectionMotor = new BSVMotor("AngularDeflection");
- private float m_angularDeflectionEfficiency = 0;
- private float m_angularDeflectionTimescale = 0;
- private float m_linearDeflectionEfficiency = 0;
- private float m_linearDeflectionTimescale = 0;
-
- //Banking properties
- private float m_bankingEfficiency = 0;
- private float m_bankingMix = 0;
- private float m_bankingTimescale = 0;
-
- //Hover and Buoyancy properties
- private BSVMotor m_hoverMotor = new BSVMotor("Hover");
- private float m_VhoverHeight = 0f;
- private float m_VhoverEfficiency = 0f;
- private float m_VhoverTimescale = 0f;
- private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
- private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
- // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
- // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
- // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
-
- //Attractor properties
- private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction");
- private float m_verticalAttractionEfficiency = 1.0f; // damped
- private float m_verticalAttractionCutoff = 500f; // per the documentation
- // Timescale > cutoff means no vert attractor.
- private float m_verticalAttractionTimescale = 510f;
-
- // Just some recomputed constants:
- static readonly float PIOverFour = ((float)Math.PI) / 4f;
- static readonly float PIOverTwo = ((float)Math.PI) / 2f;
-
- public BSDynamics(BSScene myScene, BSPrim myPrim)
- {
- PhysicsScene = myScene;
- Prim = myPrim;
- Type = Vehicle.TYPE_NONE;
- }
-
- // Return 'true' if this vehicle is doing vehicle things
- public bool IsActive
- {
- get { return Type != Vehicle.TYPE_NONE && Prim.IsPhysical; }
- }
-
- internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
- {
- VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
- switch (pParam)
- {
- case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
- m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f);
- break;
- case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
- m_angularDeflectionTimescale = Math.Max(pValue, 0.01f);
- break;
- case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
- m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
- m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale;
- break;
- case Vehicle.ANGULAR_MOTOR_TIMESCALE:
- m_angularMotorTimescale = Math.Max(pValue, 0.01f);
- m_angularMotor.TimeScale = m_angularMotorTimescale;
- break;
- case Vehicle.BANKING_EFFICIENCY:
- m_bankingEfficiency = ClampInRange(-1f, pValue, 1f);
- break;
- case Vehicle.BANKING_MIX:
- m_bankingMix = Math.Max(pValue, 0.01f);
- break;
- case Vehicle.BANKING_TIMESCALE:
- m_bankingTimescale = Math.Max(pValue, 0.01f);
- break;
- case Vehicle.BUOYANCY:
- m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f);
- break;
- case Vehicle.HOVER_EFFICIENCY:
- m_VhoverEfficiency = ClampInRange(0f, pValue, 1f);
- break;
- case Vehicle.HOVER_HEIGHT:
- m_VhoverHeight = pValue;
- break;
- case Vehicle.HOVER_TIMESCALE:
- m_VhoverTimescale = Math.Max(pValue, 0.01f);
- break;
- case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
- m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f);
- break;
- case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
- m_linearDeflectionTimescale = Math.Max(pValue, 0.01f);
- break;
- case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
- m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
- m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale;
- break;
- case Vehicle.LINEAR_MOTOR_TIMESCALE:
- m_linearMotorTimescale = Math.Max(pValue, 0.01f);
- m_linearMotor.TimeScale = m_linearMotorTimescale;
- break;
- case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
- m_verticalAttractionEfficiency = ClampInRange(0.1f, pValue, 1f);
- m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency;
- break;
- case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
- m_verticalAttractionTimescale = Math.Max(pValue, 0.01f);
- m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale;
- break;
-
- // These are vector properties but the engine lets you use a single float value to
- // set all of the components to the same value
- case Vehicle.ANGULAR_FRICTION_TIMESCALE:
- m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
- m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
- break;
- case Vehicle.ANGULAR_MOTOR_DIRECTION:
- m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
- m_angularMotor.SetTarget(m_angularMotorDirection);
- break;
- case Vehicle.LINEAR_FRICTION_TIMESCALE:
- m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
- m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
- break;
- case Vehicle.LINEAR_MOTOR_DIRECTION:
- m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
- m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
- m_linearMotor.SetTarget(m_linearMotorDirection);
- break;
- case Vehicle.LINEAR_MOTOR_OFFSET:
- m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
- break;
-
- }
- }//end ProcessFloatVehicleParam
-
- internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
- {
- VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
- switch (pParam)
- {
- case Vehicle.ANGULAR_FRICTION_TIMESCALE:
- m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
- m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
- break;
- case Vehicle.ANGULAR_MOTOR_DIRECTION:
- // Limit requested angular speed to 2 rps= 4 pi rads/sec
- pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f);
- pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f);
- pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f);
- m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
- m_angularMotor.SetTarget(m_angularMotorDirection);
- break;
- case Vehicle.LINEAR_FRICTION_TIMESCALE:
- m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
- m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
- break;
- case Vehicle.LINEAR_MOTOR_DIRECTION:
- m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
- m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
- m_linearMotor.SetTarget(m_linearMotorDirection);
- break;
- case Vehicle.LINEAR_MOTOR_OFFSET:
- m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
- break;
- case Vehicle.BLOCK_EXIT:
- m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
- break;
- }
- }//end ProcessVectorVehicleParam
-
- internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
- {
- VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
- switch (pParam)
- {
- case Vehicle.REFERENCE_FRAME:
- m_referenceFrame = pValue;
- break;
- case Vehicle.ROLL_FRAME:
- m_RollreferenceFrame = pValue;
- break;
- }
- }//end ProcessRotationVehicleParam
-
- internal void ProcessVehicleFlags(int pParam, bool remove)
- {
- VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove);
- VehicleFlag parm = (VehicleFlag)pParam;
- if (pParam == -1)
- m_flags = (VehicleFlag)0;
- else
- {
- if (remove)
- m_flags &= ~parm;
- else
- m_flags |= parm;
- }
- }
-
- internal void ProcessTypeChange(Vehicle pType)
- {
- VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType);
- // Set Defaults For Type
- Type = pType;
- switch (pType)
- {
- case Vehicle.TYPE_NONE:
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 0;
- m_linearMotorDecayTimescale = 0;
- m_linearFrictionTimescale = new Vector3(0, 0, 0);
-
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorDecayTimescale = 0;
- m_angularMotorTimescale = 0;
- m_angularFrictionTimescale = new Vector3(0, 0, 0);
-
- m_VhoverHeight = 0;
- m_VhoverEfficiency = 0;
- m_VhoverTimescale = 0;
- m_VehicleBuoyancy = 0;
-
- m_linearDeflectionEfficiency = 1;
- m_linearDeflectionTimescale = 1;
-
- m_angularDeflectionEfficiency = 0;
- m_angularDeflectionTimescale = 1000;
-
- m_verticalAttractionEfficiency = 0;
- m_verticalAttractionTimescale = 0;
-
- m_bankingEfficiency = 0;
- m_bankingTimescale = 1000;
- m_bankingMix = 1;
-
- m_referenceFrame = Quaternion.Identity;
- m_flags = (VehicleFlag)0;
-
- break;
-
- case Vehicle.TYPE_SLED:
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 1000;
- m_linearMotorDecayTimescale = 120;
- m_linearFrictionTimescale = new Vector3(30, 1, 1000);
-
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 1000;
- m_angularMotorDecayTimescale = 120;
- m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
-
- m_VhoverHeight = 0;
- m_VhoverEfficiency = 10; // TODO: this looks wrong!!
- m_VhoverTimescale = 10;
- m_VehicleBuoyancy = 0;
-
- m_linearDeflectionEfficiency = 1;
- m_linearDeflectionTimescale = 1;
-
- m_angularDeflectionEfficiency = 1;
- m_angularDeflectionTimescale = 1000;
-
- m_verticalAttractionEfficiency = 0;
- m_verticalAttractionTimescale = 0;
-
- m_bankingEfficiency = 0;
- m_bankingTimescale = 10;
- m_bankingMix = 1;
-
- m_referenceFrame = Quaternion.Identity;
- m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
- | VehicleFlag.HOVER_TERRAIN_ONLY
- | VehicleFlag.HOVER_GLOBAL_HEIGHT
- | VehicleFlag.HOVER_UP_ONLY);
- m_flags |= (VehicleFlag.NO_DEFLECTION_UP
- | VehicleFlag.LIMIT_ROLL_ONLY
- | VehicleFlag.LIMIT_MOTOR_UP);
-
- break;
- case Vehicle.TYPE_CAR:
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 1;
- m_linearMotorDecayTimescale = 60;
- m_linearFrictionTimescale = new Vector3(100, 2, 1000);
-
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 1;
- m_angularMotorDecayTimescale = 0.8f;
- m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
-
- m_VhoverHeight = 0;
- m_VhoverEfficiency = 0;
- m_VhoverTimescale = 1000;
- m_VehicleBuoyancy = 0;
-
- m_linearDeflectionEfficiency = 1;
- m_linearDeflectionTimescale = 2;
-
- m_angularDeflectionEfficiency = 0;
- m_angularDeflectionTimescale = 10;
-
- m_verticalAttractionEfficiency = 1f;
- m_verticalAttractionTimescale = 10f;
-
- m_bankingEfficiency = -0.2f;
- m_bankingMix = 1;
- m_bankingTimescale = 1;
-
- m_referenceFrame = Quaternion.Identity;
- m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
- | VehicleFlag.HOVER_TERRAIN_ONLY
- | VehicleFlag.HOVER_GLOBAL_HEIGHT);
- m_flags |= (VehicleFlag.NO_DEFLECTION_UP
- | VehicleFlag.LIMIT_ROLL_ONLY
- | VehicleFlag.LIMIT_MOTOR_UP
- | VehicleFlag.HOVER_UP_ONLY);
- break;
- case Vehicle.TYPE_BOAT:
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 5;
- m_linearMotorDecayTimescale = 60;
- m_linearFrictionTimescale = new Vector3(10, 3, 2);
-
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 4;
- m_angularMotorDecayTimescale = 4;
- m_angularFrictionTimescale = new Vector3(10,10,10);
-
- m_VhoverHeight = 0;
- m_VhoverEfficiency = 0.5f;
- m_VhoverTimescale = 2;
- m_VehicleBuoyancy = 1;
-
- m_linearDeflectionEfficiency = 0.5f;
- m_linearDeflectionTimescale = 3;
-
- m_angularDeflectionEfficiency = 0.5f;
- m_angularDeflectionTimescale = 5;
-
- m_verticalAttractionEfficiency = 0.5f;
- m_verticalAttractionTimescale = 5f;
-
- m_bankingEfficiency = -0.3f;
- m_bankingMix = 0.8f;
- m_bankingTimescale = 1;
-
- m_referenceFrame = Quaternion.Identity;
- m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY
- | VehicleFlag.HOVER_GLOBAL_HEIGHT
- | VehicleFlag.LIMIT_ROLL_ONLY
- | VehicleFlag.HOVER_UP_ONLY);
- m_flags |= (VehicleFlag.NO_DEFLECTION_UP
- | VehicleFlag.LIMIT_MOTOR_UP
- | VehicleFlag.HOVER_WATER_ONLY);
- break;
- case Vehicle.TYPE_AIRPLANE:
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 2;
- m_linearMotorDecayTimescale = 60;
- m_linearFrictionTimescale = new Vector3(200, 10, 5);
-
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 4;
- m_angularMotorDecayTimescale = 4;
- m_angularFrictionTimescale = new Vector3(20, 20, 20);
-
- m_VhoverHeight = 0;
- m_VhoverEfficiency = 0.5f;
- m_VhoverTimescale = 1000;
- m_VehicleBuoyancy = 0;
-
- m_linearDeflectionEfficiency = 0.5f;
- m_linearDeflectionTimescale = 3;
-
- m_angularDeflectionEfficiency = 1;
- m_angularDeflectionTimescale = 2;
-
- m_verticalAttractionEfficiency = 0.9f;
- m_verticalAttractionTimescale = 2f;
-
- m_bankingEfficiency = 1;
- m_bankingMix = 0.7f;
- m_bankingTimescale = 2;
-
- m_referenceFrame = Quaternion.Identity;
- m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
- | VehicleFlag.HOVER_TERRAIN_ONLY
- | VehicleFlag.HOVER_GLOBAL_HEIGHT
- | VehicleFlag.HOVER_UP_ONLY
- | VehicleFlag.NO_DEFLECTION_UP
- | VehicleFlag.LIMIT_MOTOR_UP);
- m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
- break;
- case Vehicle.TYPE_BALLOON:
- m_linearMotorDirection = Vector3.Zero;
- m_linearMotorTimescale = 5;
- m_linearFrictionTimescale = new Vector3(5, 5, 5);
- m_linearMotorDecayTimescale = 60;
-
- m_angularMotorDirection = Vector3.Zero;
- m_angularMotorTimescale = 6;
- m_angularFrictionTimescale = new Vector3(10, 10, 10);
- m_angularMotorDecayTimescale = 10;
-
- m_VhoverHeight = 5;
- m_VhoverEfficiency = 0.8f;
- m_VhoverTimescale = 10;
- m_VehicleBuoyancy = 1;
-
- m_linearDeflectionEfficiency = 0;
- m_linearDeflectionTimescale = 5;
-
- m_angularDeflectionEfficiency = 0;
- m_angularDeflectionTimescale = 5;
-
- m_verticalAttractionEfficiency = 1f;
- m_verticalAttractionTimescale = 100f;
-
- m_bankingEfficiency = 0;
- m_bankingMix = 0.7f;
- m_bankingTimescale = 5;
-
- m_referenceFrame = Quaternion.Identity;
-
- m_referenceFrame = Quaternion.Identity;
- m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
- | VehicleFlag.HOVER_TERRAIN_ONLY
- | VehicleFlag.HOVER_UP_ONLY
- | VehicleFlag.NO_DEFLECTION_UP
- | VehicleFlag.LIMIT_MOTOR_UP);
- m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY
- | VehicleFlag.HOVER_GLOBAL_HEIGHT);
- break;
- }
-
- // Update any physical parameters based on this type.
- Refresh();
-
- m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale,
- m_linearMotorDecayTimescale, m_linearFrictionTimescale,
- 1f);
- m_linearMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
-
- m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale,
- m_angularMotorDecayTimescale, m_angularFrictionTimescale,
- 1f);
- m_angularMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
-
- m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale,
- BSMotor.Infinite, BSMotor.InfiniteVector,
- m_verticalAttractionEfficiency);
- // Z goes away and we keep X and Y
- m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f);
- m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
- }
-
- // Some of the properties of this prim may have changed.
- // Do any updating needed for a vehicle
- public void Refresh()
- {
- if (IsActive)
- {
- // Remember the mass so we don't have to fetch it every step
- m_vehicleMass = Prim.Linkset.LinksetMass;
-
- // Friction affects are handled by this vehicle code
- float friction = 0f;
- BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, friction);
-
- // Moderate angular movement introduced by Bullet.
- // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
- // Maybe compute linear and angular factor and damping from params.
- float angularDamping = BSParam.VehicleAngularDamping;
- BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping);
-
- // Vehicles report collision events so we know when it's on the ground
- BulletSimAPI.AddToCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS);
-
- Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass);
- BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
- BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr);
-
- Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy);
- BulletSimAPI.SetGravity2(Prim.PhysBody.ptr, grav);
-
- VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}",
- Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping);
- }
- else
- {
- BulletSimAPI.RemoveFromCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS);
- }
- }
-
- public bool RemoveBodyDependencies(BSPhysObject prim)
- {
- // If active, we need to add our properties back when the body is rebuilt.
- return IsActive;
- }
-
- public void RestoreBodyDependencies(BSPhysObject prim)
- {
- if (Prim.LocalID != prim.LocalID)
- {
- // The call should be on us by our prim. Error if not.
- PhysicsScene.Logger.ErrorFormat("{0} RestoreBodyDependencies: called by not my prim. passedLocalID={1}, vehiclePrimLocalID={2}",
- LogHeader, prim.LocalID, Prim.LocalID);
- return;
- }
- Refresh();
- }
-
- #region Known vehicle value functions
- // Vehicle physical parameters that we buffer from constant getting and setting.
- // The "m_known*" values are unknown until they are fetched and the m_knownHas flag is set.
- // Changing is remembered and the parameter is stored back into the physics engine only if updated.
- // This does two things: 1) saves continuious calls into unmanaged code, and
- // 2) signals when a physics property update must happen back to the simulator
- // to update values modified for the vehicle.
- private int m_knownChanged;
- private int m_knownHas;
- private float m_knownTerrainHeight;
- private float m_knownWaterLevel;
- private Vector3 m_knownPosition;
- private Vector3 m_knownVelocity;
- private Vector3 m_knownForce;
- private Quaternion m_knownOrientation;
- private Vector3 m_knownRotationalVelocity;
- private Vector3 m_knownRotationalForce;
- private Vector3 m_knownForwardVelocity; // vehicle relative forward speed
-
- private const int m_knownChangedPosition = 1 << 0;
- private const int m_knownChangedVelocity = 1 << 1;
- private const int m_knownChangedForce = 1 << 2;
- private const int m_knownChangedOrientation = 1 << 3;
- private const int m_knownChangedRotationalVelocity = 1 << 4;
- private const int m_knownChangedRotationalForce = 1 << 5;
- private const int m_knownChangedTerrainHeight = 1 << 6;
- private const int m_knownChangedWaterLevel = 1 << 7;
- private const int m_knownChangedForwardVelocity = 1 << 8;
-
- private void ForgetKnownVehicleProperties()
- {
- m_knownHas = 0;
- m_knownChanged = 0;
- }
- // Push all the changed values back into the physics engine
- private void PushKnownChanged()
- {
- if (m_knownChanged != 0)
- {
- if ((m_knownChanged & m_knownChangedPosition) != 0)
- Prim.ForcePosition = m_knownPosition;
-
- if ((m_knownChanged & m_knownChangedOrientation) != 0)
- Prim.ForceOrientation = m_knownOrientation;
-
- if ((m_knownChanged & m_knownChangedVelocity) != 0)
- {
- Prim.ForceVelocity = m_knownVelocity;
- BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity);
- }
-
- if ((m_knownChanged & m_knownChangedForce) != 0)
- Prim.AddForce((Vector3)m_knownForce, false, true);
-
- if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0)
- {
- Prim.ForceRotationalVelocity = m_knownRotationalVelocity;
- // Fake out Bullet by making it think the velocity is the same as last time.
- BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, m_knownRotationalVelocity);
- }
-
- if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
- Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true);
-
- // If we set one of the values (ie, the physics engine didn't do it) we must force
- // an UpdateProperties event to send the changes up to the simulator.
- BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr);
- }
- m_knownChanged = 0;
- }
-
- // Since the computation of terrain height can be a little involved, this routine
- // is used to fetch the height only once for each vehicle simulation step.
- private float GetTerrainHeight(Vector3 pos)
- {
- if ((m_knownHas & m_knownChangedTerrainHeight) == 0)
- {
- m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
- m_knownHas |= m_knownChangedTerrainHeight;
- }
- return m_knownTerrainHeight;
- }
-
- // Since the computation of water level can be a little involved, this routine
- // is used ot fetch the level only once for each vehicle simulation step.
- private float GetWaterLevel(Vector3 pos)
- {
- if ((m_knownHas & m_knownChangedWaterLevel) == 0)
- {
- m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos);
- m_knownHas |= m_knownChangedWaterLevel;
- }
- return (float)m_knownWaterLevel;
- }
-
- private Vector3 VehiclePosition
- {
- get
- {
- if ((m_knownHas & m_knownChangedPosition) == 0)
- {
- m_knownPosition = Prim.ForcePosition;
- m_knownHas |= m_knownChangedPosition;
- }
- return m_knownPosition;
- }
- set
- {
- m_knownPosition = value;
- m_knownChanged |= m_knownChangedPosition;
- m_knownHas |= m_knownChangedPosition;
- }
- }
-
- private Quaternion VehicleOrientation
- {
- get
- {
- if ((m_knownHas & m_knownChangedOrientation) == 0)
- {
- m_knownOrientation = Prim.ForceOrientation;
- m_knownHas |= m_knownChangedOrientation;
- }
- return m_knownOrientation;
- }
- set
- {
- m_knownOrientation = value;
- m_knownChanged |= m_knownChangedOrientation;
- m_knownHas |= m_knownChangedOrientation;
- }
- }
-
- private Vector3 VehicleVelocity
- {
- get
- {
- if ((m_knownHas & m_knownChangedVelocity) == 0)
- {
- m_knownVelocity = Prim.ForceVelocity;
- m_knownHas |= m_knownChangedVelocity;
- }
- return (Vector3)m_knownVelocity;
- }
- set
- {
- m_knownVelocity = value;
- m_knownChanged |= m_knownChangedVelocity;
- m_knownHas |= m_knownChangedVelocity;
- }
- }
-
- private void VehicleAddForce(Vector3 aForce)
- {
- if ((m_knownHas & m_knownChangedForce) == 0)
- {
- m_knownForce = Vector3.Zero;
- }
- m_knownForce += aForce;
- m_knownChanged |= m_knownChangedForce;
- m_knownHas |= m_knownChangedForce;
- }
-
- private Vector3 VehicleRotationalVelocity
- {
- get
- {
- if ((m_knownHas & m_knownChangedRotationalVelocity) == 0)
- {
- m_knownRotationalVelocity = Prim.ForceRotationalVelocity;
- m_knownHas |= m_knownChangedRotationalVelocity;
- }
- return (Vector3)m_knownRotationalVelocity;
- }
- set
- {
- m_knownRotationalVelocity = value;
- m_knownChanged |= m_knownChangedRotationalVelocity;
- m_knownHas |= m_knownChangedRotationalVelocity;
- }
- }
- private void VehicleAddAngularForce(Vector3 aForce)
- {
- if ((m_knownHas & m_knownChangedRotationalForce) == 0)
- {
- m_knownRotationalForce = Vector3.Zero;
- }
- m_knownRotationalForce += aForce;
- m_knownChanged |= m_knownChangedRotationalForce;
- m_knownHas |= m_knownChangedRotationalForce;
- }
- // Vehicle relative forward velocity
- private Vector3 VehicleForwardVelocity
- {
- get
- {
- if ((m_knownHas & m_knownChangedForwardVelocity) == 0)
- {
- m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation));
- m_knownHas |= m_knownChangedForwardVelocity;
- }
- return m_knownForwardVelocity;
- }
- }
- private float VehicleForwardSpeed
- {
- get
- {
- return VehicleForwardVelocity.X;
- }
- }
-
- #endregion // Known vehicle value functions
-
- // One step of the vehicle properties for the next 'pTimestep' seconds.
- internal void Step(float pTimestep)
- {
- if (!IsActive) return;
-
- ForgetKnownVehicleProperties();
-
- MoveLinear(pTimestep);
- MoveAngular(pTimestep);
-
- LimitRotation(pTimestep);
-
- // remember the position so next step we can limit absolute movement effects
- m_lastPositionVector = VehiclePosition;
-
- // If we forced the changing of some vehicle parameters, update the values and
- // for the physics engine to note the changes so an UpdateProperties event will happen.
- PushKnownChanged();
-
- VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
- Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity);
- }
-
- // Apply the effect of the linear motor and other linear motions (like hover and float).
- private void MoveLinear(float pTimestep)
- {
- Vector3 linearMotorContribution = m_linearMotor.Step(pTimestep);
-
- // The movement computed in the linear motor is relative to the vehicle
- // coordinates. Rotate the movement to world coordinates.
- linearMotorContribution *= VehicleOrientation;
-
- // ==================================================================
- // Buoyancy: force to overcome gravity.
- // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
- // So, if zero, don't change anything (let gravity happen). If one, negate the effect of gravity.
- Vector3 buoyancyContribution = Prim.PhysicsScene.DefaultGravity * m_VehicleBuoyancy;
-
- Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep);
-
- Vector3 hoverContribution = ComputeLinearHover(pTimestep);
-
- ComputeLinearBlockingEndPoint(pTimestep);
-
- Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep);
-
- // ==================================================================
- Vector3 newVelocity = linearMotorContribution
- + terrainHeightContribution
- + hoverContribution
- + limitMotorUpContribution;
-
- Vector3 newForce = buoyancyContribution;
-
- // If not changing some axis, reduce out velocity
- if ((m_flags & (VehicleFlag.NO_X)) != 0)
- newVelocity.X = 0;
- if ((m_flags & (VehicleFlag.NO_Y)) != 0)
- newVelocity.Y = 0;
- if ((m_flags & (VehicleFlag.NO_Z)) != 0)
- newVelocity.Z = 0;
-
- // ==================================================================
- // Clamp high or low velocities
- float newVelocityLengthSq = newVelocity.LengthSquared();
- if (newVelocityLengthSq > 1000f)
- {
- newVelocity /= newVelocity.Length();
- newVelocity *= 1000f;
- }
- else if (newVelocityLengthSq < 0.001f)
- newVelocity = Vector3.Zero;
-
- // ==================================================================
- // Stuff new linear velocity into the vehicle.
- // Since the velocity is just being set, it is not scaled by pTimeStep. Bullet will do that for us.
- VehicleVelocity = newVelocity;
-
- // Other linear forces are applied as forces.
- Vector3 totalDownForce = newForce * m_vehicleMass;
- if (!totalDownForce.ApproxEquals(Vector3.Zero, 0.01f))
- {
- VehicleAddForce(totalDownForce);
- }
-
- VDetailLog("{0}, MoveLinear,done,newVel={1},totDown={2},IsColliding={3}",
- Prim.LocalID, newVelocity, totalDownForce, Prim.IsColliding);
- VDetailLog("{0}, MoveLinear,done,linContrib={1},terrContrib={2},hoverContrib={3},limitContrib={4},buoyContrib={5}",
- Prim.LocalID,
- linearMotorContribution, terrainHeightContribution, hoverContribution,
- limitMotorUpContribution, buoyancyContribution
- );
-
- } // end MoveLinear()
-
- public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep)
- {
- Vector3 ret = Vector3.Zero;
- // If below the terrain, move us above the ground a little.
- // TODO: Consider taking the rotated size of the object or possibly casting a ray.
- if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition))
- {
- // TODO: correct position by applying force rather than forcing position.
- Vector3 newPosition = VehiclePosition;
- newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f;
- VehiclePosition = newPosition;
- VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}",
- Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition);
- }
- return ret;
- }
-
- public Vector3 ComputeLinearHover(float pTimestep)
- {
- Vector3 ret = Vector3.Zero;
-
- // m_VhoverEfficiency: 0=bouncy, 1=totally damped
- // m_VhoverTimescale: time to achieve height
- if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
- {
- // We should hover, get the target height
- if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
- {
- m_VhoverTargetHeight = GetWaterLevel(VehiclePosition) + m_VhoverHeight;
- }
- if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
- {
- m_VhoverTargetHeight = GetTerrainHeight(VehiclePosition) + m_VhoverHeight;
- }
- if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
- {
- m_VhoverTargetHeight = m_VhoverHeight;
- }
-
- if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
- {
- // If body is already heigher, use its height as target height
- if (VehiclePosition.Z > m_VhoverTargetHeight)
- m_VhoverTargetHeight = VehiclePosition.Z;
- }
-
- if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
- {
- if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f)
- {
- Vector3 pos = VehiclePosition;
- pos.Z = m_VhoverTargetHeight;
- VehiclePosition = pos;
- }
- }
- else
- {
- // Error is positive if below the target and negative if above.
- float verticalError = m_VhoverTargetHeight - VehiclePosition.Z;
- float verticalCorrectionVelocity = verticalError / m_VhoverTimescale;
-
- // TODO: implement m_VhoverEfficiency correctly
- if (Math.Abs(verticalError) > m_VhoverEfficiency)
- {
- ret = new Vector3(0f, 0f, verticalCorrectionVelocity);
- }
- }
-
- VDetailLog("{0}, MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}",
- Prim.LocalID, VehiclePosition, ret, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight);
- }
-
- return ret;
- }
-
- public bool ComputeLinearBlockingEndPoint(float pTimestep)
- {
- bool changed = false;
-
- Vector3 pos = VehiclePosition;
- Vector3 posChange = pos - m_lastPositionVector;
- if (m_BlockingEndPoint != Vector3.Zero)
- {
- if (pos.X >= (m_BlockingEndPoint.X - (float)1))
- {
- pos.X -= posChange.X + 1;
- changed = true;
- }
- if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
- {
- pos.Y -= posChange.Y + 1;
- changed = true;
- }
- if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
- {
- pos.Z -= posChange.Z + 1;
- changed = true;
- }
- if (pos.X <= 0)
- {
- pos.X += posChange.X + 1;
- changed = true;
- }
- if (pos.Y <= 0)
- {
- pos.Y += posChange.Y + 1;
- changed = true;
- }
- if (changed)
- {
- VehiclePosition = pos;
- VDetailLog("{0}, MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
- Prim.LocalID, m_BlockingEndPoint, posChange, pos);
- }
- }
- return changed;
- }
-
- // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
- // Prevent ground vehicles from motoring into the sky. This flag has a subtle effect when
- // used with conjunction with banking: the strength of the banking will decay when the
- // vehicle no longer experiences collisions. The decay timescale is the same as
- // VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering
- // when they are in mid jump.
- // TODO: this code is wrong. Also, what should it do for boats (height from water)?
- // This is just using the ground and a general collision check. Should really be using
- // a downward raycast to find what is below.
- public Vector3 ComputeLinearMotorUp(float pTimestep)
- {
- Vector3 ret = Vector3.Zero;
- float distanceAboveGround = 0f;
-
- if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
- {
- float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
- distanceAboveGround = VehiclePosition.Z - targetHeight;
- // Not colliding if the vehicle is off the ground
- if (!Prim.IsColliding)
- {
- // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale);
- ret = new Vector3(0, 0, -distanceAboveGround);
- }
- // TODO: this calculation is wrong. From the description at
- // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce
- // has a decay factor. This says this force should
- // be computed with a motor.
- // TODO: add interaction with banking.
- }
- VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
- Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret);
- return ret;
- }
-
- // =======================================================================
- // =======================================================================
- // Apply the effect of the angular motor.
- // The 'contribution' is how much angular correction velocity each function wants.
- // All the contributions are added together and the resulting velocity is
- // set directly on the vehicle.
- private void MoveAngular(float pTimestep)
- {
- // The user wants this many radians per second angular change?
- Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
-
- // ==================================================================
- // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
- // This flag prevents linear deflection parallel to world z-axis. This is useful
- // for preventing ground vehicles with large linear deflection, like bumper cars,
- // from climbing their linear deflection into the sky.
- // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
- if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
- {
- angularMotorContribution.X = 0f;
- angularMotorContribution.Y = 0f;
- VDetailLog("{0}, MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
- }
-
- Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction();
-
- Vector3 deflectionContribution = ComputeAngularDeflection();
-
- Vector3 bankingContribution = ComputeAngularBanking();
-
- // ==================================================================
- m_lastVertAttractor = verticalAttractionContribution;
-
- m_lastAngularVelocity = angularMotorContribution
- + verticalAttractionContribution
- + deflectionContribution
- + bankingContribution;
-
- // ==================================================================
- // Apply the correction velocity.
- // TODO: Should this be applied as an angular force (torque)?
- if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
- {
- VehicleRotationalVelocity = m_lastAngularVelocity;
-
- VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}",
- Prim.LocalID,
- angularMotorContribution, verticalAttractionContribution,
- bankingContribution, deflectionContribution,
- m_lastAngularVelocity
- );
- }
- else
- {
- // The vehicle is not adding anything angular wise.
- VehicleRotationalVelocity = Vector3.Zero;
- VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID);
- }
-
- // ==================================================================
- //Offset section
- if (m_linearMotorOffset != Vector3.Zero)
- {
- //Offset of linear velocity doesn't change the linear velocity,
- // but causes a torque to be applied, for example...
- //
- // IIIII >>> IIIII
- // IIIII >>> IIIII
- // IIIII >>> IIIII
- // ^
- // | Applying a force at the arrow will cause the object to move forward, but also rotate
- //
- //
- // The torque created is the linear velocity crossed with the offset
-
- // TODO: this computation should be in the linear section
- // because that is where we know the impulse being applied.
- Vector3 torqueFromOffset = Vector3.Zero;
- // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse);
- if (float.IsNaN(torqueFromOffset.X))
- torqueFromOffset.X = 0;
- if (float.IsNaN(torqueFromOffset.Y))
- torqueFromOffset.Y = 0;
- if (float.IsNaN(torqueFromOffset.Z))
- torqueFromOffset.Z = 0;
-
- VehicleAddAngularForce(torqueFromOffset * m_vehicleMass);
- VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset);
- }
-
- }
- // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
- // Some vehicles, like boats, should always keep their up-side up. This can be done by
- // enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to
- // the world z-axis (a.k.a. "up"). To take advantage of this feature you would set the
- // VEHICLE_VERTICAL_ATTRACTION_TIMESCALE to control the period of the spring frequency,
- // and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An
- // efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an
- // efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay.
- public Vector3 ComputeAngularVerticalAttraction()
- {
- Vector3 ret = Vector3.Zero;
-
- // If vertical attaction timescale is reasonable
- if (m_verticalAttractionTimescale < m_verticalAttractionCutoff)
- {
- // Take a vector pointing up and convert it from world to vehicle relative coords.
- Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
-
- // If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
- // is now:
- // leaning to one side: rotated around the X axis with the Y value going
- // from zero (nearly straight up) to one (completely to the side)) or
- // leaning front-to-back: rotated around the Y axis with the value of X being between
- // zero and one.
- // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
-
- // Y error means needed rotation around X axis and visa versa.
- // Since the error goes from zero to one, the asin is the corresponding angle.
- ret.X = (float)Math.Asin(verticalError.Y);
- // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
- ret.Y = -(float)Math.Asin(verticalError.X);
-
- // If verticalError.Z is negative, the vehicle is upside down. Add additional push.
- if (verticalError.Z < 0f)
- {
- ret.X += PIOverFour;
- ret.Y += PIOverFour;
- }
-
- // 'ret' is now the necessary velocity to correct tilt in one second.
- // Correction happens over a number of seconds.
- Vector3 unscaledContrib = ret;
- ret /= m_verticalAttractionTimescale;
-
- VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}",
- Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, ret);
- }
- return ret;
- }
-
- // Return the angular correction to correct the direction the vehicle is pointing to be
- // the direction is should want to be pointing.
- // The vehicle is moving in some direction and correct its orientation to it is pointing
- // in that direction.
- // TODO: implement reference frame.
- public Vector3 ComputeAngularDeflection()
- {
- Vector3 ret = Vector3.Zero;
- return ret; // DEBUG DEBUG DEBUG
- // Disable angular deflection for the moment.
- // Since angularMotorUp and angularDeflection are computed independently, they will calculate
- // approximately the same X or Y correction. When added together (when contributions are combined)
- // this creates an over-correction and then wabbling as the target is overshot.
- // TODO: rethink how the different correction computations inter-relate.
-
- if (m_angularDeflectionEfficiency != 0)
- {
- // The direction the vehicle is moving
- Vector3 movingDirection = VehicleVelocity;
- movingDirection.Normalize();
-
- // The direction the vehicle is pointing
- Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
- pointingDirection.Normalize();
-
- // The difference between what is and what should be.
- Vector3 deflectionError = movingDirection - pointingDirection;
-
- // Don't try to correct very large errors (not our job)
- if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f;
- if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f;
- if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f;
-
- // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);
-
- // Scale the correction by recovery timescale and efficiency
- ret = (-deflectionError) * m_angularDeflectionEfficiency;
- ret /= m_angularDeflectionTimescale;
-
- VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
- Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret);
- VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}",
- Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale);
- }
- return ret;
- }
-
- // Return an angular change to rotate the vehicle around the Z axis when the vehicle
- // is tipped around the X axis.
- // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
- // The vertical attractor feature must be enabled in order for the banking behavior to
- // function. The way banking works is this: a rotation around the vehicle's roll-axis will
- // produce a angular velocity around the yaw-axis, causing the vehicle to turn. The magnitude
- // of the yaw effect will be proportional to the
- // VEHICLE_BANKING_EFFICIENCY, the angle of the roll rotation, and sometimes the vehicle's
- // velocity along its preferred axis of motion.
- // The VEHICLE_BANKING_EFFICIENCY can vary between -1 and +1. When it is positive then any
- // positive rotation (by the right-hand rule) about the roll-axis will effect a
- // (negative) torque around the yaw-axis, making it turn to the right--that is the
- // vehicle will lean into the turn, which is how real airplanes and motorcycle's work.
- // Negating the banking coefficient will make it so that the vehicle leans to the
- // outside of the turn (not very "physical" but might allow interesting vehicles so why not?).
- // The VEHICLE_BANKING_MIX is a fake (i.e. non-physical) parameter that is useful for making
- // banking vehicles do what you want rather than what the laws of physics allow.
- // For example, consider a real motorcycle...it must be moving forward in order for
- // it to turn while banking, however video-game motorcycles are often configured
- // to turn in place when at a dead stop--because they are often easier to control
- // that way using the limited interface of the keyboard or game controller. The
- // VEHICLE_BANKING_MIX enables combinations of both realistic and non-realistic
- // banking by functioning as a slider between a banking that is correspondingly
- // totally static (0.0) and totally dynamic (1.0). By "static" we mean that the
- // banking effect depends only on the vehicle's rotation about its roll-axis compared
- // to "dynamic" where the banking is also proportional to its velocity along its
- // roll-axis. Finding the best value of the "mixture" will probably require trial and error.
- // The time it takes for the banking behavior to defeat a preexisting angular velocity about the
- // world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to
- // bank quickly then give it a banking timescale of about a second or less, otherwise you can
- // make a sluggish vehicle by giving it a timescale of several seconds.
- public Vector3 ComputeAngularBanking()
- {
- Vector3 ret = Vector3.Zero;
-
- if (m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
- {
- // This works by rotating a unit vector to the orientation of the vehicle. The
- // roll (tilt) will be Y component of a tilting Z vector (zero for no tilt
- // up to one for full over).
- Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation;
-
- // Figure out the yaw value for this much roll.
- float turnComponent = rollComponents.Y * rollComponents.Y * m_bankingEfficiency;
- // Keep the sign
- if (rollComponents.Y < 0f)
- turnComponent = -turnComponent;
-
- // TODO: there must be a better computation of the banking force.
- float bankingTurnForce = turnComponent;
-
- // actual error = static turn error + dynamic turn error
- float mixedBankingError = bankingTurnForce * (1f - m_bankingMix) + bankingTurnForce * m_bankingMix * VehicleForwardSpeed;
- // TODO: the banking effect should not go to infinity but what to limit it to?
- mixedBankingError = ClampInRange(-20f, mixedBankingError, 20f);
-
- // Build the force vector to change rotation from what it is to what it should be
- ret.Z = -mixedBankingError;
-
- // Don't do it all at once.
- ret /= m_bankingTimescale;
-
- VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},turnComp={3},bankErr={4},mixedBankErr={5},ret={6}",
- Prim.LocalID, rollComponents, VehicleForwardSpeed, turnComponent, bankingTurnForce, mixedBankingError, ret);
- }
- return ret;
- }
-
- // This is from previous instantiations of XXXDynamics.cs.
- // Applies roll reference frame.
- // TODO: is this the right way to separate the code to do this operation?
- // Should this be in MoveAngular()?
- internal void LimitRotation(float timestep)
- {
- Quaternion rotq = VehicleOrientation;
- Quaternion m_rot = rotq;
- if (m_RollreferenceFrame != Quaternion.Identity)
- {
- if (rotq.X >= m_RollreferenceFrame.X)
- {
- m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2);
- }
- if (rotq.Y >= m_RollreferenceFrame.Y)
- {
- m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2);
- }
- if (rotq.X <= -m_RollreferenceFrame.X)
- {
- m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2);
- }
- if (rotq.Y <= -m_RollreferenceFrame.Y)
- {
- m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2);
- }
- }
- if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
- {
- m_rot.X = 0;
- m_rot.Y = 0;
- }
- if (rotq != m_rot)
- {
- VehicleOrientation = m_rot;
- VDetailLog("{0}, LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
- }
-
- }
-
- private float ClampInRange(float low, float val, float high)
- {
- return Math.Max(low, Math.Min(val, high));
- // return Utils.Clamp(val, low, high);
- }
-
- // Invoke the detailed logger and output something if it's enabled.
- private void VDetailLog(string msg, params Object[] args)
- {
- if (Prim.PhysicsScene.VehicleLoggingEnabled)
- Prim.PhysicsScene.DetailLog(msg, args);
- }
- }
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs
deleted file mode 100644
index 845a1136c5..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs
+++ /dev/null
@@ -1,329 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.Text;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-// A BSPrim can get individual information about its linkedness attached
-// to it through an instance of a subclass of LinksetInfo.
-// Each type of linkset will define the information needed for its type.
-public abstract class BSLinksetInfo
-{
- public virtual void Clear() { }
-}
-
-public abstract class BSLinkset
-{
- // private static string LogHeader = "[BULLETSIM LINKSET]";
-
- public enum LinksetImplementation
- {
- Constraint = 0, // linkset tied together with constraints
- Compound = 1, // linkset tied together as a compound object
- Manual = 2 // linkset tied together manually (code moves all the pieces)
- }
- // Create the correct type of linkset for this child
- public static BSLinkset Factory(BSScene physScene, BSPhysObject parent)
- {
- BSLinkset ret = null;
-
- switch ((int)BSParam.LinksetImplementation)
- {
- case (int)LinksetImplementation.Constraint:
- ret = new BSLinksetConstraints(physScene, parent);
- break;
- case (int)LinksetImplementation.Compound:
- ret = new BSLinksetCompound(physScene, parent);
- break;
- case (int)LinksetImplementation.Manual:
- // ret = new BSLinksetManual(physScene, parent);
- break;
- default:
- ret = new BSLinksetCompound(physScene, parent);
- break;
- }
- return ret;
- }
-
- public BSPhysObject LinksetRoot { get; protected set; }
-
- public BSScene PhysicsScene { get; private set; }
-
- static int m_nextLinksetID = 1;
- public int LinksetID { get; private set; }
-
- // The children under the root in this linkset.
- protected HashSet<BSPhysObject> m_children;
-
- // We lock the diddling of linkset classes to prevent any badness.
- // This locks the modification of the instances of this class. Changes
- // to the physical representation is done via the tainting mechenism.
- protected object m_linksetActivityLock = new Object();
-
- // Some linksets have a preferred physical shape.
- // Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected.
- public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
- {
- return BSPhysicsShapeType.SHAPE_UNKNOWN;
- }
-
- // We keep the prim's mass in the linkset structure since it could be dependent on other prims
- public float LinksetMass { get; protected set; }
-
- public virtual bool LinksetIsColliding { get { return false; } }
-
- public OMV.Vector3 CenterOfMass
- {
- get { return ComputeLinksetCenterOfMass(); }
- }
-
- public OMV.Vector3 GeometricCenter
- {
- get { return ComputeLinksetGeometricCenter(); }
- }
-
- protected BSLinkset(BSScene scene, BSPhysObject parent)
- {
- // A simple linkset of one (no children)
- LinksetID = m_nextLinksetID++;
- // We create LOTS of linksets.
- if (m_nextLinksetID <= 0)
- m_nextLinksetID = 1;
- PhysicsScene = scene;
- LinksetRoot = parent;
- m_children = new HashSet<BSPhysObject>();
- LinksetMass = parent.RawMass;
- Rebuilding = false;
- }
-
- // Link to a linkset where the child knows the parent.
- // Parent changing should not happen so do some sanity checking.
- // We return the parent's linkset so the child can track its membership.
- // Called at runtime.
- public BSLinkset AddMeToLinkset(BSPhysObject child)
- {
- lock (m_linksetActivityLock)
- {
- // Don't add the root to its own linkset
- if (!IsRoot(child))
- AddChildToLinkset(child);
- LinksetMass = ComputeLinksetMass();
- }
- return this;
- }
-
- // Remove a child from a linkset.
- // Returns a new linkset for the child which is a linkset of one (just the
- // orphened child).
- // Called at runtime.
- public BSLinkset RemoveMeFromLinkset(BSPhysObject child)
- {
- lock (m_linksetActivityLock)
- {
- if (IsRoot(child))
- {
- // Cannot remove the root from a linkset.
- return this;
- }
- RemoveChildFromLinkset(child);
- LinksetMass = ComputeLinksetMass();
- }
-
- // The child is down to a linkset of just itself
- return BSLinkset.Factory(PhysicsScene, child);
- }
-
- // Return 'true' if the passed object is the root object of this linkset
- public bool IsRoot(BSPhysObject requestor)
- {
- return (requestor.LocalID == LinksetRoot.LocalID);
- }
-
- public int NumberOfChildren { get { return m_children.Count; } }
-
- // Return 'true' if this linkset has any children (more than the root member)
- public bool HasAnyChildren { get { return (m_children.Count > 0); } }
-
- // Return 'true' if this child is in this linkset
- public bool HasChild(BSPhysObject child)
- {
- bool ret = false;
- lock (m_linksetActivityLock)
- {
- ret = m_children.Contains(child);
- /* Safer version but the above should work
- foreach (BSPhysObject bp in m_children)
- {
- if (child.LocalID == bp.LocalID)
- {
- ret = true;
- break;
- }
- }
- */
- }
- return ret;
- }
-
- // Perform an action on each member of the linkset including root prim.
- // Depends on the action on whether this should be done at taint time.
- public delegate bool ForEachMemberAction(BSPhysObject obj);
- public virtual bool ForEachMember(ForEachMemberAction action)
- {
- bool ret = false;
- lock (m_linksetActivityLock)
- {
- action(LinksetRoot);
- foreach (BSPhysObject po in m_children)
- {
- if (action(po))
- break;
- }
- }
- return ret;
- }
-
- // I am the root of a linkset and a new child is being added
- // Called while LinkActivity is locked.
- protected abstract void AddChildToLinkset(BSPhysObject child);
-
- // I am the root of a linkset and one of my children is being removed.
- // Safe to call even if the child is not really in my linkset.
- protected abstract void RemoveChildFromLinkset(BSPhysObject child);
-
- // When physical properties are changed the linkset needs to recalculate
- // its internal properties.
- // May be called at runtime or taint-time.
- public virtual void Refresh(BSPhysObject requestor)
- {
- LinksetMass = ComputeLinksetMass();
- }
-
- // Flag denoting the linkset is in the process of being rebuilt.
- // Used to know not the schedule a rebuild in the middle of a rebuild.
- protected bool Rebuilding { get; set; }
-
- // The object is going dynamic (physical). Do any setup necessary
- // for a dynamic linkset.
- // Only the state of the passed object can be modified. The rest of the linkset
- // has not yet been fully constructed.
- // Return 'true' if any properties updated on the passed object.
- // Called at taint-time!
- public abstract bool MakeDynamic(BSPhysObject child);
-
- // 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.
- // Called at taint-time!
- public abstract bool MakeStatic(BSPhysObject child);
-
- // Called when a parameter update comes from the physics engine for any object
- // of the linkset is received.
- // Passed flag is update came from physics engine (true) or the user (false).
- // Called at taint-time!!
- public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate);
-
- // 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 was actually removed and would need restoring
- // Called at taint-time!!
- public abstract bool RemoveBodyDependencies(BSPrim child);
-
- // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
- // this routine will restore the removed constraints.
- // Called at taint-time!!
- public abstract void RestoreBodyDependencies(BSPrim child);
-
- // ================================================================
- protected virtual float ComputeLinksetMass()
- {
- float mass = LinksetRoot.RawMass;
- if (HasAnyChildren)
- {
- lock (m_linksetActivityLock)
- {
- foreach (BSPhysObject bp in m_children)
- {
- mass += bp.RawMass;
- }
- }
- }
- return mass;
- }
-
- protected virtual OMV.Vector3 ComputeLinksetCenterOfMass()
- {
- OMV.Vector3 com;
- lock (m_linksetActivityLock)
- {
- com = LinksetRoot.Position * LinksetRoot.RawMass;
- float totalMass = LinksetRoot.RawMass;
-
- foreach (BSPhysObject bp in m_children)
- {
- com += bp.Position * bp.RawMass;
- totalMass += bp.RawMass;
- }
- if (totalMass != 0f)
- com /= totalMass;
- }
-
- return com;
- }
-
- protected virtual OMV.Vector3 ComputeLinksetGeometricCenter()
- {
- OMV.Vector3 com;
- lock (m_linksetActivityLock)
- {
- com = LinksetRoot.Position;
-
- foreach (BSPhysObject bp in m_children)
- {
- com += bp.Position * bp.RawMass;
- }
- com /= (m_children.Count + 1);
- }
-
- return com;
- }
-
- // Invoke the detailed logger and output something if it's enabled.
- protected void DetailLog(string msg, params Object[] args)
- {
- if (PhysicsScene.PhysicsLogging.Enabled)
- PhysicsScene.DetailLog(msg, args);
- }
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs
deleted file mode 100644
index 9a977e6ad2..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs
+++ /dev/null
@@ -1,397 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.Text;
-
-using OpenSim.Framework;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-// When a child is linked, the relationship position of the child to the parent
-// is remembered so the child's world position can be recomputed when it is
-// removed from the linkset.
-sealed class BSLinksetCompoundInfo : BSLinksetInfo
-{
- public OMV.Vector3 OffsetPos;
- public OMV.Quaternion OffsetRot;
- public BSLinksetCompoundInfo(OMV.Vector3 p, OMV.Quaternion r)
- {
- OffsetPos = p;
- OffsetRot = r;
- }
- public override void Clear()
- {
- OffsetPos = OMV.Vector3.Zero;
- OffsetRot = OMV.Quaternion.Identity;
- }
- public override string ToString()
- {
- StringBuilder buff = new StringBuilder();
- buff.Append("<p=");
- buff.Append(OffsetPos.ToString());
- buff.Append(",r=");
- buff.Append(OffsetRot.ToString());
- buff.Append(">");
- return buff.ToString();
- }
-};
-
-public sealed class BSLinksetCompound : BSLinkset
-{
- private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
-
- public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent)
- {
- }
-
- // For compound implimented linksets, if there are children, use compound shape for the root.
- public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
- {
- // Returning 'unknown' means we don't have a preference.
- BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
- if (IsRoot(requestor) && HasAnyChildren)
- {
- ret = BSPhysicsShapeType.SHAPE_COMPOUND;
- }
- // DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret);
- return ret;
- }
-
- // When physical properties are changed the linkset needs to recalculate
- // its internal properties.
- public override void Refresh(BSPhysObject requestor)
- {
- base.Refresh(requestor);
-
- // Something changed so do the rebuilding thing
- // ScheduleRebuild();
- }
-
- // Schedule a refresh to happen after all the other taint processing.
- private void ScheduleRebuild(BSPhysObject requestor)
- {
- DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1}",
- requestor.LocalID, Rebuilding);
- // When rebuilding, it is possible to set properties that would normally require a rebuild.
- // If already rebuilding, don't request another rebuild.
- if (!Rebuilding)
- {
- PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
- {
- if (HasAnyChildren)
- RecomputeLinksetCompound();
- });
- }
- }
-
- // The object is going dynamic (physical). Do any setup necessary
- // for a dynamic linkset.
- // Only the state of the passed object can be modified. The rest of the linkset
- // has not yet been fully constructed.
- // Return 'true' if any properties updated on the passed object.
- // Called at taint-time!
- public override bool MakeDynamic(BSPhysObject child)
- {
- bool ret = false;
- DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
- if (IsRoot(child))
- {
- // The root is going dynamic. Make sure mass is properly set.
- ScheduleRebuild(LinksetRoot);
- }
- else
- {
- // The origional prims are removed from the world as the shape of the root compound
- // shape takes over.
- BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
- BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
- // We don't want collisions from the old linkset children.
- BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
-
- child.PhysBody.collisionType = CollisionType.LinksetChild;
-
- ret = true;
- }
- return ret;
- }
-
- // 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)
- {
- bool ret = false;
- DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
- if (IsRoot(child))
- {
- ScheduleRebuild(LinksetRoot);
- }
- else
- {
- // The non-physical children can come back to life.
- BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-
- child.PhysBody.collisionType = CollisionType.LinksetChild;
-
- // Don't force activation so setting of DISABLE_SIMULATION can stay if used.
- BulletSimAPI.Activate2(child.PhysBody.ptr, false);
- ret = true;
- }
- return ret;
- }
-
- public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate)
- {
- // The user moving a child around requires the rebuilding of the linkset compound shape
- // One problem is this happens when a border is crossed -- the simulator implementation
- // is to store the position into the group which causes the move of the object
- // but it also means all the child positions get updated.
- // What would cause an unnecessary rebuild so we make sure the linkset is in a
- // region before bothering to do a rebuild.
- if (!IsRoot(updated)
- && !physicalUpdate
- && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
- {
- updated.LinksetInfo = null;
- ScheduleRebuild(updated);
- }
- }
-
- // Routine called when rebuilding the body of some member of the linkset.
- // Since we don't keep in world relationships, do nothing unless it's a child changing.
- // 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},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
- child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), IsRoot(child));
-
- if (!IsRoot(child))
- {
- // Because it is a convenient time, recompute child world position and rotation based on
- // its position in the linkset.
- RecomputeChildWorldPosition(child, true);
- }
-
- // Cannot schedule a refresh/rebuild here because this routine is called when
- // the linkset is being rebuilt.
- // InternalRefresh(LinksetRoot);
-
- return ret;
- }
-
- // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
- // this routine will restore the removed constraints.
- // Called at taint-time!!
- public override void RestoreBodyDependencies(BSPrim child)
- {
- }
-
- // When the linkset is built, the child shape is added to the compound shape relative to the
- // root shape. The linkset then moves around but this does not move the actual child
- // prim. The child prim's location must be recomputed based on the location of the root shape.
- private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime)
- {
- BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo;
- if (lci != null)
- {
- if (inTaintTime)
- {
- OMV.Vector3 oldPos = child.RawPosition;
- child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetPos;
- child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot;
- DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}",
- child.LocalID, oldPos, lci, child.RawPosition);
- }
- else
- {
- // TaintedObject is not used here so the raw position is set now and not at taint-time.
- child.Position = LinksetRoot.RawPosition + lci.OffsetPos;
- child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot;
- }
- }
- else
- {
- // This happens when children have been added to the linkset but the linkset
- // has not been constructed yet. So like, at taint time, adding children to a linkset
- // and then changing properties of the children (makePhysical, for instance)
- // but the post-print action of actually rebuilding the linkset has not yet happened.
- // PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}",
- // LogHeader, child.LocalID);
- DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID);
- }
- }
-
- // ================================================================
-
- // Add a new child to the linkset.
- // Called while LinkActivity is locked.
- protected override void AddChildToLinkset(BSPhysObject child)
- {
- if (!HasChild(child))
- {
- m_children.Add(child);
-
- DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
-
- // Rebuild the compound shape with the new child shape included
- ScheduleRebuild(child);
- }
- return;
- }
-
- // Remove the specified child from the linkset.
- // Safe to call even if the child is not really in the linkset.
- protected override void RemoveChildFromLinkset(BSPhysObject child)
- {
- if (m_children.Remove(child))
- {
- DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
- child.LocalID,
- LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(),
- child.LocalID, child.PhysBody.ptr.ToString());
-
- // Cause the child's body to be rebuilt and thus restored to normal operation
- RecomputeChildWorldPosition(child, false);
- child.ForceBodyShapeRebuild(false);
-
- if (!HasAnyChildren)
- {
- // The linkset is now empty. The root needs rebuilding.
- LinksetRoot.ForceBodyShapeRebuild(false);
- }
- else
- {
- // Rebuild the compound shape with the child removed
- ScheduleRebuild(child);
- }
- }
- return;
- }
-
- // Called before the simulation step to make sure the compound based linkset
- // is all initialized.
- // Constraint linksets are rebuilt every time.
- // Note that this works for rebuilding just the root after a linkset is taken apart.
- // Called at taint time!!
- private void RecomputeLinksetCompound()
- {
- try
- {
- // Suppress rebuilding while rebuilding
- Rebuilding = true;
-
- // Cause the root shape to be rebuilt as a compound object with just the root in it
- LinksetRoot.ForceBodyShapeRebuild(true);
-
- DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
- LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
-
- // Add a shape for each of the other children in the linkset
- ForEachMember(delegate(BSPhysObject cPrim)
- {
- if (!IsRoot(cPrim))
- {
- // Compute the displacement of the child from the root of the linkset.
- // This info is saved in the child prim so the relationship does not
- // change over time and the new child position can be computed
- // when the linkset is being disassembled (the linkset may have moved).
- BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo;
- if (lci == null)
- {
- // Each child position and rotation is given relative to the root.
- OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
- OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
- OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
-
- // Save relative position for recomputing child's world position after moving linkset.
- lci = new BSLinksetCompoundInfo(displacementPos, displacementRot);
- cPrim.LinksetInfo = lci;
- DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci);
- }
-
- DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}",
- LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot);
-
- if (cPrim.PhysShape.isNativeShape)
- {
- // A native shape is turning into a hull collision shape because native
- // shapes are not shared so we have to hullify it so it will be tracked
- // and freed at the correct time. This also solves the scaling problem
- // (native shapes scaled but hull/meshes are assumed to not be).
- // TODO: decide of the native shape can just be used in the compound shape.
- // Use call to CreateGeomNonSpecial().
- BulletShape saveShape = cPrim.PhysShape;
- cPrim.PhysShape.Clear(); // Don't let the create free the child's shape
- // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null);
- PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
- BulletShape newShape = cPrim.PhysShape;
- cPrim.PhysShape = saveShape;
- BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos, lci.OffsetRot);
- }
- else
- {
- // For the shared shapes (meshes and hulls), just use the shape in the child.
- // The reference count added here will be decremented when the compound shape
- // is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced).
- if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape))
- {
- PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
- LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
- }
- BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos, lci.OffsetRot);
- }
- }
- return false; // 'false' says to move onto the next child in the list
- });
-
- // With all of the linkset packed into the root prim, it has the mass of everyone.
- LinksetMass = LinksetMass;
- LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
- }
- finally
- {
- Rebuilding = false;
- }
-
- BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr);
-
- // DEBUG: see of inter-linkset collisions are causing problems for constraint linksets.
- // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
- // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
-
- }
-}
-}
\ No newline at end of file
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs
deleted file mode 100644
index 46ff99f98d..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs
+++ /dev/null
@@ -1,316 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.Text;
-
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public sealed class BSLinksetConstraints : BSLinkset
-{
- // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
-
- public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent)
- {
- }
-
- // When physical properties are changed the linkset needs to recalculate
- // its internal properties.
- // 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)
- {
- base.Refresh(requestor);
-
- // Queue to happen after all the other taint processing
- PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
- {
- if (HasAnyChildren && IsRoot(requestor))
- RecomputeLinksetConstraints();
- });
- }
-
- // The object is going dynamic (physical). Do any setup necessary
- // for a dynamic linkset.
- // Only the state of the passed object can be modified. The rest of the linkset
- // has not yet been fully constructed.
- // Return 'true' if any properties updated on the passed object.
- // Called at taint-time!
- public override bool MakeDynamic(BSPhysObject child)
- {
- // What is done for each object in BSPrim is what we want.
- return false;
- }
-
- // 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)
- {
- // What is done for each object in BSPrim is what we want.
- return false;
- }
-
- // Called at taint-time!!
- public override void UpdateProperties(BSPhysObject updated, bool inTaintTime)
- {
- // Nothing to do for constraints on property updates
- }
-
- // 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.PhysBody.ptr.ToString());
-
- lock (m_linksetActivityLock)
- {
- // Just undo all the constraints for this linkset. Rebuild at the end of the step.
- ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
- // Cause the constraints, et al to be rebuilt before the next simulation step.
- Refresh(LinksetRoot);
- }
- return ret;
- }
-
- // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
- // this routine will restore the removed constraints.
- // Called at taint-time!!
- public override void RestoreBodyDependencies(BSPrim child)
- {
- // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
- }
-
- // ================================================================
-
- // Add a new child to the linkset.
- // Called while LinkActivity is locked.
- protected override void AddChildToLinkset(BSPhysObject child)
- {
- if (!HasChild(child))
- {
- m_children.Add(child);
-
- 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);
- }
- return;
- }
-
- // 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)
- {
- if (m_children.Remove(child))
- {
- BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
- BSPhysObject childx = child;
-
- DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
- childx.LocalID,
- rootx.LocalID, rootx.PhysBody.ptr.ToString(),
- childx.LocalID, childx.PhysBody.ptr.ToString());
-
- PhysicsScene.TaintedObject("BSLinksetConstraints.RemoveChildFromLinkset", delegate()
- {
- PhysicallyUnlinkAChildFromRoot(rootx, childx);
- });
- // See that the linkset parameters are recomputed at the end of the taint time.
- Refresh(LinksetRoot);
- }
- else
- {
- // Non-fatal occurance.
- // PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
- }
- return;
- }
-
- // Create a constraint between me (root of linkset) and the passed prim (the child).
- // Called at taint time!
- private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
- {
- // Don't build the constraint when asked. Put it off until just before the simulation step.
- Refresh(rootPrim);
- }
-
- private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim)
- {
- // Zero motion for children so they don't interpolate
- childPrim.ZeroMotion(true);
-
- // Relative position normalized to the root prim
- // Essentually a vector pointing from center of rootPrim to center of childPrim
- OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position;
-
- // real world coordinate of midpoint between the two objects
- OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
-
- DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
- rootPrim.LocalID,
- rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString(),
- childPrim.LocalID, childPrim.PhysBody.ptr.ToString(),
- rootPrim.Position, childPrim.Position, midPoint);
-
- // create a constraint that allows no freedom of movement between the two objects
- // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
-
- BSConstraint6Dof constrain = new BSConstraint6Dof(
- PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true );
- // PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, midPoint, true, true );
-
- /* 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 for future programmers.
- // ==================================================================================
- // relative position normalized to the root prim
- OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
- OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation;
-
- // relative rotation of the child to the parent
- OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
- OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
-
- 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,
- OMV.Vector3.Zero,
- OMV.Quaternion.Inverse(rootPrim.Orientation),
- OMV.Vector3.Zero,
- OMV.Quaternion.Inverse(childPrim.Orientation),
- true,
- true
- );
- // ==================================================================================
- */
-
- PhysicsScene.Constraints.AddConstraint(constrain);
-
- // zero linear and angular limits makes the objects unable to move in relation to each other
- constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
- constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
-
- // tweek the constraint to increase stability
- constrain.UseFrameOffset(BSParam.BoolNumeric(BSParam.LinkConstraintUseFrameOffset));
- constrain.TranslationalLimitMotor(BSParam.BoolNumeric(BSParam.LinkConstraintEnableTransMotor),
- BSParam.LinkConstraintTransMotorMaxVel,
- BSParam.LinkConstraintTransMotorMaxForce);
- constrain.SetCFMAndERP(BSParam.LinkConstraintCFM, BSParam.LinkConstraintERP);
- if (BSParam.LinkConstraintSolverIterations != 0f)
- {
- constrain.SetSolverIterations(BSParam.LinkConstraintSolverIterations);
- }
- return constrain;
- }
-
- // 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 present at unlink time.
- // Called at taint time!
- private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
- {
- bool ret = false;
- DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
- rootPrim.LocalID,
- rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString(),
- childPrim.LocalID, childPrim.PhysBody.ptr.ToString());
-
- // Find the constraint for this link and get rid of it from the overall collection and from my list
- if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
- {
- // Make the child refresh its location
- BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr);
- ret = true;
- }
-
- return ret;
- }
-
- // 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);
-
- return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
- }
-
- // 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.
- // Called at taint time!!
- private void RecomputeLinksetConstraints()
- {
- float linksetMass = LinksetMass;
- LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true);
-
- // DEBUG: see of inter-linkset collisions are causing problems
- // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
- // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
- DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
- LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString(), 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.)
- child.UpdatePhysicalMassProperties(linksetMass, true);
-
- BSConstraint constrain;
- if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
- {
- // If constraint doesn't exist yet, create it.
- constrain = BuildConstraint(LinksetRoot, child);
- }
- constrain.RecomputeConstraintVariables(linksetMass);
-
- // DEBUG: see of inter-linkset collisions are causing problems
- // BulletSimAPI.SetCollisionFilterMask2(child.BSBody.ptr,
- // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
-
- // BulletSimAPI.DumpConstraint2(PhysicsScene.World.ptr, constrain.Constraint.ptr); // DEBUG DEBUG
- }
-
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs
deleted file mode 100644
index d7941b6f1a..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs
+++ /dev/null
@@ -1,200 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.Text;
-using System.Reflection;
-using Nini.Config;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-public struct MaterialAttributes
-{
- // Material type values that correspond with definitions for LSL
- public enum Material : int
- {
- Stone = 0,
- Metal,
- Glass,
- Wood,
- Flesh,
- Plastic,
- Rubber,
- Light,
- // Hereafter are BulletSim additions
- Avatar,
- NumberOfTypes // the count of types in the enum.
- }
-
- // Names must be in the order of the above enum.
- // These names must coorespond to the lower case field names in the MaterialAttributes
- // structure as reflection is used to select the field to put the value in.
- public static readonly string[] MaterialAttribs = { "Density", "Friction", "Restitution"};
-
- public MaterialAttributes(string t, float d, float f, float r)
- {
- type = t;
- density = d;
- friction = f;
- restitution = r;
- }
- public string type;
- public float density;
- public float friction;
- public float restitution;
-}
-
-public static class BSMaterials
-{
- // Attributes for each material type
- private static readonly MaterialAttributes[] Attributes;
-
- // Map of material name to material type code
- public static readonly Dictionary<string, MaterialAttributes.Material> MaterialMap;
-
- static BSMaterials()
- {
- // Attribute sets for both the non-physical and physical instances of materials.
- Attributes = new MaterialAttributes[(int)MaterialAttributes.Material.NumberOfTypes * 2];
-
- // Map of name to type code.
- MaterialMap = new Dictionary<string, MaterialAttributes.Material>();
- MaterialMap.Add("Stone", MaterialAttributes.Material.Stone);
- MaterialMap.Add("Metal", MaterialAttributes.Material.Metal);
- MaterialMap.Add("Glass", MaterialAttributes.Material.Glass);
- MaterialMap.Add("Wood", MaterialAttributes.Material.Wood);
- MaterialMap.Add("Flesh", MaterialAttributes.Material.Flesh);
- MaterialMap.Add("Plastic", MaterialAttributes.Material.Plastic);
- MaterialMap.Add("Rubber", MaterialAttributes.Material.Rubber);
- MaterialMap.Add("Light", MaterialAttributes.Material.Light);
- MaterialMap.Add("Avatar", MaterialAttributes.Material.Avatar);
- }
-
- // This is where all the default material attributes are defined.
- public static void InitializeFromDefaults(ConfigurationParameters parms)
- {
- // Values from http://wiki.secondlife.com/wiki/PRIM_MATERIAL
- float dDensity = parms.defaultDensity;
- float dFriction = parms.defaultFriction;
- float dRestitution = parms.defaultRestitution;
- Attributes[(int)MaterialAttributes.Material.Stone] =
- new MaterialAttributes("stone",dDensity, 0.8f, 0.4f);
- Attributes[(int)MaterialAttributes.Material.Metal] =
- new MaterialAttributes("metal",dDensity, 0.3f, 0.4f);
- Attributes[(int)MaterialAttributes.Material.Glass] =
- new MaterialAttributes("glass",dDensity, 0.2f, 0.7f);
- Attributes[(int)MaterialAttributes.Material.Wood] =
- new MaterialAttributes("wood",dDensity, 0.6f, 0.5f);
- Attributes[(int)MaterialAttributes.Material.Flesh] =
- new MaterialAttributes("flesh",dDensity, 0.9f, 0.3f);
- Attributes[(int)MaterialAttributes.Material.Plastic] =
- new MaterialAttributes("plastic",dDensity, 0.4f, 0.7f);
- Attributes[(int)MaterialAttributes.Material.Rubber] =
- new MaterialAttributes("rubber",dDensity, 0.9f, 0.9f);
- Attributes[(int)MaterialAttributes.Material.Light] =
- new MaterialAttributes("light",dDensity, dFriction, dRestitution);
- Attributes[(int)MaterialAttributes.Material.Avatar] =
- new MaterialAttributes("avatar",3.5f, 0.2f, 0f);
-
- Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] =
- new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f);
- Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] =
- new MaterialAttributes("metalPhysical",dDensity, 0.3f, 0.4f);
- Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] =
- new MaterialAttributes("glassPhysical",dDensity, 0.2f, 0.7f);
- Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] =
- new MaterialAttributes("woodPhysical",dDensity, 0.6f, 0.5f);
- Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] =
- new MaterialAttributes("fleshPhysical",dDensity, 0.9f, 0.3f);
- Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] =
- new MaterialAttributes("plasticPhysical",dDensity, 0.4f, 0.7f);
- Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] =
- new MaterialAttributes("rubberPhysical",dDensity, 0.9f, 0.9f);
- Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] =
- new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution);
- Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] =
- new MaterialAttributes("avatarPhysical",3.5f, 0.2f, 0f);
- }
-
- // Under the [BulletSim] section, one can change the individual material
- // attribute values. The format of the configuration parameter is:
- // <materialName><Attribute>["Physical"] = floatValue
- // For instance:
- // [BulletSim]
- // StoneFriction = 0.2
- // FleshRestitutionPhysical = 0.8
- // Materials can have different parameters for their static and
- // physical instantiations. When setting the non-physical value,
- // both values are changed. Setting the physical value only changes
- // the physical value.
- public static void InitializefromParameters(IConfig pConfig)
- {
- foreach (KeyValuePair<string, MaterialAttributes.Material> kvp in MaterialMap)
- {
- string matName = kvp.Key;
- foreach (string attribName in MaterialAttributes.MaterialAttribs)
- {
- string paramName = matName + attribName;
- if (pConfig.Contains(paramName))
- {
- float paramValue = pConfig.GetFloat(paramName);
- SetAttributeValue((int)kvp.Value, attribName, paramValue);
- // set the physical value also
- SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
- }
- paramName += "Physical";
- if (pConfig.Contains(paramName))
- {
- float paramValue = pConfig.GetFloat(paramName);
- SetAttributeValue((int)kvp.Value + (int)MaterialAttributes.Material.NumberOfTypes, attribName, paramValue);
- }
- }
- }
- }
-
- // Use reflection to set the value in the attribute structure.
- private static void SetAttributeValue(int matType, string attribName, float val)
- {
- MaterialAttributes thisAttrib = Attributes[matType];
- FieldInfo fieldInfo = thisAttrib.GetType().GetField(attribName.ToLower());
- if (fieldInfo != null)
- {
- fieldInfo.SetValue(thisAttrib, val);
- Attributes[matType] = thisAttrib;
- }
- }
-
- // Given a material type, return a structure of attributes.
- public static MaterialAttributes GetAttributes(MaterialAttributes.Material type, bool isPhysical)
- {
- int ind = (int)type;
- if (isPhysical) ind += (int)MaterialAttributes.Material.NumberOfTypes;
- return Attributes[ind];
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs
deleted file mode 100644
index 7abc9b2b78..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSMotors.cs
+++ /dev/null
@@ -1,347 +0,0 @@
-/*
- * 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.Collections.Generic;
-using System.Text;
-using OpenMetaverse;
-using OpenSim.Framework;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public abstract class BSMotor
-{
- // Timescales and other things can be turned off by setting them to 'infinite'.
- public const float Infinite = 12345.6f;
- public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite);
-
- public BSMotor(string useName)
- {
- UseName = useName;
- PhysicsScene = null;
- Enabled = true;
- }
- public virtual bool Enabled { get; set; }
- public virtual void Reset() { }
- public virtual void Zero() { }
- public virtual void GenerateTestOutput(float timeStep) { }
-
- // A name passed at motor creation for easily identifyable debugging messages.
- public string UseName { get; private set; }
-
- // Used only for outputting debug information. Might not be set so check for null.
- public BSScene PhysicsScene { get; set; }
- protected void MDetailLog(string msg, params Object[] parms)
- {
- if (PhysicsScene != null)
- {
- if (PhysicsScene.VehicleLoggingEnabled)
- {
- PhysicsScene.DetailLog(msg, parms);
- }
- }
- }
-}
-
-// Motor which moves CurrentValue to TargetValue over TimeScale seconds.
-// The TargetValue decays in TargetValueDecayTimeScale and
-// the CurrentValue will be held back by FrictionTimeScale.
-// This motor will "zero itself" over time in that the targetValue will
-// decay to zero and the currentValue will follow it to that zero.
-// The overall effect is for the returned correction value to go from large
-// values (the total difference between current and target minus friction)
-// to small and eventually zero values.
-// TimeScale and TargetDelayTimeScale may be 'infinite' which means no decay.
-
-// For instance, if something is moving at speed X and the desired speed is Y,
-// CurrentValue is X and TargetValue is Y. As the motor is stepped, new
-// values of CurrentValue are returned that approach the TargetValue.
-// The feature of decaying TargetValue is so vehicles will eventually
-// come to a stop rather than run forever. This can be disabled by
-// setting TargetValueDecayTimescale to 'infinite'.
-// The change from CurrentValue to TargetValue is linear over TimeScale seconds.
-public class BSVMotor : BSMotor
-{
- // public Vector3 FrameOfReference { get; set; }
- // public Vector3 Offset { get; set; }
-
- public virtual float TimeScale { get; set; }
- public virtual float TargetValueDecayTimeScale { get; set; }
- public virtual Vector3 FrictionTimescale { get; set; }
- public virtual float Efficiency { get; set; }
-
- public virtual float ErrorZeroThreshold { get; set; }
-
- public virtual Vector3 TargetValue { get; protected set; }
- public virtual Vector3 CurrentValue { get; protected set; }
- public virtual Vector3 LastError { get; protected set; }
-
- public virtual bool ErrorIsZero
- { get {
- return (LastError == Vector3.Zero || LastError.LengthSquared() <= ErrorZeroThreshold);
- }
- }
-
- public BSVMotor(string useName)
- : base(useName)
- {
- TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
- Efficiency = 1f;
- FrictionTimescale = BSMotor.InfiniteVector;
- CurrentValue = TargetValue = Vector3.Zero;
- ErrorZeroThreshold = 0.001f;
- }
- public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)
- : this(useName)
- {
- TimeScale = timeScale;
- TargetValueDecayTimeScale = decayTimeScale;
- FrictionTimescale = frictionTimeScale;
- Efficiency = efficiency;
- CurrentValue = TargetValue = Vector3.Zero;
- }
- public void SetCurrent(Vector3 current)
- {
- CurrentValue = current;
- }
- public void SetTarget(Vector3 target)
- {
- TargetValue = target;
- }
- public override void Zero()
- {
- base.Zero();
- CurrentValue = TargetValue = Vector3.Zero;
- }
-
- // Compute the next step and return the new current value
- public virtual Vector3 Step(float timeStep)
- {
- if (!Enabled) return TargetValue;
-
- Vector3 origTarget = TargetValue; // DEBUG
- Vector3 origCurrVal = CurrentValue; // DEBUG
-
- Vector3 correction = Vector3.Zero;
- Vector3 error = TargetValue - CurrentValue;
- if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
- {
- correction = Step(timeStep, error);
-
- CurrentValue += correction;
-
- // The desired value reduces to zero which also reduces the difference with current.
- // If the decay time is infinite, don't decay at all.
- float decayFactor = 0f;
- if (TargetValueDecayTimeScale != BSMotor.Infinite)
- {
- decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
- TargetValue *= (1f - decayFactor);
- }
-
- // The amount we can correct the error is reduced by the friction
- Vector3 frictionFactor = Vector3.Zero;
- if (FrictionTimescale != BSMotor.InfiniteVector)
- {
- // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
- // Individual friction components can be 'infinite' so compute each separately.
- frictionFactor.X = (FrictionTimescale.X == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.X);
- frictionFactor.Y = (FrictionTimescale.Y == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Y);
- frictionFactor.Z = (FrictionTimescale.Z == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Z);
- frictionFactor *= timeStep;
- CurrentValue *= (Vector3.One - frictionFactor);
- }
-
- MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
- BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
- timeStep, error, correction);
- MDetailLog("{0}, BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}",
- BSScene.DetailLogZero, UseName,
- TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor,
- TargetValue, CurrentValue);
- }
- else
- {
- // Difference between what we have and target is small. Motor is done.
- CurrentValue = TargetValue;
- MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
- BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
- }
-
- return CurrentValue;
- }
- public virtual Vector3 Step(float timeStep, Vector3 error)
- {
- if (!Enabled) return Vector3.Zero;
-
- LastError = error;
- Vector3 returnCorrection = Vector3.Zero;
- if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
- {
- // correction = error / secondsItShouldTakeToCorrect
- Vector3 correctionAmount;
- if (TimeScale == 0f || TimeScale == BSMotor.Infinite)
- correctionAmount = error * timeStep;
- else
- correctionAmount = error / TimeScale * timeStep;
-
- returnCorrection = correctionAmount;
- MDetailLog("{0}, BSVMotor.Step,nonZero,{1},timeStep={2},timeScale={3},err={4},corr={5}",
- BSScene.DetailLogZero, UseName, timeStep, TimeScale, error, correctionAmount);
- }
- return returnCorrection;
- }
-
- // The user sets all the parameters and calls this which outputs values until error is zero.
- public override void GenerateTestOutput(float timeStep)
- {
- // maximum number of outputs to generate.
- int maxOutput = 50;
- MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName);
- MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},frictTS={4},eff={5},curr={6},tgt={7}",
- BSScene.DetailLogZero, UseName,
- TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency,
- CurrentValue, TargetValue);
-
- LastError = BSMotor.InfiniteVector;
- while (maxOutput-- > 0 && !LastError.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
- {
- Vector3 lastStep = Step(timeStep);
- MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}",
- BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, LastError, lastStep);
- }
- MDetailLog("{0},BSVMotor.Test,{1},===================================== END Test Output", BSScene.DetailLogZero, UseName);
-
-
- }
-
- public override string ToString()
- {
- return String.Format("<{0},curr={1},targ={2},decayTS={3},frictTS={4}>",
- UseName, CurrentValue, TargetValue, TargetValueDecayTimeScale, FrictionTimescale);
- }
-}
-
-public class BSFMotor : BSMotor
-{
- public float TimeScale { get; set; }
- public float DecayTimeScale { get; set; }
- public float Friction { get; set; }
- public float Efficiency { get; set; }
-
- public float Target { get; private set; }
- public float CurrentValue { get; private set; }
-
- public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency)
- : base(useName)
- {
- }
- public void SetCurrent(float target)
- {
- }
- public void SetTarget(float target)
- {
- }
- public virtual float Step(float timeStep)
- {
- return 0f;
- }
-}
-
-// Proportional, Integral, Derivitive Motor
-// Good description at http://www.answers.com/topic/pid-controller . Includes processes for choosing p, i and d factors.
-public class BSPIDVMotor : BSVMotor
-{
- // Larger makes more overshoot, smaller means converge quicker. Range of 0.1 to 10.
- public Vector3 proportionFactor { get; set; }
- public Vector3 integralFactor { get; set; }
- public Vector3 derivFactor { get; set; }
-
- // Arbritrary factor range.
- // EfficiencyHigh means move quickly to the correct number. EfficiencyLow means might over correct.
- public float EfficiencyHigh = 0.4f;
- public float EfficiencyLow = 4.0f;
-
- // Running integration of the error
- Vector3 RunningIntegration { get; set; }
-
- public BSPIDVMotor(string useName)
- : base(useName)
- {
- proportionFactor = new Vector3(1.00f, 1.00f, 1.00f);
- integralFactor = new Vector3(1.00f, 1.00f, 1.00f);
- derivFactor = new Vector3(1.00f, 1.00f, 1.00f);
- RunningIntegration = Vector3.Zero;
- LastError = Vector3.Zero;
- }
-
- public override void Zero()
- {
- base.Zero();
- }
-
- public override float Efficiency
- {
- get { return base.Efficiency; }
- set
- {
- base.Efficiency = Util.Clamp(value, 0f, 1f);
- // Compute factors based on efficiency.
- // If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot.
- // If efficiency is low (0f), use a factor value that overcorrects.
- // TODO: might want to vary contribution of different factor depending on efficiency.
- float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f;
- // float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow;
- proportionFactor = new Vector3(factor, factor, factor);
- integralFactor = new Vector3(factor, factor, factor);
- derivFactor = new Vector3(factor, factor, factor);
- }
- }
-
- // Ignore Current and Target Values and just advance the PID computation on this error.
- public override Vector3 Step(float timeStep, Vector3 error)
- {
- if (!Enabled) return Vector3.Zero;
-
- // Add up the error so we can integrate over the accumulated errors
- RunningIntegration += error * timeStep;
-
- // A simple derivitive is the rate of change from the last error.
- Vector3 derivFactor = (error - LastError) * timeStep;
- LastError = error;
-
- // Correction = -(proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError)
- Vector3 ret = -(
- error * proportionFactor
- + RunningIntegration * integralFactor
- + derivFactor * derivFactor
- );
-
- return ret;
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs
deleted file mode 100644
index 5e93a0335a..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs
+++ /dev/null
@@ -1,559 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.Text;
-
-using OpenSim.Region.Physics.Manager;
-
-using OpenMetaverse;
-using Nini.Config;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public static class BSParam
-{
- // Level of Detail values kept as float because that's what the Meshmerizer wants
- public static float MeshLOD { get; private set; }
- public static float MeshMegaPrimLOD { get; private set; }
- public static float MeshMegaPrimThreshold { get; private set; }
- public static float SculptLOD { get; private set; }
-
- public static float MinimumObjectMass { get; private set; }
- public static float MaximumObjectMass { get; private set; }
-
- public static float LinearDamping { get; private set; }
- public static float AngularDamping { get; private set; }
- public static float DeactivationTime { get; private set; }
- public static float LinearSleepingThreshold { get; private set; }
- public static float AngularSleepingThreshold { get; private set; }
- public static float CcdMotionThreshold { get; private set; }
- public static float CcdSweptSphereRadius { get; private set; }
- public static float ContactProcessingThreshold { get; private set; }
-
- public static bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed
- public static bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes
- public static bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects
-
- public static float TerrainImplementation { get; private set; }
- public static float TerrainFriction { get; private set; }
- public static float TerrainHitFraction { get; private set; }
- public static float TerrainRestitution { get; private set; }
- public static float TerrainCollisionMargin { get; private set; }
-
- // Avatar parameters
- public static float AvatarFriction { get; private set; }
- public static float AvatarStandingFriction { get; private set; }
- public static float AvatarDensity { get; private set; }
- public static float AvatarRestitution { get; private set; }
- public static float AvatarCapsuleWidth { get; private set; }
- public static float AvatarCapsuleDepth { get; private set; }
- public static float AvatarCapsuleHeight { get; private set; }
- public static float AvatarContactProcessingThreshold { get; private set; }
-
- public static float VehicleAngularDamping { get; private set; }
-
- public static float LinksetImplementation { get; private set; }
- public static float LinkConstraintUseFrameOffset { get; private set; }
- public static float LinkConstraintEnableTransMotor { get; private set; }
- public static float LinkConstraintTransMotorMaxVel { get; private set; }
- public static float LinkConstraintTransMotorMaxForce { get; private set; }
- public static float LinkConstraintERP { get; private set; }
- public static float LinkConstraintCFM { get; private set; }
- public static float LinkConstraintSolverIterations { get; private set; }
-
- public static float PID_D { get; private set; } // derivative
- public static float PID_P { get; private set; } // proportional
-
- public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
- public delegate float ParamGet(BSScene scene);
- public delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
- public delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
-
- public struct ParameterDefn
- {
- public string name; // string name of the parameter
- public string desc; // a short description of what the parameter means
- public float defaultValue; // default value if not specified anywhere else
- public ParamUser userParam; // get the value from the configuration file
- public ParamGet getter; // return the current value stored for this parameter
- public ParamSet setter; // set the current value for this parameter
- public SetOnObject onObject; // set the value on an object in the physical domain
- public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
- {
- name = n;
- desc = d;
- defaultValue = v;
- userParam = u;
- getter = g;
- setter = s;
- onObject = null;
- }
- public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
- {
- name = n;
- desc = d;
- defaultValue = v;
- userParam = u;
- getter = g;
- setter = s;
- onObject = o;
- }
- }
-
- // List of all of the externally visible parameters.
- // For each parameter, this table maps a text name to getter and setters.
- // To add a new externally referencable/settable parameter, add the paramter storage
- // location somewhere in the program and make an entry in this table with the
- // getters and setters.
- // It is easiest to find an existing definition and copy it.
- // Parameter values are floats. Booleans are converted to a floating value.
- //
- // A ParameterDefn() takes the following parameters:
- // -- the text name of the parameter. This is used for console input and ini file.
- // -- a short text description of the parameter. This shows up in the console listing.
- // -- a default value (float)
- // -- a delegate for fetching the parameter from the ini file.
- // Should handle fetching the right type from the ini file and converting it.
- // -- a delegate for getting the value as a float
- // -- a delegate for setting the value from a float
- // -- an optional delegate to update the value in the world. Most often used to
- // push the new value to an in-world object.
- //
- // The single letter parameters for the delegates are:
- // s = BSScene
- // o = BSPhysObject
- // p = string parameter name
- // l = localID of referenced object
- // v = value (float)
- // cf = parameter configuration class (for fetching values from ini file)
- private static ParameterDefn[] ParameterDefinitions =
- {
- new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties",
- ConfigurationParameters.numericTrue,
- (s,cf,p,v) => { ShouldMeshSculptedPrim = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
- (s) => { return BSParam.NumericBool(ShouldMeshSculptedPrim); },
- (s,p,l,v) => { ShouldMeshSculptedPrim = BSParam.BoolNumeric(v); } ),
- new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
- ConfigurationParameters.numericFalse,
- (s,cf,p,v) => { ShouldForceSimplePrimMeshing = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
- (s) => { return BSParam.NumericBool(ShouldForceSimplePrimMeshing); },
- (s,p,l,v) => { ShouldForceSimplePrimMeshing = BSParam.BoolNumeric(v); } ),
- new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
- ConfigurationParameters.numericTrue,
- (s,cf,p,v) => { ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
- (s) => { return BSParam.NumericBool(ShouldUseHullsForPhysicalObjects); },
- (s,p,l,v) => { ShouldUseHullsForPhysicalObjects = BSParam.BoolNumeric(v); } ),
-
- new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
- 8f,
- (s,cf,p,v) => { MeshLOD = (float)cf.GetInt(p, (int)v); },
- (s) => { return MeshLOD; },
- (s,p,l,v) => { MeshLOD = v; } ),
- new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
- 16f,
- (s,cf,p,v) => { MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); },
- (s) => { return MeshMegaPrimLOD; },
- (s,p,l,v) => { MeshMegaPrimLOD = v; } ),
- new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
- 10f,
- (s,cf,p,v) => { MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); },
- (s) => { return MeshMegaPrimThreshold; },
- (s,p,l,v) => { MeshMegaPrimThreshold = v; } ),
- new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
- 32f,
- (s,cf,p,v) => { SculptLOD = (float)cf.GetInt(p, (int)v); },
- (s) => { return SculptLOD; },
- (s,p,l,v) => { SculptLOD = v; } ),
-
- new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps",
- 10f,
- (s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); },
- (s) => { return (float)s.m_maxSubSteps; },
- (s,p,l,v) => { s.m_maxSubSteps = (int)v; } ),
- new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)",
- 1f / 60f,
- (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); },
- (s) => { return (float)s.m_fixedTimeStep; },
- (s,p,l,v) => { s.m_fixedTimeStep = v; } ),
- new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
- 2048f,
- (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); },
- (s) => { return (float)s.m_maxCollisionsPerFrame; },
- (s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ),
- new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame",
- 8000f,
- (s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
- (s) => { return (float)s.m_maxUpdatesPerFrame; },
- (s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
- new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step",
- 500f,
- (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); },
- (s) => { return (float)s.m_taintsToProcessPerStep; },
- (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ),
- new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)",
- 0.0001f,
- (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); },
- (s) => { return (float)MinimumObjectMass; },
- (s,p,l,v) => { MinimumObjectMass = v; } ),
- new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
- 10000.01f,
- (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); },
- (s) => { return (float)MaximumObjectMass; },
- (s,p,l,v) => { MaximumObjectMass = v; } ),
-
- new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
- 2200f,
- (s,cf,p,v) => { PID_D = cf.GetFloat(p, v); },
- (s) => { return (float)PID_D; },
- (s,p,l,v) => { PID_D = v; } ),
- new ParameterDefn("PID_P", "Parameteric factor for motion smoothing",
- 900f,
- (s,cf,p,v) => { PID_P = cf.GetFloat(p, v); },
- (s) => { return (float)PID_P; },
- (s,p,l,v) => { PID_P = v; } ),
-
- new ParameterDefn("DefaultFriction", "Friction factor used on new objects",
- 0.2f,
- (s,cf,p,v) => { s.UnmanagedParams[0].defaultFriction = cf.GetFloat(p, v); },
- (s) => { return s.UnmanagedParams[0].defaultFriction; },
- (s,p,l,v) => { s.UnmanagedParams[0].defaultFriction = v; } ),
- new ParameterDefn("DefaultDensity", "Density for new objects" ,
- 10.000006836f, // Aluminum g/cm3
- (s,cf,p,v) => { s.UnmanagedParams[0].defaultDensity = cf.GetFloat(p, v); },
- (s) => { return s.UnmanagedParams[0].defaultDensity; },
- (s,p,l,v) => { s.UnmanagedParams[0].defaultDensity = v; } ),
- new ParameterDefn("DefaultRestitution", "Bouncyness of an object" ,
- 0f,
- (s,cf,p,v) => { s.UnmanagedParams[0].defaultRestitution = cf.GetFloat(p, v); },
- (s) => { return s.UnmanagedParams[0].defaultRestitution; },
- (s,p,l,v) => { s.UnmanagedParams[0].defaultRestitution = v; } ),
- new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
- 0.04f,
- (s,cf,p,v) => { s.UnmanagedParams[0].collisionMargin = cf.GetFloat(p, v); },
- (s) => { return s.UnmanagedParams[0].collisionMargin; },
- (s,p,l,v) => { s.UnmanagedParams[0].collisionMargin = v; } ),
- new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)",
- -9.80665f,
- (s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); },
- (s) => { return s.UnmanagedParams[0].gravity; },
- (s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); },
- (s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ),
-
-
- new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
- 0f,
- (s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); },
- (s) => { return LinearDamping; },
- (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); },
- (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, AngularDamping); } ),
- new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
- 0f,
- (s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); },
- (s) => { return AngularDamping; },
- (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); },
- (s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, LinearDamping, v); } ),
- new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
- 0.2f,
- (s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); },
- (s) => { return DeactivationTime; },
- (s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); },
- (s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ),
- new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
- 0.8f,
- (s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); },
- (s) => { return LinearSleepingThreshold; },
- (s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); },
- (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
- new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
- 1.0f,
- (s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); },
- (s) => { return AngularSleepingThreshold; },
- (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); },
- (s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
- new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
- 0f, // set to zero to disable
- (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); },
- (s) => { return CcdMotionThreshold; },
- (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); },
- (s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ),
- new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
- 0f,
- (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); },
- (s) => { return CcdSweptSphereRadius; },
- (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); },
- (s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ),
- new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
- 0.1f,
- (s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); },
- (s) => { return ContactProcessingThreshold; },
- (s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); },
- (s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ),
-
- new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
- (float)BSTerrainPhys.TerrainImplementation.Heightmap,
- (s,cf,p,v) => { TerrainImplementation = cf.GetFloat(p,v); },
- (s) => { return TerrainImplementation; },
- (s,p,l,v) => { TerrainImplementation = v; } ),
- new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
- 0.3f,
- (s,cf,p,v) => { TerrainFriction = cf.GetFloat(p, v); },
- (s) => { return TerrainFriction; },
- (s,p,l,v) => { TerrainFriction = v; /* TODO: set on real terrain */} ),
- new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
- 0.8f,
- (s,cf,p,v) => { TerrainHitFraction = cf.GetFloat(p, v); },
- (s) => { return TerrainHitFraction; },
- (s,p,l,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ),
- new ParameterDefn("TerrainRestitution", "Bouncyness" ,
- 0f,
- (s,cf,p,v) => { TerrainRestitution = cf.GetFloat(p, v); },
- (s) => { return TerrainRestitution; },
- (s,p,l,v) => { TerrainRestitution = v; /* TODO: set on real terrain */ } ),
- new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" ,
- 0.04f,
- (s,cf,p,v) => { TerrainCollisionMargin = cf.GetFloat(p, v); },
- (s) => { return TerrainCollisionMargin; },
- (s,p,l,v) => { TerrainCollisionMargin = v; /* TODO: set on real terrain */ } ),
-
- new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
- 0.2f,
- (s,cf,p,v) => { AvatarFriction = cf.GetFloat(p, v); },
- (s) => { return AvatarFriction; },
- (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarFriction=x;}, p, l, v); } ),
- new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
- 10.0f,
- (s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); },
- (s) => { return AvatarStandingFriction; },
- (s,p,l,v) => { AvatarStandingFriction = v; } ),
- new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
- 3.5f,
- (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); },
- (s) => { return AvatarDensity; },
- (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ),
- new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
- 0f,
- (s,cf,p,v) => { AvatarRestitution = cf.GetFloat(p, v); },
- (s) => { return AvatarRestitution; },
- (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarRestitution=x;}, p, l, v); } ),
- new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
- 0.6f,
- (s,cf,p,v) => { AvatarCapsuleWidth = cf.GetFloat(p, v); },
- (s) => { return AvatarCapsuleWidth; },
- (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleWidth=x;}, p, l, v); } ),
- new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
- 0.45f,
- (s,cf,p,v) => { AvatarCapsuleDepth = cf.GetFloat(p, v); },
- (s) => { return AvatarCapsuleDepth; },
- (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleDepth=x;}, p, l, v); } ),
- new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
- 1.5f,
- (s,cf,p,v) => { AvatarCapsuleHeight = cf.GetFloat(p, v); },
- (s) => { return AvatarCapsuleHeight; },
- (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleHeight=x;}, p, l, v); } ),
- new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
- 0.1f,
- (s,cf,p,v) => { AvatarContactProcessingThreshold = cf.GetFloat(p, v); },
- (s) => { return AvatarContactProcessingThreshold; },
- (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarContactProcessingThreshold=x;}, p, l, v); } ),
-
- new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
- 0.95f,
- (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
- (s) => { return VehicleAngularDamping; },
- (s,p,l,v) => { VehicleAngularDamping = v; } ),
-
- new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
- 0f,
- (s,cf,p,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
- (s) => { return s.UnmanagedParams[0].maxPersistantManifoldPoolSize; },
- (s,p,l,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ),
- new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
- 0f,
- (s,cf,p,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
- (s) => { return s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize; },
- (s,p,l,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ),
- new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
- ConfigurationParameters.numericFalse,
- (s,cf,p,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
- (s) => { return s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation; },
- (s,p,l,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ),
- new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
- ConfigurationParameters.numericFalse,
- (s,cf,p,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
- (s) => { return s.UnmanagedParams[0].shouldForceUpdateAllAabbs; },
- (s,p,l,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ),
- new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
- ConfigurationParameters.numericTrue,
- (s,cf,p,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
- (s) => { return s.UnmanagedParams[0].shouldRandomizeSolverOrder; },
- (s,p,l,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ),
- new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
- ConfigurationParameters.numericTrue,
- (s,cf,p,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
- (s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; },
- (s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ),
- new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching",
- ConfigurationParameters.numericFalse,
- (s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
- (s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; },
- (s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ),
- new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)",
- 0f, // zero says use Bullet default
- (s,cf,p,v) => { s.UnmanagedParams[0].numberOfSolverIterations = cf.GetFloat(p, v); },
- (s) => { return s.UnmanagedParams[0].numberOfSolverIterations; },
- (s,p,l,v) => { s.UnmanagedParams[0].numberOfSolverIterations = v; } ),
-
- new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
- (float)BSLinkset.LinksetImplementation.Compound,
- (s,cf,p,v) => { LinksetImplementation = cf.GetFloat(p,v); },
- (s) => { return LinksetImplementation; },
- (s,p,l,v) => { LinksetImplementation = v; } ),
- new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
- ConfigurationParameters.numericFalse,
- (s,cf,p,v) => { LinkConstraintUseFrameOffset = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
- (s) => { return LinkConstraintUseFrameOffset; },
- (s,p,l,v) => { LinkConstraintUseFrameOffset = v; } ),
- new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
- ConfigurationParameters.numericTrue,
- (s,cf,p,v) => { LinkConstraintEnableTransMotor = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
- (s) => { return LinkConstraintEnableTransMotor; },
- (s,p,l,v) => { LinkConstraintEnableTransMotor = v; } ),
- new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
- 5.0f,
- (s,cf,p,v) => { LinkConstraintTransMotorMaxVel = cf.GetFloat(p, v); },
- (s) => { return LinkConstraintTransMotorMaxVel; },
- (s,p,l,v) => { LinkConstraintTransMotorMaxVel = v; } ),
- new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
- 0.1f,
- (s,cf,p,v) => { LinkConstraintTransMotorMaxForce = cf.GetFloat(p, v); },
- (s) => { return LinkConstraintTransMotorMaxForce; },
- (s,p,l,v) => { LinkConstraintTransMotorMaxForce = v; } ),
- new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
- 0.1f,
- (s,cf,p,v) => { LinkConstraintCFM = cf.GetFloat(p, v); },
- (s) => { return LinkConstraintCFM; },
- (s,p,l,v) => { LinkConstraintCFM = v; } ),
- new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
- 0.1f,
- (s,cf,p,v) => { LinkConstraintERP = cf.GetFloat(p, v); },
- (s) => { return LinkConstraintERP; },
- (s,p,l,v) => { LinkConstraintERP = v; } ),
- new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
- 40,
- (s,cf,p,v) => { LinkConstraintSolverIterations = cf.GetFloat(p, v); },
- (s) => { return LinkConstraintSolverIterations; },
- (s,p,l,v) => { LinkConstraintSolverIterations = v; } ),
-
- new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)",
- 0f,
- (s,cf,p,v) => { s.UnmanagedParams[0].physicsLoggingFrames = cf.GetInt(p, (int)v); },
- (s) => { return (float)s.UnmanagedParams[0].physicsLoggingFrames; },
- (s,p,l,v) => { s.UnmanagedParams[0].physicsLoggingFrames = (int)v; } ),
- };
-
- // Convert a boolean to our numeric true and false values
- public static float NumericBool(bool b)
- {
- return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse);
- }
-
- // Convert numeric true and false values to a boolean
- public static bool BoolNumeric(float b)
- {
- return (b == ConfigurationParameters.numericTrue ? true : false);
- }
-
- // Search through the parameter definitions and return the matching
- // ParameterDefn structure.
- // Case does not matter as names are compared after converting to lower case.
- // Returns 'false' if the parameter is not found.
- internal static bool TryGetParameter(string paramName, out ParameterDefn defn)
- {
- bool ret = false;
- ParameterDefn foundDefn = new ParameterDefn();
- string pName = paramName.ToLower();
-
- foreach (ParameterDefn parm in ParameterDefinitions)
- {
- if (pName == parm.name.ToLower())
- {
- foundDefn = parm;
- ret = true;
- break;
- }
- }
- defn = foundDefn;
- return ret;
- }
-
- // Pass through the settable parameters and set the default values
- internal static void SetParameterDefaultValues(BSScene physicsScene)
- {
- foreach (ParameterDefn parm in ParameterDefinitions)
- {
- parm.setter(physicsScene, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue);
- }
- }
-
- // Get user set values out of the ini file.
- internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg)
- {
- foreach (ParameterDefn parm in ParameterDefinitions)
- {
- parm.userParam(physicsScene, cfg, parm.name, parm.defaultValue);
- }
- }
-
- internal static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1];
-
- // This creates an array in the correct format for returning the list of
- // parameters. This is used by the 'list' option of the 'physics' command.
- internal static void BuildParameterTable()
- {
- if (SettableParameters.Length < ParameterDefinitions.Length)
- {
- List<PhysParameterEntry> entries = new List<PhysParameterEntry>();
- for (int ii = 0; ii < ParameterDefinitions.Length; ii++)
- {
- ParameterDefn pd = ParameterDefinitions[ii];
- entries.Add(new PhysParameterEntry(pd.name, pd.desc));
- }
-
- // make the list in alphabetical order for estetic reasons
- entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2)
- {
- return ppe1.name.CompareTo(ppe2.name);
- });
-
- SettableParameters = entries.ToArray();
- }
- }
-
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs
deleted file mode 100644
index 689da7f962..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs
+++ /dev/null
@@ -1,346 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.Text;
-
-using OMV = OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-/*
- * Class to wrap all objects.
- * The rest of BulletSim doesn't need to keep checking for avatars or prims
- * unless the difference is significant.
- *
- * Variables in the physicsl objects are in three forms:
- * VariableName: used by the simulator and performs taint operations, etc
- * RawVariableName: direct reference to the BulletSim storage for the variable value
- * ForceVariableName: direct reference (store and fetch) to the value in the physics engine.
- * The last two (and certainly the last one) should be referenced only in taint-time.
- */
-
-/*
- * As of 20121221, the following are the call sequences (going down) for different script physical functions:
- * llApplyImpulse llApplyRotImpulse llSetTorque llSetForce
- * SOP.ApplyImpulse SOP.ApplyAngularImpulse SOP.SetAngularImpulse SOP.SetForce
- * SOG.ApplyImpulse SOG.ApplyAngularImpulse SOG.SetAngularImpulse
- * PA.AddForce PA.AddAngularForce PA.Torque = v PA.Force = v
- * BS.ApplyCentralForce BS.ApplyTorque
- */
-
-public abstract class BSPhysObject : PhysicsActor
-{
- protected BSPhysObject()
- {
- }
- protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
- {
- PhysicsScene = parentScene;
- LocalID = localID;
- PhysObjectName = name;
- TypeName = typeName;
-
- Linkset = BSLinkset.Factory(PhysicsScene, this);
- LastAssetBuildFailed = false;
-
- // Default material type
- Material = MaterialAttributes.Material.Wood;
-
- CollisionCollection = new CollisionEventUpdate();
- SubscribedEventsMs = 0;
- CollidingStep = 0;
- CollidingGroundStep = 0;
- }
-
- // Tell the object to clean up.
- public virtual void Destroy()
- {
- UnRegisterAllPreStepActions();
- }
-
- public BSScene PhysicsScene { get; protected set; }
- // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor
- public string PhysObjectName { get; protected set; }
- public string TypeName { get; protected set; }
-
- public BSLinkset Linkset { get; set; }
- public BSLinksetInfo LinksetInfo { get; set; }
-
- // Return the object mass without calculating it or having side effects
- public abstract float RawMass { get; }
- // Set the raw mass but also update physical mass properties (inertia, ...)
- // 'inWorld' true if the object has already been added to the dynamic world.
- public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
-
- // The last value calculated for the prim's inertia
- public OMV.Vector3 Inertia { get; set; }
-
- // Reference to the physical body (btCollisionObject) of this object
- public BulletBody PhysBody;
- // Reference to the physical shape (btCollisionShape) of this object
- public BulletShape PhysShape;
-
- // 'true' if the mesh's underlying asset failed to build.
- // This will keep us from looping after the first time the build failed.
- public bool LastAssetBuildFailed { get; set; }
-
- // The objects base shape information. Null if not a prim type shape.
- public PrimitiveBaseShape BaseShape { get; protected set; }
- // Some types of objects have preferred physical representations.
- // Returns SHAPE_UNKNOWN if there is no preference.
- public virtual BSPhysicsShapeType PreferredPhysicalShape
- {
- get { return BSPhysicsShapeType.SHAPE_UNKNOWN; }
- }
-
- // When the physical properties are updated, an EntityProperty holds the update values.
- // Keep the current and last EntityProperties to enable computation of differences
- // between the current update and the previous values.
- public EntityProperties CurrentEntityProperties { get; set; }
- public EntityProperties LastEntityProperties { get; set; }
-
- public virtual OMV.Vector3 Scale { get; set; }
- public abstract bool IsSolid { get; }
- public abstract bool IsStatic { get; }
-
- // Materialness
- public MaterialAttributes.Material Material { get; private set; }
- public override void SetMaterial(int material)
- {
- Material = (MaterialAttributes.Material)material;
- }
-
- // Stop all physical motion.
- public abstract void ZeroMotion(bool inTaintTime);
- public abstract void ZeroAngularMotion(bool inTaintTime);
-
- // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
- public virtual void StepVehicle(float timeStep) { }
-
- // Update the physical location and motion of the object. Called with data from Bullet.
- public abstract void UpdateProperties(EntityProperties entprop);
-
- public abstract OMV.Vector3 RawPosition { get; set; }
- public abstract OMV.Vector3 ForcePosition { get; set; }
-
- public abstract OMV.Quaternion RawOrientation { get; set; }
- public abstract OMV.Quaternion ForceOrientation { get; set; }
-
- // The system is telling us the velocity it wants to move at.
- // protected OMV.Vector3 m_targetVelocity; // use the definition in PhysicsActor
- public override OMV.Vector3 TargetVelocity
- {
- get { return m_targetVelocity; }
- set
- {
- m_targetVelocity = value;
- Velocity = value;
- }
- }
- public abstract OMV.Vector3 ForceVelocity { get; set; }
-
- public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
-
- public abstract float ForceBuoyancy { get; set; }
-
- public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
-
- #region Collisions
-
- // Requested number of milliseconds between collision events. Zero means disabled.
- protected int SubscribedEventsMs { get; set; }
- // Given subscription, the time that a collision may be passed up
- protected int NextCollisionOkTime { get; set; }
- // The simulation step that last had a collision
- protected long CollidingStep { get; set; }
- // The simulation step that last had a collision with the ground
- protected long CollidingGroundStep { get; set; }
- // The collision flags we think are set in Bullet
- protected CollisionFlags CurrentCollisionFlags { get; set; }
-
- // The collisions that have been collected this tick
- protected CollisionEventUpdate CollisionCollection;
-
- // The simulation step is telling this object about a collision.
- // Return 'true' if a collision was processed and should be sent up.
- // Called at taint time from within the Step() function
- public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
- OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
- {
- bool ret = false;
-
- // The following lines make IsColliding() and IsCollidingGround() work
- CollidingStep = PhysicsScene.SimulationStep;
- if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
- {
- CollidingGroundStep = PhysicsScene.SimulationStep;
- }
-
- // prims in the same linkset cannot collide with each other
- if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
- {
- return ret;
- }
-
- // if someone has subscribed for collision events....
- if (SubscribedEvents()) {
- CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
- DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
- LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
-
- ret = true;
- }
- return ret;
- }
-
- // Send the collected collisions into the simulator.
- // Called at taint time from within the Step() function thus no locking problems
- // with CollisionCollection and ObjectsWithNoMoreCollisions.
- // Return 'true' if there were some actual collisions passed up
- public virtual bool SendCollisions()
- {
- bool ret = true;
- // If the 'no collision' call, force it to happen right now so quick collision_end
- bool force = (CollisionCollection.Count == 0);
-
- // throttle the collisions to the number of milliseconds specified in the subscription
- if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
- {
- NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs;
-
- // We are called if we previously had collisions. If there are no collisions
- // this time, send up one last empty event so OpenSim can sense collision end.
- if (CollisionCollection.Count == 0)
- {
- // If I have no collisions this time, remove me from the list of objects with collisions.
- ret = false;
- }
-
- // DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
- base.SendCollisionUpdate(CollisionCollection);
-
- // The CollisionCollection instance is passed around in the simulator.
- // Make sure we don't have a handle to that one and that a new one is used for next time.
- // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here,
- // a race condition is created for the other users of this instance.
- CollisionCollection = new CollisionEventUpdate();
- }
- return ret;
- }
-
- // Subscribe for collision events.
- // Parameter is the millisecond rate the caller wishes collision events to occur.
- public override void SubscribeEvents(int ms) {
- // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
- SubscribedEventsMs = ms;
- if (ms > 0)
- {
- // make sure first collision happens
- NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
-
- PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
- });
- }
- else
- {
- // Subscribing for zero or less is the same as unsubscribing
- UnSubscribeEvents();
- }
- }
- public override void UnSubscribeEvents() {
- // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
- SubscribedEventsMs = 0;
- PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
- {
- // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
- if (PhysBody.HasPhysicalBody)
- CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
- });
- }
- // Return 'true' if the simulator wants collision events
- public override bool SubscribedEvents() {
- return (SubscribedEventsMs > 0);
- }
-
- #endregion // Collisions
-
- #region Per Simulation Step actions
- // There are some actions that must be performed for a physical object before each simulation step.
- // These actions are optional so, rather than scanning all the physical objects and asking them
- // if they have anything to do, a physical object registers for an event call before the step is performed.
- // This bookkeeping makes it easy to add, remove and clean up after all these registrations.
- private Dictionary<string, BSScene.PreStepAction> RegisteredActions = new Dictionary<string, BSScene.PreStepAction>();
- protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn)
- {
- string identifier = op + "-" + id.ToString();
- RegisteredActions[identifier] = actn;
- PhysicsScene.BeforeStep += actn;
- DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
- }
-
- // Unregister a pre step action. Safe to call if the action has not been registered.
- protected void UnRegisterPreStepAction(string op, uint id)
- {
- string identifier = op + "-" + id.ToString();
- bool removed = false;
- if (RegisteredActions.ContainsKey(identifier))
- {
- PhysicsScene.BeforeStep -= RegisteredActions[identifier];
- RegisteredActions.Remove(identifier);
- removed = true;
- }
- DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
- }
-
- protected void UnRegisterAllPreStepActions()
- {
- foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
- {
- PhysicsScene.BeforeStep -= kvp.Value;
- }
- RegisteredActions.Clear();
- DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
- }
-
-
- #endregion // Per Simulation Step actions
-
- // High performance detailed logging routine used by the physical objects.
- protected void DetailLog(string msg, params Object[] args)
- {
- if (PhysicsScene.PhysicsLogging.Enabled)
- PhysicsScene.DetailLog(msg, args);
- }
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs
deleted file mode 100644
index 75963ee5e5..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSPlugin.cs
+++ /dev/null
@@ -1,81 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
- /// <summary>
- /// Entry for a port of Bullet (http://bulletphysics.org/) to OpenSim.
- /// This module interfaces to an unmanaged C++ library which makes the
- /// actual calls into the Bullet physics engine.
- /// The unmanaged library is found in opensim-libs::trunk/unmanaged/BulletSim/.
- /// The unmanaged library is compiled and linked statically with Bullet
- /// to create BulletSim.dll and libBulletSim.so (for both 32 and 64 bit).
- /// </summary>
-public class BSPlugin : IPhysicsPlugin
-{
- //private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
-
- private BSScene _mScene;
-
- public BSPlugin()
- {
- }
-
- public bool Init()
- {
- return true;
- }
-
- public PhysicsScene GetScene(String sceneIdentifier)
- {
- if (_mScene == null)
- {
-
- // If not Windows, loading is performed by the
- // Mono loader as specified in
- // "bin/Physics/OpenSim.Region.Physics.BulletSNPlugin.dll.config".
-
- _mScene = new BSScene(sceneIdentifier);
- }
- return (_mScene);
- }
-
- public string GetName()
- {
- return ("BulletSimN");
- }
-
- public void Dispose()
- {
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
deleted file mode 100644
index aadb5b2925..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
+++ /dev/null
@@ -1,1494 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Reflection;
-using System.Collections.Generic;
-using System.Xml;
-using log4net;
-using OMV = OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-using OpenSim.Region.Physics.ConvexDecompositionDotNet;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
- [Serializable]
-public sealed class BSPrim : BSPhysObject
-{
- private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
- private static readonly string LogHeader = "[BULLETS PRIM]";
-
- // _size is what the user passed. Scale is what we pass to the physics engine with the mesh.
- private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user
-
- private bool _grabbed;
- private bool _isSelected;
- private bool _isVolumeDetect;
- private OMV.Vector3 _position;
- private float _mass; // the mass of this object
- private float _density;
- private OMV.Vector3 _force;
- private OMV.Vector3 _velocity;
- private OMV.Vector3 _torque;
- private float _collisionScore;
- private OMV.Vector3 _acceleration;
- private OMV.Quaternion _orientation;
- private int _physicsActorType;
- private bool _isPhysical;
- private bool _flying;
- private float _friction;
- private float _restitution;
- private bool _setAlwaysRun;
- private bool _throttleUpdates;
- private bool _isColliding;
- private bool _collidingGround;
- private bool _collidingObj;
- private bool _floatOnWater;
- private OMV.Vector3 _rotationalVelocity;
- private bool _kinematic;
- private float _buoyancy;
-
- private BSDynamics _vehicle;
-
- private OMV.Vector3 _PIDTarget;
- private bool _usePID;
- private float _PIDTau;
- private bool _useHoverPID;
- private float _PIDHoverHeight;
- private PIDHoverType _PIDHoverType;
- private float _PIDHoverTao;
-
- public BSPrim(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
- OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
- : base(parent_scene, localID, primName, "BSPrim")
- {
- // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID);
- _physicsActorType = (int)ActorTypes.Prim;
- _position = pos;
- _size = size;
- Scale = size; // prims are the size the user wants them to be (different for BSCharactes).
- _orientation = rotation;
- _buoyancy = 1f;
- _velocity = OMV.Vector3.Zero;
- _rotationalVelocity = OMV.Vector3.Zero;
- BaseShape = pbs;
- _isPhysical = pisPhysical;
- _isVolumeDetect = false;
-
- // Someday set default attributes based on the material but, for now, we don't know the prim material yet.
- // MaterialAttributes primMat = BSMaterials.GetAttributes(Material, pisPhysical);
- _density = PhysicsScene.Params.defaultDensity;
- _friction = PhysicsScene.Params.defaultFriction;
- _restitution = PhysicsScene.Params.defaultRestitution;
-
- _vehicle = new BSDynamics(PhysicsScene, this); // add vehicleness
-
- _mass = CalculateMass();
-
- Linkset.Refresh(this);
-
- DetailLog("{0},BSPrim.constructor,call", LocalID);
- // do the actual object creation at taint time
- PhysicsScene.TaintedObject("BSPrim.create", delegate()
- {
- CreateGeomAndObject(true);
-
- CurrentCollisionFlags = BulletSimAPI.GetCollisionFlags2(PhysBody.ptr);
- });
- }
-
- // called when this prim is being destroyed and we should free all the resources
- public override void Destroy()
- {
- // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
- base.Destroy();
-
- // Undo any links between me and any other object
- BSPhysObject parentBefore = Linkset.LinksetRoot;
- int childrenBefore = Linkset.NumberOfChildren;
-
- Linkset = Linkset.RemoveMeFromLinkset(this);
-
- DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}",
- LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
-
- // Undo any vehicle properties
- this.VehicleType = (int)Vehicle.TYPE_NONE;
-
- PhysicsScene.TaintedObject("BSPrim.destroy", delegate()
- {
- DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
- // If there are physical body and shape, release my use of same.
- PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
- PhysBody.Clear();
- PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
- PhysShape.Clear();
- });
- }
-
- // No one uses this property.
- public override bool Stopped {
- get { return false; }
- }
- public override OMV.Vector3 Size {
- get { return _size; }
- set {
- // We presume the scale and size are the same. If scale must be changed for
- // the physical shape, that is done when the geometry is built.
- _size = value;
- Scale = _size;
- ForceBodyShapeRebuild(false);
- }
- }
-
- public override PrimitiveBaseShape Shape {
- set {
- BaseShape = value;
- ForceBodyShapeRebuild(false);
- }
- }
- // Whatever the linkset wants is what I want.
- public override BSPhysicsShapeType PreferredPhysicalShape
- { get { return Linkset.PreferredPhysicalShape(this); } }
-
- public override bool ForceBodyShapeRebuild(bool inTaintTime)
- {
- LastAssetBuildFailed = false;
- PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate()
- {
- _mass = CalculateMass(); // changing the shape changes the mass
- CreateGeomAndObject(true);
- });
- return true;
- }
- public override bool Grabbed {
- set { _grabbed = value;
- }
- }
- public override bool Selected {
- set
- {
- if (value != _isSelected)
- {
- _isSelected = value;
- PhysicsScene.TaintedObject("BSPrim.setSelected", delegate()
- {
- DetailLog("{0},BSPrim.selected,taint,selected={1}", LocalID, _isSelected);
- SetObjectDynamic(false);
- });
- }
- }
- }
- public override void CrossingFailure() { return; }
-
- // link me to the specified parent
- public override void link(PhysicsActor obj) {
- BSPrim parent = obj as BSPrim;
- if (parent != null)
- {
- BSPhysObject parentBefore = Linkset.LinksetRoot;
- int childrenBefore = Linkset.NumberOfChildren;
-
- Linkset = parent.Linkset.AddMeToLinkset(this);
-
- DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
- LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
- }
- return;
- }
-
- // delink me from my linkset
- public override void delink() {
- // 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
-
- BSPhysObject parentBefore = Linkset.LinksetRoot;
- int childrenBefore = Linkset.NumberOfChildren;
-
- Linkset = Linkset.RemoveMeFromLinkset(this);
-
- DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
- LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
- return;
- }
-
- // Set motion values to zero.
- // Do it to the properties so the values get set in the physics engine.
- // Push the setting of the values to the viewer.
- // Called at taint time!
- public override void ZeroMotion(bool inTaintTime)
- {
- _velocity = OMV.Vector3.Zero;
- _acceleration = OMV.Vector3.Zero;
- _rotationalVelocity = OMV.Vector3.Zero;
-
- // Zero some other properties in the physics engine
- PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- BulletSimAPI.ClearAllForces2(PhysBody.ptr);
- });
- }
- public override void ZeroAngularMotion(bool inTaintTime)
- {
- _rotationalVelocity = OMV.Vector3.Zero;
- // Zero some other properties in the physics engine
- PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
- {
- // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
- if (PhysBody.HasPhysicalBody)
- {
- BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
- BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
- }
- });
- }
-
- public override void LockAngularMotion(OMV.Vector3 axis)
- {
- DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
- return;
- }
-
- public override OMV.Vector3 RawPosition
- {
- get { return _position; }
- set { _position = value; }
- }
- public override OMV.Vector3 Position {
- get {
- /* NOTE: this refetch is not necessary. The simulator knows about linkset children
- * and does not fetch this position info for children. Thus this is commented out.
- // child prims move around based on their parent. Need to get the latest location
- if (!Linkset.IsRoot(this))
- _position = Linkset.PositionGet(this);
- */
-
- // don't do the GetObjectPosition for root elements because this function is called a zillion times.
- // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
- return _position;
- }
- set {
- // If the position must be forced into the physics engine, use ForcePosition.
- // All positions are given in world positions.
- if (_position == value)
- {
- DetailLog("{0},BSPrim.setPosition,taint,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation);
- return;
- }
- _position = value;
- PositionSanityCheck(false);
-
- // A linkset might need to know if a component information changed.
- Linkset.UpdateProperties(this, false);
-
- PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
- {
- DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
- ForcePosition = _position;
- });
- }
- }
- public override OMV.Vector3 ForcePosition {
- get {
- _position = BulletSimAPI.GetPosition2(PhysBody.ptr);
- return _position;
- }
- set {
- _position = value;
- if (PhysBody.HasPhysicalBody)
- {
- BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
- ActivateIfPhysical(false);
- }
- }
- }
-
- // Check that the current position is sane and, if not, modify the position to make it so.
- // Check for being below terrain and being out of bounds.
- // Returns 'true' of the position was made sane by some action.
- private bool PositionSanityCheck(bool inTaintTime)
- {
- bool ret = false;
-
- if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position))
- {
- // The physical object is out of the known/simulated area.
- // Upper levels of code will handle the transition to other areas so, for
- // the time, we just ignore the position.
- return ret;
- }
-
- float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
- OMV.Vector3 upForce = OMV.Vector3.Zero;
- if (RawPosition.Z < terrainHeight)
- {
- DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
- float targetHeight = terrainHeight + (Size.Z / 2f);
- // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec.
- upForce.Z = (terrainHeight - RawPosition.Z) * 1f;
- ret = true;
- }
-
- if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
- {
- float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
- // TODO: a floating motor so object will bob in the water
- if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f)
- {
- // Upforce proportional to the distance away from the water. Correct the error in 1 sec.
- upForce.Z = (waterHeight - RawPosition.Z) * 1f;
- ret = true;
- }
- }
-
- // The above code computes a force to apply to correct any out-of-bounds problems. Apply same.
- // TODO: This should be intergrated with a geneal physics action mechanism.
- // TODO: This should be moderated with PID'ness.
- if (ret)
- {
- // Apply upforce and overcome gravity.
- OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity;
- DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce);
- AddForce(correctionForce, false, inTaintTime);
- }
- return ret;
- }
-
- // Return the effective mass of the object.
- // The definition of this call is to return the mass of the prim.
- // If the simulator cares about the mass of the linkset, it will sum it itself.
- public override float Mass
- {
- get
- {
- return _mass;
- }
- }
-
- // used when we only want this prim's mass and not the linkset thing
- public override float RawMass {
- get { return _mass; }
- }
- // Set the physical mass to the passed mass.
- // Note that this does not change _mass!
- public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
- {
- if (PhysBody.HasPhysicalBody)
- {
- if (IsStatic)
- {
- Inertia = OMV.Vector3.Zero;
- BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia);
- BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
- }
- else
- {
- if (inWorld)
- {
- // Changing interesting properties doesn't change proxy and collision cache
- // information. The Bullet solution is to re-add the object to the world
- // after parameters are changed.
- BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
- }
-
- Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
- BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
- BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
-
- // center of mass is at the zero of the object
- // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
- DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},inWorld={3}", LocalID, physMass, Inertia, inWorld);
-
- if (inWorld)
- {
- BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr,_position,_orientation);
- }
-
- // Must set gravity after it has been added to the world because, for unknown reasons,
- // adding the object resets the object's gravity to world gravity
- OMV.Vector3 grav = PhysicsScene.DefaultGravity * (1f - Buoyancy);
- BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
-
- }
- }
- }
-
- // Is this used?
- public override OMV.Vector3 CenterOfMass
- {
- get { return Linkset.CenterOfMass; }
- }
-
- // Is this used?
- public override OMV.Vector3 GeometricCenter
- {
- get { return Linkset.GeometricCenter; }
- }
-
- public override OMV.Vector3 Force {
- get { return _force; }
- set {
- _force = value;
- if (_force != OMV.Vector3.Zero)
- {
- // If the force is non-zero, it must be reapplied each tick because
- // Bullet clears the forces applied last frame.
- RegisterPreStepAction("BSPrim.setForce", LocalID,
- delegate(float timeStep)
- {
- DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
- if (PhysBody.HasPhysicalBody)
- {
- BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force);
- ActivateIfPhysical(false);
- }
- }
- );
- }
- else
- {
- UnRegisterPreStepAction("BSPrim.setForce", LocalID);
- }
- }
- }
-
- public override int VehicleType {
- get {
- return (int)_vehicle.Type; // if we are a vehicle, return that type
- }
- set {
- Vehicle type = (Vehicle)value;
-
- PhysicsScene.TaintedObject("setVehicleType", delegate()
- {
- // Done at taint time so we're sure the physics engine is not using the variables
- // Vehicle code changes the parameters for this vehicle type.
- _vehicle.ProcessTypeChange(type);
- ActivateIfPhysical(false);
-
- // If an active vehicle, register the vehicle code to be called before each step
- if (_vehicle.Type == Vehicle.TYPE_NONE)
- UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
- else
- RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step);
- });
- }
- }
- public override void VehicleFloatParam(int param, float value)
- {
- PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
- {
- _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
- ActivateIfPhysical(false);
- });
- }
- public override void VehicleVectorParam(int param, OMV.Vector3 value)
- {
- PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
- {
- _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
- ActivateIfPhysical(false);
- });
- }
- public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
- {
- PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
- {
- _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
- ActivateIfPhysical(false);
- });
- }
- public override void VehicleFlags(int param, bool remove)
- {
- PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
- {
- _vehicle.ProcessVehicleFlags(param, remove);
- });
- }
-
- // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
- public override void SetVolumeDetect(int param) {
- bool newValue = (param != 0);
- if (_isVolumeDetect != newValue)
- {
- _isVolumeDetect = newValue;
- PhysicsScene.TaintedObject("BSPrim.SetVolumeDetect", delegate()
- {
- // DetailLog("{0},setVolumeDetect,taint,volDetect={1}", LocalID, _isVolumeDetect);
- SetObjectDynamic(true);
- });
- }
- return;
- }
- public override OMV.Vector3 Velocity {
- get { return _velocity; }
- set {
- _velocity = value;
- PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
- {
- // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
- ForceVelocity = _velocity;
- });
- }
- }
- public override OMV.Vector3 ForceVelocity {
- get { return _velocity; }
- set {
- PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity");
-
- _velocity = value;
- if (PhysBody.HasPhysicalBody)
- {
- BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
- ActivateIfPhysical(false);
- }
- }
- }
- public override OMV.Vector3 Torque {
- get { return _torque; }
- set {
- _torque = value;
- if (_torque != OMV.Vector3.Zero)
- {
- // If the torque is non-zero, it must be reapplied each tick because
- // Bullet clears the forces applied last frame.
- RegisterPreStepAction("BSPrim.setTorque", LocalID,
- delegate(float timeStep)
- {
- if (PhysBody.HasPhysicalBody)
- AddAngularForce(_torque, false, true);
- }
- );
- }
- else
- {
- UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
- }
- // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
- }
- }
- public override float CollisionScore {
- get { return _collisionScore; }
- set { _collisionScore = value;
- }
- }
- public override OMV.Vector3 Acceleration {
- get { return _acceleration; }
- set { _acceleration = value; }
- }
- public override OMV.Quaternion RawOrientation
- {
- get { return _orientation; }
- set { _orientation = value; }
- }
- public override OMV.Quaternion Orientation {
- get {
- /* NOTE: this refetch is not necessary. The simulator knows about linkset children
- * and does not fetch this position info for children. Thus this is commented out.
- // Children move around because tied to parent. Get a fresh value.
- if (!Linkset.IsRoot(this))
- {
- _orientation = Linkset.OrientationGet(this);
- }
- */
- return _orientation;
- }
- set {
- if (_orientation == value)
- return;
- _orientation = value;
-
- // A linkset might need to know if a component information changed.
- Linkset.UpdateProperties(this, false);
-
- PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- {
- // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
- // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
- BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
- }
- });
- }
- }
- // Go directly to Bullet to get/set the value.
- public override OMV.Quaternion ForceOrientation
- {
- get
- {
- _orientation = BulletSimAPI.GetOrientation2(PhysBody.ptr);
- return _orientation;
- }
- set
- {
- _orientation = value;
- BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
- }
- }
- public override int PhysicsActorType {
- get { return _physicsActorType; }
- set { _physicsActorType = value; }
- }
- public override bool IsPhysical {
- get { return _isPhysical; }
- set {
- if (_isPhysical != value)
- {
- _isPhysical = value;
- PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
- {
- // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
- SetObjectDynamic(true);
- // whether phys-to-static or static-to-phys, the object is not moving.
- ZeroMotion(true);
- });
- }
- }
- }
-
- // An object is static (does not move) if selected or not physical
- public override bool IsStatic
- {
- get { return _isSelected || !IsPhysical; }
- }
-
- // An object is solid if it's not phantom and if it's not doing VolumeDetect
- public override bool IsSolid
- {
- get { return !IsPhantom && !_isVolumeDetect; }
- }
-
- // Make gravity work if the object is physical and not selected
- // Called at taint-time!!
- private void SetObjectDynamic(bool forceRebuild)
- {
- // Recreate the physical object if necessary
- CreateGeomAndObject(forceRebuild);
- }
-
- // Convert the simulator's physical properties into settings on BulletSim objects.
- // There are four flags we're interested in:
- // IsStatic: Object does not move, otherwise the object has mass and moves
- // isSolid: other objects bounce off of this object
- // isVolumeDetect: other objects pass through but can generate collisions
- // collisionEvents: whether this object returns collision events
- private void UpdatePhysicalParameters()
- {
- // DetailLog("{0},BSPrim.UpdatePhysicalParameters,entry,body={1},shape={2}", LocalID, BSBody, BSShape);
-
- // Mangling all the physical properties requires the object not be in the physical world.
- // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
- BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
-
- // Set up the object physicalness (does gravity and collisions move this object)
- MakeDynamic(IsStatic);
-
- // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
- _vehicle.Refresh();
-
- // Arrange for collision events if the simulator wants them
- EnableCollisions(SubscribedEvents());
-
- // Make solid or not (do things bounce off or pass through this object).
- MakeSolid(IsSolid);
-
- BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr, _position, _orientation);
-
- // Rebuild its shape
- BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
-
- // Collision filter can be set only when the object is in the world
- PhysBody.ApplyCollisionMask();
-
- // Recompute any linkset parameters.
- // When going from non-physical to physical, this re-enables the constraints that
- // had been automatically disabled when the mass was set to zero.
- // For compound based linksets, this enables and disables interactions of the children.
- Linkset.Refresh(this);
-
- 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, PhysBody, PhysShape);
- }
-
- // "Making dynamic" means changing to and from static.
- // When static, gravity does not effect the object and it is fixed in space.
- // When dynamic, the object can fall and be pushed by others.
- // This is independent of its 'solidness' which controls what passes through
- // this object and what interacts with it.
- private void MakeDynamic(bool makeStatic)
- {
- if (makeStatic)
- {
- // Become a Bullet 'static' object type
- CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
- // Stop all movement
- ZeroMotion(true);
-
- // Set various physical properties so other object interact properly
- MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
- BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
- BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
-
- // Mass is zero which disables a bunch of physics stuff in Bullet
- UpdatePhysicalMassProperties(0f, false);
- // Set collision detection parameters
- if (BSParam.CcdMotionThreshold > 0f)
- {
- BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
- BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
- }
-
- // The activation state is 'disabled' so Bullet will not try to act on it.
- // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
- // Start it out sleeping and physical actions could wake it up.
- BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING);
-
- // This collides like a static object
- PhysBody.collisionType = CollisionType.Static;
-
- // There can be special things needed for implementing linksets
- Linkset.MakeStatic(this);
- }
- else
- {
- // Not a Bullet static object
- CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
-
- // Set various physical properties so other object interact properly
- MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
- BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
- BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
-
- // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
- // Since this can be called multiple times, only zero forces when becoming physical
- // BulletSimAPI.ClearAllForces2(BSBody.ptr);
-
- // For good measure, make sure the transform is set through to the motion state
- BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
-
- // Center of mass is at the center of the object
- // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
-
- // A dynamic object has mass
- UpdatePhysicalMassProperties(RawMass, false);
-
- // Set collision detection parameters
- if (BSParam.CcdMotionThreshold > 0f)
- {
- BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
- BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
- }
-
- // Various values for simulation limits
- BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping);
- BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, BSParam.DeactivationTime);
- BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
- BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
-
- // This collides like an object.
- PhysBody.collisionType = CollisionType.Dynamic;
-
- // Force activation of the object so Bullet will act on it.
- // Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
- BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
-
- // There might be special things needed for implementing linksets.
- Linkset.MakeDynamic(this);
- }
- }
-
- // "Making solid" means that other object will not pass through this object.
- // To make transparent, we create a Bullet ghost object.
- // Note: This expects to be called from the UpdatePhysicalParameters() routine as
- // the functions after this one set up the state of a possibly newly created collision body.
- private void MakeSolid(bool makeSolid)
- {
- CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(PhysBody.ptr);
- if (makeSolid)
- {
- // Verify the previous code created the correct shape for this type of thing.
- if ((bodyType & CollisionObjectTypes.CO_RIGID_BODY) == 0)
- {
- m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for solidity. id={1}, type={2}", LogHeader, LocalID, bodyType);
- }
- CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
- }
- else
- {
- if ((bodyType & CollisionObjectTypes.CO_GHOST_OBJECT) == 0)
- {
- m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
- }
- CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
-
- // Change collision info from a static object to a ghosty collision object
- PhysBody.collisionType = CollisionType.VolumeDetect;
- }
- }
-
- // Enable physical actions. Bullet will keep sleeping non-moving physical objects so
- // they need waking up when parameters are changed.
- // Called in taint-time!!
- private void ActivateIfPhysical(bool forceIt)
- {
- if (IsPhysical && PhysBody.HasPhysicalBody)
- BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
- }
-
- // Turn on or off the flag controlling whether collision events are returned to the simulator.
- private void EnableCollisions(bool wantsCollisionEvents)
- {
- if (wantsCollisionEvents)
- {
- CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
- }
- else
- {
- CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
- }
- }
-
- // prims don't fly
- public override bool Flying {
- get { return _flying; }
- set {
- _flying = value;
- }
- }
- public override bool SetAlwaysRun {
- get { return _setAlwaysRun; }
- set { _setAlwaysRun = value; }
- }
- public override bool ThrottleUpdates {
- get { return _throttleUpdates; }
- set { _throttleUpdates = value; }
- }
- public override bool IsColliding {
- get { return (CollidingStep == PhysicsScene.SimulationStep); }
- set { _isColliding = value; }
- }
- public override bool CollidingGround {
- get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
- set { _collidingGround = value; }
- }
- public override bool CollidingObj {
- get { return _collidingObj; }
- set { _collidingObj = value; }
- }
- public bool IsPhantom {
- get {
- // SceneObjectPart removes phantom objects from the physics scene
- // so, although we could implement touching and such, we never
- // are invoked as a phantom object
- return false;
- }
- }
- public override bool FloatOnWater {
- set {
- _floatOnWater = value;
- PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
- {
- if (_floatOnWater)
- CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
- else
- CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
- });
- }
- }
- public override OMV.Vector3 RotationalVelocity {
- get {
- return _rotationalVelocity;
- }
- set {
- _rotationalVelocity = value;
- // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
- PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
- {
- DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
- ForceRotationalVelocity = _rotationalVelocity;
- });
- }
- }
- public override OMV.Vector3 ForceRotationalVelocity {
- get {
- return _rotationalVelocity;
- }
- set {
- _rotationalVelocity = value;
- if (PhysBody.HasPhysicalBody)
- {
- BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
- ActivateIfPhysical(false);
- }
- }
- }
- public override bool Kinematic {
- get { return _kinematic; }
- set { _kinematic = value;
- // m_log.DebugFormat("{0}: Kinematic={1}", LogHeader, _kinematic);
- }
- }
- public override float Buoyancy {
- get { return _buoyancy; }
- set {
- _buoyancy = value;
- PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
- {
- ForceBuoyancy = _buoyancy;
- });
- }
- }
- public override float ForceBuoyancy {
- get { return _buoyancy; }
- set {
- _buoyancy = value;
- // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
- // Force the recalculation of the various inertia,etc variables in the object
- UpdatePhysicalMassProperties(_mass, true);
- ActivateIfPhysical(false);
- }
- }
-
- // Used for MoveTo
- public override OMV.Vector3 PIDTarget {
- set { _PIDTarget = value; }
- }
- public override bool PIDActive {
- set { _usePID = value; }
- }
- public override float PIDTau {
- set { _PIDTau = value; }
- }
-
- // Used for llSetHoverHeight and maybe vehicle height
- // Hover Height will override MoveTo target's Z
- public override bool PIDHoverActive {
- set { _useHoverPID = value; }
- }
- public override float PIDHoverHeight {
- set { _PIDHoverHeight = value; }
- }
- public override PIDHoverType PIDHoverType {
- set { _PIDHoverType = value; }
- }
- public override float PIDHoverTau {
- set { _PIDHoverTao = value; }
- }
-
- // For RotLookAt
- public override OMV.Quaternion APIDTarget { set { return; } }
- public override bool APIDActive { set { return; } }
- public override float APIDStrength { set { return; } }
- public override float APIDDamping { set { return; } }
-
- public override void AddForce(OMV.Vector3 force, bool pushforce) {
- // Since this force is being applied in only one step, make this a force per second.
- OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
- AddForce(addForce, pushforce, false);
- }
- // Applying a force just adds this to the total force on the object.
- // This added force will only last the next simulation tick.
- public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
- // for an object, doesn't matter if force is a pushforce or not
- if (force.IsFinite())
- {
- float magnitude = force.Length();
- if (magnitude > 20000f)
- {
- // Force has a limit
- force = force / magnitude * 20000f;
- }
-
- OMV.Vector3 addForce = force;
- DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
-
- PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
- {
- // Bullet adds this central force to the total force for this tick
- DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
- if (PhysBody.HasPhysicalBody)
- {
- BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce);
- ActivateIfPhysical(false);
- }
- });
- }
- else
- {
- m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
- return;
- }
- }
-
- public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
- AddAngularForce(force, pushforce, false);
- }
- public void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime)
- {
- if (force.IsFinite())
- {
- OMV.Vector3 angForce = force;
- PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- {
- BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce);
- ActivateIfPhysical(false);
- }
- });
- }
- else
- {
- m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
- return;
- }
- }
-
- // A torque impulse.
- // ApplyTorqueImpulse adds torque directly to the angularVelocity.
- // AddAngularForce accumulates the force and applied it to the angular velocity all at once.
- // Computed as: angularVelocity += impulse * inertia;
- public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
- {
- OMV.Vector3 applyImpulse = impulse;
- PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- {
- BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
- ActivateIfPhysical(false);
- }
- });
- }
-
- public override void SetMomentum(OMV.Vector3 momentum) {
- // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
- }
- #region Mass Calculation
-
- private float CalculateMass()
- {
- float volume = _size.X * _size.Y * _size.Z; // default
- float tmp;
-
- float returnMass = 0;
- float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f;
- float hollowVolume = hollowAmount * hollowAmount;
-
- switch (BaseShape.ProfileShape)
- {
- case ProfileShape.Square:
- // default box
-
- if (BaseShape.PathCurve == (byte)Extrusion.Straight)
- {
- if (hollowAmount > 0.0)
- {
- switch (BaseShape.HollowShape)
- {
- case HollowShape.Square:
- case HollowShape.Same:
- break;
-
- case HollowShape.Circle:
-
- hollowVolume *= 0.78539816339f;
- break;
-
- case HollowShape.Triangle:
-
- hollowVolume *= (0.5f * .5f);
- break;
-
- default:
- hollowVolume = 0;
- break;
- }
- volume *= (1.0f - hollowVolume);
- }
- }
-
- else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
- {
- //a tube
-
- volume *= 0.78539816339e-2f * (float)(200 - BaseShape.PathScaleX);
- tmp= 1.0f -2.0e-2f * (float)(200 - BaseShape.PathScaleY);
- volume -= volume*tmp*tmp;
-
- if (hollowAmount > 0.0)
- {
- hollowVolume *= hollowAmount;
-
- switch (BaseShape.HollowShape)
- {
- case HollowShape.Square:
- case HollowShape.Same:
- break;
-
- case HollowShape.Circle:
- hollowVolume *= 0.78539816339f;;
- break;
-
- case HollowShape.Triangle:
- hollowVolume *= 0.5f * 0.5f;
- break;
- default:
- hollowVolume = 0;
- break;
- }
- volume *= (1.0f - hollowVolume);
- }
- }
-
- break;
-
- case ProfileShape.Circle:
-
- if (BaseShape.PathCurve == (byte)Extrusion.Straight)
- {
- volume *= 0.78539816339f; // elipse base
-
- if (hollowAmount > 0.0)
- {
- switch (BaseShape.HollowShape)
- {
- case HollowShape.Same:
- case HollowShape.Circle:
- break;
-
- case HollowShape.Square:
- hollowVolume *= 0.5f * 2.5984480504799f;
- break;
-
- case HollowShape.Triangle:
- hollowVolume *= .5f * 1.27323954473516f;
- break;
-
- default:
- hollowVolume = 0;
- break;
- }
- volume *= (1.0f - hollowVolume);
- }
- }
-
- else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
- {
- volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - BaseShape.PathScaleX);
- tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
- volume *= (1.0f - tmp * tmp);
-
- if (hollowAmount > 0.0)
- {
-
- // calculate the hollow volume by it's shape compared to the prim shape
- hollowVolume *= hollowAmount;
-
- switch (BaseShape.HollowShape)
- {
- case HollowShape.Same:
- case HollowShape.Circle:
- break;
-
- case HollowShape.Square:
- hollowVolume *= 0.5f * 2.5984480504799f;
- break;
-
- case HollowShape.Triangle:
- hollowVolume *= .5f * 1.27323954473516f;
- break;
-
- default:
- hollowVolume = 0;
- break;
- }
- volume *= (1.0f - hollowVolume);
- }
- }
- break;
-
- case ProfileShape.HalfCircle:
- if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
- {
- volume *= 0.52359877559829887307710723054658f;
- }
- break;
-
- case ProfileShape.EquilateralTriangle:
-
- if (BaseShape.PathCurve == (byte)Extrusion.Straight)
- {
- volume *= 0.32475953f;
-
- if (hollowAmount > 0.0)
- {
-
- // calculate the hollow volume by it's shape compared to the prim shape
- switch (BaseShape.HollowShape)
- {
- case HollowShape.Same:
- case HollowShape.Triangle:
- hollowVolume *= .25f;
- break;
-
- case HollowShape.Square:
- hollowVolume *= 0.499849f * 3.07920140172638f;
- break;
-
- case HollowShape.Circle:
- // Hollow shape is a perfect cyllinder in respect to the cube's scale
- // Cyllinder hollow volume calculation
-
- hollowVolume *= 0.1963495f * 3.07920140172638f;
- break;
-
- default:
- hollowVolume = 0;
- break;
- }
- volume *= (1.0f - hollowVolume);
- }
- }
- else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
- {
- volume *= 0.32475953f;
- volume *= 0.01f * (float)(200 - BaseShape.PathScaleX);
- tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
- volume *= (1.0f - tmp * tmp);
-
- if (hollowAmount > 0.0)
- {
-
- hollowVolume *= hollowAmount;
-
- switch (BaseShape.HollowShape)
- {
- case HollowShape.Same:
- case HollowShape.Triangle:
- hollowVolume *= .25f;
- break;
-
- case HollowShape.Square:
- hollowVolume *= 0.499849f * 3.07920140172638f;
- break;
-
- case HollowShape.Circle:
-
- hollowVolume *= 0.1963495f * 3.07920140172638f;
- break;
-
- default:
- hollowVolume = 0;
- break;
- }
- volume *= (1.0f - hollowVolume);
- }
- }
- break;
-
- default:
- break;
- }
-
-
-
- float taperX1;
- float taperY1;
- float taperX;
- float taperY;
- float pathBegin;
- float pathEnd;
- float profileBegin;
- float profileEnd;
-
- if (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible)
- {
- taperX1 = BaseShape.PathScaleX * 0.01f;
- if (taperX1 > 1.0f)
- taperX1 = 2.0f - taperX1;
- taperX = 1.0f - taperX1;
-
- taperY1 = BaseShape.PathScaleY * 0.01f;
- if (taperY1 > 1.0f)
- taperY1 = 2.0f - taperY1;
- taperY = 1.0f - taperY1;
- }
- else
- {
- taperX = BaseShape.PathTaperX * 0.01f;
- if (taperX < 0.0f)
- taperX = -taperX;
- taperX1 = 1.0f - taperX;
-
- taperY = BaseShape.PathTaperY * 0.01f;
- if (taperY < 0.0f)
- taperY = -taperY;
- taperY1 = 1.0f - taperY;
-
- }
-
-
- volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
-
- pathBegin = (float)BaseShape.PathBegin * 2.0e-5f;
- pathEnd = 1.0f - (float)BaseShape.PathEnd * 2.0e-5f;
- volume *= (pathEnd - pathBegin);
-
- // this is crude aproximation
- profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f;
- profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
- volume *= (profileEnd - profileBegin);
-
- returnMass = _density * volume;
-
- /* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
- if (IsRootOfLinkset)
- {
- foreach (BSPrim prim in _childrenPrims)
- {
- returnMass += prim.CalculateMass();
- }
- }
- */
-
- returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
-
- return returnMass;
- }// end CalculateMass
- #endregion Mass Calculation
-
- // Rebuild the geometry and object.
- // This is called when the shape changes so we need to recreate the mesh/hull.
- // Called at taint-time!!!
- public void CreateGeomAndObject(bool forceRebuild)
- {
- // If this prim is part of a linkset, we must remove and restore the physical
- // links if the body is rebuilt.
- bool needToRestoreLinkset = false;
- bool needToRestoreVehicle = false;
-
- // Create the correct physical representation for this type of object.
- // Updates PhysBody and PhysShape with the new information.
- // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
- PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
- {
- // Called if the current prim body is about to be destroyed.
- // Remove all the physical dependencies on the old body.
- // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
- needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
- needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this);
- });
-
- if (needToRestoreLinkset)
- {
- // If physical body dependencies were removed, restore them
- Linkset.RestoreBodyDependencies(this);
- }
- if (needToRestoreVehicle)
- {
- // If physical body dependencies were removed, restore them
- _vehicle.RestoreBodyDependencies(this);
- }
-
- // Make sure the properties are set on the new object
- UpdatePhysicalParameters();
- return;
- }
-
- // The physics engine says that properties have updated. Update same and inform
- // the world that things have changed.
- // TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate()
- enum UpdatedProperties {
- Position = 1 << 0,
- Rotation = 1 << 1,
- Velocity = 1 << 2,
- Acceleration = 1 << 3,
- RotationalVel = 1 << 4
- }
-
- const float ROTATION_TOLERANCE = 0.01f;
- const float VELOCITY_TOLERANCE = 0.001f;
- const float POSITION_TOLERANCE = 0.05f;
- const float ACCELERATION_TOLERANCE = 0.01f;
- const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
-
- public override void UpdateProperties(EntityProperties entprop)
- {
- // Updates only for individual prims and for the root object of a linkset.
- if (Linkset.IsRoot(this))
- {
- // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
- // TODO: handle physics introduced by Bullet with computed vehicle physics.
- if (_vehicle.IsActive)
- {
- entprop.RotationalVelocity = OMV.Vector3.Zero;
- }
-
- // Assign directly 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;
-
- // The sanity check can change the velocity and/or position.
- if (IsPhysical && PositionSanityCheck(true))
- {
- entprop.Position = _position;
- entprop.Velocity = _velocity;
- }
-
- OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
- DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
- LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
-
- // remember the current and last set values
- LastEntityProperties = CurrentEntityProperties;
- CurrentEntityProperties = entprop;
-
- base.RequestPhysicsterseUpdate();
- }
- /*
- else
- {
- // For debugging, report the movement of children
- DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
- LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
- entprop.Acceleration, entprop.RotationalVelocity);
- }
- */
-
- // The linkset implimentation might want to know about this.
- Linkset.UpdateProperties(this, true);
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs
deleted file mode 100644
index 4fc3e2a55c..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs
+++ /dev/null
@@ -1,957 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.Runtime.InteropServices;
-using System.Text;
-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 log4net;
-using OpenMetaverse;
-
-// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
-// Based on material, set density and friction
-// More efficient memory usage when passing hull information from BSPrim to BulletSim
-// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
-// Implement LockAngularMotion
-// Add PID movement operations. What does ScenePresence.MoveToTarget do?
-// Check terrain size. 128 or 127?
-// Raycast
-//
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public sealed class BSScene : PhysicsScene, IPhysicsParameters
-{
- private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
- private static readonly string LogHeader = "[BULLETS SCENE]";
-
- // The name of the region we're working for.
- public string RegionName { get; private set; }
-
- public string BulletSimVersion = "?";
-
- public Dictionary<uint, BSPhysObject> PhysObjects;
- public BSShapeCollection Shapes;
-
- // Keeping track of the objects with collisions so we can report begin and end of a collision
- public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>();
- public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>();
- // Keep track of all the avatars so we can send them a collision event
- // every tick so OpenSim will update its animation.
- private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>();
-
- // let my minuions use my logger
- public ILog Logger { get { return m_log; } }
-
- public IMesher mesher;
- public uint WorldID { get; private set; }
- public BulletWorld World { get; private set; }
-
- // All the constraints that have been allocated in this instance.
- public BSConstraintCollection Constraints { get; private set; }
-
- // Simulation parameters
- internal int m_maxSubSteps;
- internal float m_fixedTimeStep;
- internal long m_simulationStep = 0;
- public long SimulationStep { get { return m_simulationStep; } }
- internal int m_taintsToProcessPerStep;
- internal float LastTimeStep { get; private set; }
-
- // Physical objects can register for prestep or poststep events
- public delegate void PreStepAction(float timeStep);
- public delegate void PostStepAction(float timeStep);
- public event PreStepAction BeforeStep;
- public event PreStepAction AfterStep;
-
- // 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
- public int SimulationNowTime { get; private set; }
-
- // True if initialized and ready to do simulation steps
- private bool m_initialized = false;
-
- // Flag which is true when processing taints.
- // Not guaranteed to be correct all the time (don't depend on this) but good for debugging.
- public bool InTaintTime { get; private set; }
-
- // Pinned memory used to pass step information between managed and unmanaged
- internal int m_maxCollisionsPerFrame;
- private BulletXNA.CollisionDesc[] m_collisionArray;
- //private GCHandle m_collisionArrayPinnedHandle;
-
- internal int m_maxUpdatesPerFrame;
- private BulletXNA.EntityProperties[] m_updateArray;
- //private GCHandle m_updateArrayPinnedHandle;
-
-
- public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero
- public const uint GROUNDPLANE_ID = 1;
- public const uint CHILDTERRAIN_ID = 2; // Terrain allocated based on our mega-prim childre start here
-
- public float SimpleWaterLevel { get; set; }
- public BSTerrainManager TerrainManager { get; private set; }
-
- public ConfigurationParameters Params
- {
- get { return UnmanagedParams[0]; }
- }
- public Vector3 DefaultGravity
- {
- get { return new Vector3(0f, 0f, Params.gravity); }
- }
- // Just the Z value of the gravity
- public float DefaultGravityZ
- {
- get { return Params.gravity; }
- }
-
- // When functions in the unmanaged code must be called, it is only
- // done at a known time just before the simulation step. The taint
- // system saves all these function calls and executes them in
- // order before the simulation.
- public delegate void TaintCallback();
- private struct TaintCallbackEntry
- {
- public String ident;
- public TaintCallback callback;
- public TaintCallbackEntry(string i, TaintCallback c)
- {
- ident = i;
- callback = c;
- }
- }
- private Object _taintLock = new Object(); // lock for using the next object
- private List<TaintCallbackEntry> _taintOperations;
- private Dictionary<string, TaintCallbackEntry> _postTaintOperations;
- private List<TaintCallbackEntry> _postStepOperations;
-
- // A pointer to an instance if this structure is passed to the C++ code
- // Used to pass basic configuration values to the unmanaged code.
- internal ConfigurationParameters[] UnmanagedParams;
- //GCHandle m_paramsHandle;
-
- // Handle to the callback used by the unmanaged code to call into the managed code.
- // Used for debug logging.
- // Need to store the handle in a persistant variable so it won't be freed.
- 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_physicsLoggingDoFlush;
- // 'true' of the vehicle code is to log lots of details
- public bool VehicleLoggingEnabled { get; private set; }
- public bool VehiclePhysicalLoggingEnabled { get; private set; }
-
- #region Construction and Initialization
- public BSScene(string identifier)
- {
- m_initialized = false;
- // we are passed the name of the region we're working for.
- RegionName = identifier;
- }
-
- public override void Initialise(IMesher meshmerizer, IConfigSource config)
- {
- mesher = meshmerizer;
- _taintOperations = new List<TaintCallbackEntry>();
- _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
- _postStepOperations = new List<TaintCallbackEntry>();
- PhysObjects = new Dictionary<uint, BSPhysObject>();
- Shapes = new BSShapeCollection(this);
-
- // Allocate pinned memory to pass parameters.
- UnmanagedParams = new ConfigurationParameters[1];
- //m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned);
-
- // Set default values for physics parameters plus any overrides from the ini file
- GetInitialParameterValues(config);
-
- // allocate more pinned memory close to the above in an attempt to get the memory all together
- m_collisionArray = new BulletXNA.CollisionDesc[0];
- //m_collisionArrayPinnedHandle = GCHandle.Alloc(m_collisionArray, GCHandleType.Pinned);
- m_updateArray = new BulletXNA.EntityProperties[0];
- //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);
- PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output error messages.
- }
- else
- {
- PhysicsLogging = new Logging.LogWriter();
- }
-
- // If Debug logging level, enable logging from the unmanaged code
- m_DebugLogCallbackHandle = null;
- if (m_log.IsDebugEnabled || PhysicsLogging.Enabled)
- {
- m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", LogHeader);
- if (PhysicsLogging.Enabled)
- // The handle is saved in a variable to make sure it doesn't get freed after this call
- m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLoggerPhysLog);
- else
- m_DebugLogCallbackHandle = new BulletSimAPI.DebugLogCallback(BulletLogger);
- }
-
- // Get the version of the DLL
- // TODO: this doesn't work yet. Something wrong with marshaling the returned string.
- // BulletSimVersion = BulletSimAPI.GetVersion();
- // m_log.WarnFormat("{0}: BulletSim.dll version='{1}'", LogHeader, BulletSimVersion);
-
- // The bounding box for the simulated world. The origin is 0,0,0 unless we're
- // a child in a mega-region.
- // Bullet actually doesn't care about the extents of the simulated
- // area. It tracks active objects no matter where they are.
- Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
-
- // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
-
- World = new BulletWorld(0, this, BulletSimAPI.Initialize2(worldExtent, UnmanagedParams,
- m_maxCollisionsPerFrame, ref m_collisionArray,
- m_maxUpdatesPerFrame,ref m_updateArray,
- m_DebugLogCallbackHandle));
-
- Constraints = new BSConstraintCollection(World);
-
- TerrainManager = new BSTerrainManager(this);
- TerrainManager.CreateInitialGroundPlaneAndTerrain();
-
- m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
-
- InTaintTime = false;
- m_initialized = true;
- }
-
- // All default parameter values are set here. There should be no values set in the
- // variable definitions.
- private void GetInitialParameterValues(IConfigSource config)
- {
- ConfigurationParameters parms = new ConfigurationParameters();
- UnmanagedParams[0] = parms;
-
- BSParam.SetParameterDefaultValues(this);
-
- if (config != null)
- {
- // If there are specifications in the ini file, use those values
- IConfig pConfig = config.Configs["BulletSim"];
- if (pConfig != null)
- {
- BSParam.SetParameterConfigurationValues(this, pConfig);
-
- // Very detailed logging for physics debugging
- m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
- m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
- m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
- m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
- m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
- // Very detailed logging for vehicle debugging
- VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
- VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
-
- // Do any replacements in the parameters
- m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
- }
-
- // The material characteristics.
- BSMaterials.InitializeFromDefaults(Params);
- if (pConfig != null)
- {
- // Let the user add new and interesting material property values.
- BSMaterials.InitializefromParameters(pConfig);
- }
- }
- }
-
- // A helper function that handles a true/false parameter and returns the proper float number encoding
- float ParamBoolean(IConfig config, string parmName, float deflt)
- {
- float ret = deflt;
- if (config.Contains(parmName))
- {
- ret = ConfigurationParameters.numericFalse;
- if (config.GetBoolean(parmName, false))
- {
- ret = ConfigurationParameters.numericTrue;
- }
- }
- return ret;
- }
-
- // Called directly from unmanaged code so don't do much
- private void BulletLogger(string msg)
- {
- m_log.Debug("[BULLETS UNMANAGED]:" + msg);
- }
-
- // Called directly from unmanaged code so don't do much
- private void BulletLoggerPhysLog(string msg)
- {
- DetailLog("[BULLETS UNMANAGED]:" + msg);
- }
-
- public override void Dispose()
- {
- // m_log.DebugFormat("{0}: Dispose()", LogHeader);
-
- // make sure no stepping happens while we're deleting stuff
- m_initialized = false;
-
- foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
- {
- kvp.Value.Destroy();
- }
- PhysObjects.Clear();
-
- // Now that the prims are all cleaned up, there should be no constraints left
- if (Constraints != null)
- {
- Constraints.Dispose();
- Constraints = null;
- }
-
- if (Shapes != null)
- {
- Shapes.Dispose();
- Shapes = null;
- }
-
- if (TerrainManager != null)
- {
- TerrainManager.ReleaseGroundPlaneAndTerrain();
- TerrainManager.Dispose();
- TerrainManager = null;
- }
-
- // Anything left in the unmanaged code should be cleaned out
- BulletSimAPI.Shutdown2(World.ptr);
-
- // Not logging any more
- PhysicsLogging.Close();
- }
- #endregion // Construction and Initialization
-
- #region Prim and Avatar addition and removal
-
- public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
- {
- m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader);
- return null;
- }
-
- public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying)
- {
- // m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName);
-
- if (!m_initialized) return null;
-
- BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying);
- lock (PhysObjects) PhysObjects.Add(localID, actor);
-
- // TODO: Remove kludge someday.
- // We must generate a collision for avatars whether they collide or not.
- // This is required by OpenSim to update avatar animations, etc.
- lock (m_avatars) m_avatars.Add(actor);
-
- return actor;
- }
-
- public override void RemoveAvatar(PhysicsActor actor)
- {
- // m_log.DebugFormat("{0}: RemoveAvatar", LogHeader);
-
- if (!m_initialized) return;
-
- BSCharacter bsactor = actor as BSCharacter;
- if (bsactor != null)
- {
- try
- {
- lock (PhysObjects) PhysObjects.Remove(actor.LocalID);
- // Remove kludge someday
- lock (m_avatars) m_avatars.Remove(bsactor);
- }
- catch (Exception 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)
- {
- if (!m_initialized) return;
-
- BSPrim bsprim = prim as BSPrim;
- if (bsprim != null)
- {
- DetailLog("{0},RemovePrim,call", bsprim.LocalID);
- // m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
- try
- {
- lock (PhysObjects) PhysObjects.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();
- }
- else
- {
- m_log.ErrorFormat("{0}: Attempt to remove prim that is not a BSPrim type.", LogHeader);
- }
- }
-
- public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
- Vector3 size, Quaternion rotation, bool isPhysical, uint localID)
- {
- // m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
-
- if (!m_initialized) return null;
-
- DetailLog("{0},AddPrimShape,call", localID);
-
- BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
- lock (PhysObjects) PhysObjects.Add(localID, prim);
- return prim;
- }
-
- // This is a call from the simulator saying that some physical property has been updated.
- // The BulletSim driver senses the changing of relevant properties so this taint
- // information call is not needed.
- public override void AddPhysicsActorTaint(PhysicsActor prim) { }
-
- #endregion // Prim and Avatar addition and removal
-
- #region Simulation
- // Simulate one timestep
- public override float Simulate(float timeStep)
- {
- // prevent simulation until we've been initialized
- if (!m_initialized) return 5.0f;
-
- LastTimeStep = timeStep;
-
- int updatedEntityCount = 0;
- //Object updatedEntitiesPtr;
- int collidersCount = 0;
- //Object collidersPtr;
-
- int beforeTime = 0;
- int simTime = 0;
-
- // update the prim states while we know the physics engine is not busy
- int numTaints = _taintOperations.Count;
-
- InTaintTime = true; // Only used for debugging so locking is not necessary.
-
- ProcessTaints();
-
- // Some of the physical objects requre individual, pre-step calls
- TriggerPreStepEvent(timeStep);
-
- // the prestep actions might have added taints
- ProcessTaints();
-
- InTaintTime = false; // Only used for debugging so locking is not necessary.
-
- // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
- // Only enable this in a limited test world with few objects.
- // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG
-
- // step the physical world one interval
- m_simulationStep++;
- int numSubSteps = 0;
-
- try
- {
- if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
-
- numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
- out updatedEntityCount, out m_updateArray, out collidersCount, out m_collisionArray);
-
- if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
- DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
- DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps,
- updatedEntityCount, collidersCount, ObjectsWithCollisions.Count);
- }
- catch (Exception e)
- {
- m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}",
- LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e);
- DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}",
- DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
- updatedEntityCount = 0;
- collidersCount = 0;
- }
-
- // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in.
-
- // Get a value for 'now' so all the collision and update routines don't have to get their own.
- SimulationNowTime = Util.EnvironmentTickCount();
-
- // If there were collisions, process them by sending the event to the prim.
- // Collisions must be processed before updates.
- if (collidersCount > 0)
- {
- for (int ii = 0; ii < collidersCount; ii++)
- {
- uint cA = m_collisionArray[ii].aID;
- uint cB = m_collisionArray[ii].bID;
- Vector3 point = new Vector3(m_collisionArray[ii].point.X, m_collisionArray[ii].point.Y,
- m_collisionArray[ii].point.Z);
- Vector3 normal = new Vector3(m_collisionArray[ii].normal.X, m_collisionArray[ii].normal.Y,
- m_collisionArray[ii].normal.Z);
- SendCollision(cA, cB, point, normal, 0.01f);
- SendCollision(cB, cA, point, -normal, 0.01f);
- }
- }
-
- // The above SendCollision's batch up the collisions on the objects.
- // Now push the collisions into the simulator.
- if (ObjectsWithCollisions.Count > 0)
- {
- foreach (BSPhysObject bsp in ObjectsWithCollisions)
- if (!bsp.SendCollisions())
- {
- // If the object is done colliding, see that it's removed from the colliding list
- ObjectsWithNoMoreCollisions.Add(bsp);
- }
- }
-
- // This is a kludge to get avatar movement updates.
- // The simulator expects collisions for avatars even if there are have been no collisions.
- // The event updates avatar animations and stuff.
- // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
- foreach (BSPhysObject bsp in m_avatars)
- if (!ObjectsWithCollisions.Contains(bsp)) // don't call avatars twice
- bsp.SendCollisions();
-
- // Objects that are done colliding are removed from the ObjectsWithCollisions list.
- // Not done above because it is inside an iteration of ObjectWithCollisions.
- // This complex collision processing is required to create an empty collision
- // event call after all collisions have happened on an object. This enables
- // the simulator to generate the 'collision end' event.
- if (ObjectsWithNoMoreCollisions.Count > 0)
- {
- foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
- ObjectsWithCollisions.Remove(po);
- ObjectsWithNoMoreCollisions.Clear();
- }
- // Done with collisions.
-
- // If any of the objects had updated properties, tell the object it has been changed by the physics engine
- if (updatedEntityCount > 0)
- {
- for (int ii = 0; ii < updatedEntityCount; ii++)
- {
-
- BulletXNA.EntityProperties entprop = m_updateArray[ii];
- BSPhysObject pobj;
- if (PhysObjects.TryGetValue(entprop.ID, out pobj))
- {
- EntityProperties prop = new EntityProperties()
- {
- Acceleration = new Vector3(entprop.Acceleration.X, entprop.Acceleration.Y, entprop.Acceleration.Z),
- ID = entprop.ID,
- Position = new Vector3(entprop.Position.X,entprop.Position.Y,entprop.Position.Z),
- Rotation = new Quaternion(entprop.Rotation.X,entprop.Rotation.Y,entprop.Rotation.Z,entprop.Rotation.W),
- RotationalVelocity = new Vector3(entprop.AngularVelocity.X,entprop.AngularVelocity.Y,entprop.AngularVelocity.Z),
- Velocity = new Vector3(entprop.Velocity.X,entprop.Velocity.Y,entprop.Velocity.Z)
- };
- //m_log.Debug(pobj.Name + ":" + prop.ToString() + "\n");
- pobj.UpdateProperties(prop);
- }
- }
- }
-
- TriggerPostStepEvent(timeStep);
-
- // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
- // Only enable this in a limited test world with few objects.
- // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG
-
- // The physics engine returns the number of milliseconds it simulated this call.
- // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
- // Multiply by 55 to give a nominal frame rate of 55.
- return (float)numSubSteps * m_fixedTimeStep * 1000f * 55f;
- }
-
- // Something has collided
- private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration)
- {
- if (localID <= TerrainManager.HighestTerrainID)
- {
- return; // don't send collisions to the terrain
- }
-
- BSPhysObject collider;
- if (!PhysObjects.TryGetValue(localID, out collider))
- {
- // If the object that is colliding cannot be found, just ignore the collision.
- DetailLog("{0},BSScene.SendCollision,colliderNotInObjectList,id={1},with={2}", DetailLogZero, localID, collidingWith);
- return;
- }
-
- // The terrain is not in the physical object list so 'collidee' can be null when Collide() is called.
- BSPhysObject collidee = null;
- PhysObjects.TryGetValue(collidingWith, out collidee);
-
- // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
-
- if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
- {
- // If a collision was posted, remember to send it to the simulator
- ObjectsWithCollisions.Add(collider);
- }
-
- return;
- }
-
- #endregion // Simulation
-
- public override void GetResults() { }
-
- #region Terrain
-
- public override void SetTerrain(float[] heightMap) {
- TerrainManager.SetTerrain(heightMap);
- }
-
- public override void SetWaterLevel(float baseheight)
- {
- SimpleWaterLevel = baseheight;
- }
-
- public override void DeleteTerrain()
- {
- // m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
- }
-
- // Although no one seems to check this, I do support combining.
- public override bool SupportsCombining()
- {
- return TerrainManager.SupportsCombining();
- }
- // This call says I am a child to region zero in a mega-region. 'pScene' is that
- // of region zero, 'offset' is my offset from regions zero's origin, and
- // 'extents' is the largest XY that is handled in my region.
- public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
- {
- TerrainManager.Combine(pScene, offset, extents);
- }
-
- // Unhook all the combining that I know about.
- public override void UnCombine(PhysicsScene pScene)
- {
- TerrainManager.UnCombine(pScene);
- }
-
- #endregion // Terrain
-
- public override Dictionary<uint, float> GetTopColliders()
- {
- return new Dictionary<uint, float>();
- }
-
- public override bool IsThreaded { get { return false; } }
-
- #region Taints
- // The simulation execution order is:
- // Simulate()
- // DoOneTimeTaints
- // TriggerPreStepEvent
- // DoOneTimeTaints
- // Step()
- // ProcessAndForwardCollisions
- // ProcessAndForwardPropertyUpdates
- // TriggerPostStepEvent
-
- // Calls to the PhysicsActors can't directly call into the physics engine
- // because it might be busy. We delay changes to a known time.
- // We rely on C#'s closure to save and restore the context for the delegate.
- public void TaintedObject(String ident, TaintCallback callback)
- {
- if (!m_initialized) return;
-
- lock (_taintLock)
- {
- _taintOperations.Add(new TaintCallbackEntry(ident, callback));
- }
-
- return;
- }
-
- // Sometimes a potentially tainted operation can be used in and out of taint time.
- // This routine executes the command immediately if in taint-time otherwise it is queued.
- public void TaintedObject(bool inTaintTime, string ident, TaintCallback callback)
- {
- if (inTaintTime)
- callback();
- else
- TaintedObject(ident, callback);
- }
-
- private void TriggerPreStepEvent(float timeStep)
- {
- PreStepAction actions = BeforeStep;
- if (actions != null)
- actions(timeStep);
-
- }
-
- private void TriggerPostStepEvent(float timeStep)
- {
- PreStepAction actions = AfterStep;
- if (actions != null)
- actions(timeStep);
-
- }
-
- // When someone tries to change a property on a BSPrim or BSCharacter, the object queues
- // a callback into itself to do the actual property change. That callback is called
- // here just before the physics engine is called to step the simulation.
- public void ProcessTaints()
- {
- ProcessRegularTaints();
- ProcessPostTaintTaints();
- }
-
- private void ProcessRegularTaints()
- {
- if (_taintOperations.Count > 0) // save allocating new list if there is nothing to process
- {
- // swizzle a new list into the list location so we can process what's there
- List<TaintCallbackEntry> oldList;
- lock (_taintLock)
- {
- oldList = _taintOperations;
- _taintOperations = new List<TaintCallbackEntry>();
- }
-
- foreach (TaintCallbackEntry tcbe in oldList)
- {
- try
- {
- DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
- tcbe.callback();
- }
- catch (Exception e)
- {
- m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e);
- }
- }
- oldList.Clear();
- }
- }
-
- // Schedule an update to happen after all the regular taints are processed.
- // Note that new requests for the same operation ("ident") for the same object ("ID")
- // will replace any previous operation by the same object.
- public void PostTaintObject(String ident, uint ID, TaintCallback callback)
- {
- string uniqueIdent = ident + "-" + ID.ToString();
- lock (_taintLock)
- {
- _postTaintOperations[uniqueIdent] = new TaintCallbackEntry(uniqueIdent, callback);
- }
-
- return;
- }
-
- // Taints that happen after the normal taint processing but before the simulation step.
- private void ProcessPostTaintTaints()
- {
- if (_postTaintOperations.Count > 0)
- {
- Dictionary<string, TaintCallbackEntry> oldList;
- lock (_taintLock)
- {
- oldList = _postTaintOperations;
- _postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
- }
-
- foreach (KeyValuePair<string,TaintCallbackEntry> kvp in oldList)
- {
- try
- {
- DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG
- kvp.Value.callback();
- }
- catch (Exception e)
- {
- m_log.ErrorFormat("{0}: ProcessPostTaintTaints: {1}: Exception: {2}", LogHeader, kvp.Key, e);
- }
- }
- oldList.Clear();
- }
- }
-
- // Only used for debugging. Does not change state of anything so locking is not necessary.
- public bool AssertInTaintTime(string whereFrom)
- {
- if (!InTaintTime)
- {
- DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
- m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
- Util.PrintCallStack(DetailLog);
- }
- return InTaintTime;
- }
-
- #endregion // Taints
-
- #region INI and command line parameter processing
-
- #region IPhysicsParameters
- // Get the list of parameters this physics engine supports
- public PhysParameterEntry[] GetParameterList()
- {
- BSParam.BuildParameterTable();
- return BSParam.SettableParameters;
- }
-
- // Set parameter on a specific or all instances.
- // Return 'false' if not able to set the parameter.
- // Setting the value in the m_params block will change the value the physics engine
- // will use the next time since it's pinned and shared memory.
- // Some of the values require calling into the physics engine to get the new
- // value activated ('terrainFriction' for instance).
- public bool SetPhysicsParameter(string parm, float val, uint localID)
- {
- bool ret = false;
- BSParam.ParameterDefn theParam;
- if (BSParam.TryGetParameter(parm, out theParam))
- {
- theParam.setter(this, parm, localID, val);
- ret = true;
- }
- return ret;
- }
-
- // update all the localIDs specified
- // If the local ID is APPLY_TO_NONE, just change the default value
- // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
- // If the localID is a specific object, apply the parameter change to only that object
- internal delegate void AssignVal(float x);
- internal void UpdateParameterObject(AssignVal setDefault, string parm, uint localID, float val)
- {
- List<uint> objectIDs = new List<uint>();
- switch (localID)
- {
- case PhysParameterEntry.APPLY_TO_NONE:
- setDefault(val); // setting only the default value
- // This will cause a call into the physical world if some operation is specified (SetOnObject).
- objectIDs.Add(TERRAIN_ID);
- TaintedUpdateParameter(parm, objectIDs, val);
- break;
- case PhysParameterEntry.APPLY_TO_ALL:
- setDefault(val); // setting ALL also sets the default value
- lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
- TaintedUpdateParameter(parm, objectIDs, val);
- break;
- default:
- // setting only one localID
- objectIDs.Add(localID);
- TaintedUpdateParameter(parm, objectIDs, val);
- break;
- }
- }
-
- // schedule the actual updating of the paramter to when the phys engine is not busy
- private void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
- {
- float xval = val;
- List<uint> xlIDs = lIDs;
- string xparm = parm;
- TaintedObject("BSScene.UpdateParameterSet", delegate() {
- BSParam.ParameterDefn thisParam;
- if (BSParam.TryGetParameter(xparm, out thisParam))
- {
- if (thisParam.onObject != null)
- {
- foreach (uint lID in xlIDs)
- {
- BSPhysObject theObject = null;
- PhysObjects.TryGetValue(lID, out theObject);
- thisParam.onObject(this, theObject, xval);
- }
- }
- }
- });
- }
-
- // Get parameter.
- // Return 'false' if not able to get the parameter.
- public bool GetPhysicsParameter(string parm, out float value)
- {
- float val = 0f;
- bool ret = false;
- BSParam.ParameterDefn theParam;
- if (BSParam.TryGetParameter(parm, out theParam))
- {
- val = theParam.getter(this);
- ret = true;
- }
- value = val;
- return ret;
- }
-
- #endregion IPhysicsParameters
-
- #endregion Runtime settable parameters
-
- // Invoke the detailed logger and output something if it's enabled.
- public void DetailLog(string msg, params Object[] args)
- {
- PhysicsLogging.Write(msg, args);
- // Add the Flush() if debugging crashes. Gets all the messages written out.
- if (m_physicsLoggingDoFlush) PhysicsLogging.Flush();
- }
- // Used to fill in the LocalID when there isn't one. It's the correct number of characters.
- public const string DetailLogZero = "0000000000";
-
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs
deleted file mode 100644
index 47fb76870e..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs
+++ /dev/null
@@ -1,1015 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.Text;
-using OMV = OpenMetaverse;
-using OpenSim.Framework;
-using OpenSim.Region.Physics.Manager;
-using OpenSim.Region.Physics.ConvexDecompositionDotNet;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public sealed class BSShapeCollection : IDisposable
-{
- private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
-
- private BSScene PhysicsScene { get; set; }
-
- private Object m_collectionActivityLock = new Object();
-
- // Description of a Mesh
- private struct MeshDesc
- {
- public Object ptr;
- public int referenceCount;
- public DateTime lastReferenced;
- public UInt64 shapeKey;
- }
-
- // Description of a hull.
- // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations.
- private struct HullDesc
- {
- public Object ptr;
- public int referenceCount;
- public DateTime lastReferenced;
- public UInt64 shapeKey;
- }
-
- // The sharable set of meshes and hulls. Indexed by their shape hash.
- private Dictionary<System.UInt64, MeshDesc> Meshes = new Dictionary<System.UInt64, MeshDesc>();
- private Dictionary<System.UInt64, HullDesc> Hulls = new Dictionary<System.UInt64, HullDesc>();
-
- private bool DDetail = false;
-
- public BSShapeCollection(BSScene physScene)
- {
- PhysicsScene = physScene;
- // Set the next to 'true' for very detailed shape update detailed logging (detailed details?)
- // While detailed debugging is still active, this is better than commenting out all the
- // DetailLog statements. When debugging slows down, this and the protected logging
- // statements can be commented/removed.
- DDetail = true;
- }
-
- public void Dispose()
- {
- // TODO!!!!!!!!!
- }
-
- // Callbacks called just before either the body or shape is destroyed.
- // Mostly used for changing bodies out from under Linksets.
- // Useful for other cases where parameters need saving.
- // Passing 'null' says no callback.
- public delegate void ShapeDestructionCallback(BulletShape shape);
- public delegate void BodyDestructionCallback(BulletBody body);
-
- // Called to update/change the body and shape for an object.
- // First checks the shape and updates that if necessary then makes
- // sure the body is of the right type.
- // Return 'true' if either the body or the shape changed.
- // 'shapeCallback' and 'bodyCallback' are, if non-null, functions called just before
- // the current shape or body is destroyed. This allows the caller to remove any
- // higher level dependencies on the shape or body. Mostly used for LinkSets to
- // remove the physical constraints before the body is destroyed.
- // Called at taint-time!!
- public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim,
- ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
- {
- PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape");
-
- bool ret = false;
-
- // This lock could probably be pushed down lower but building shouldn't take long
- lock (m_collectionActivityLock)
- {
- // Do we have the correct geometry for this type of object?
- // Updates prim.BSShape with information/pointers to shape.
- // Returns 'true' of BSShape is changed to a new shape.
- bool newGeom = CreateGeom(forceRebuild, prim, shapeCallback);
- // If we had to select a new shape geometry for the object,
- // rebuild the body around it.
- // Updates prim.BSBody with information/pointers to requested body
- // Returns 'true' if BSBody was changed.
- bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World,
- prim.PhysShape, bodyCallback);
- ret = newGeom || newBody;
- }
- DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
- prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape);
-
- return ret;
- }
-
- public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim)
- {
- return GetBodyAndShape(forceRebuild, sim, prim, null, null);
- }
-
- // Track another user of a body.
- // We presume the caller has allocated the body.
- // Bodies only have one user so the body is just put into the world if not already there.
- public void ReferenceBody(BulletBody body, bool inTaintTime)
- {
- lock (m_collectionActivityLock)
- {
- if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
- PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate()
- {
- if (!BulletSimAPI.IsInWorld2(PhysicsScene.World.ptr, body.ptr))
- {
- BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
- if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
- }
- });
- }
- }
-
- // Release the usage of a body.
- // Called when releasing use of a BSBody. BSShape is handled separately.
- public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback )
- {
- if (!body.HasPhysicalBody)
- return;
-
- lock (m_collectionActivityLock)
- {
- PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate()
- {
- if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}",
- body.ID, body, inTaintTime);
- // If the caller needs to know the old body is going away, pass the event up.
- if (bodyCallback != null) bodyCallback(body);
-
- if (BulletSimAPI.IsInWorld2(PhysicsScene.World.ptr, body.ptr))
- {
- BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
- if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
- }
-
- // Zero any reference to the shape so it is not freed when the body is deleted.
- BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, null);
- BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
- });
- }
- }
-
- // Track the datastructures and use count for a shape.
- // When creating a hull, this is called first to reference the mesh
- // and then again to reference the hull.
- // Meshes and hulls for the same shape have the same hash key.
- // NOTE that native shapes are not added to the mesh list or removed.
- // Returns 'true' if this is the initial reference to the shape. Otherwise reused.
- public bool ReferenceShape(BulletShape shape)
- {
- bool ret = false;
- switch (shape.type)
- {
- case BSPhysicsShapeType.SHAPE_MESH:
- MeshDesc meshDesc;
- if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
- {
- // There is an existing instance of this mesh.
- meshDesc.referenceCount++;
- if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingMesh,key={1},cnt={2}",
- BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
- }
- else
- {
- // This is a new reference to a mesh
- meshDesc.ptr = shape.ptr;
- meshDesc.shapeKey = shape.shapeKey;
- // We keep a reference to the underlying IMesh data so a hull can be built
- meshDesc.referenceCount = 1;
- if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newMesh,key={1},cnt={2}",
- BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
- ret = true;
- }
- meshDesc.lastReferenced = System.DateTime.Now;
- Meshes[shape.shapeKey] = meshDesc;
- break;
- case BSPhysicsShapeType.SHAPE_HULL:
- HullDesc hullDesc;
- if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
- {
- // There is an existing instance of this hull.
- hullDesc.referenceCount++;
- if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,existingHull,key={1},cnt={2}",
- BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
- }
- else
- {
- // This is a new reference to a hull
- hullDesc.ptr = shape.ptr;
- hullDesc.shapeKey = shape.shapeKey;
- hullDesc.referenceCount = 1;
- if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceShape,newHull,key={1},cnt={2}",
- BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
- ret = true;
-
- }
- hullDesc.lastReferenced = System.DateTime.Now;
- Hulls[shape.shapeKey] = hullDesc;
- break;
- case BSPhysicsShapeType.SHAPE_UNKNOWN:
- break;
- default:
- // Native shapes are not tracked and they don't go into any list
- break;
- }
- return ret;
- }
-
- // Release the usage of a shape.
- public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
- {
- if (!shape.HasPhysicalShape)
- return;
-
- PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate()
- {
- if (shape.HasPhysicalShape)
- {
- if (shape.isNativeShape)
- {
- // Native shapes are not tracked and are released immediately
- if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
- BSScene.DetailLogZero, shape.ptr.ToString(), inTaintTime);
- if (shapeCallback != null) shapeCallback(shape);
- BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
- }
- else
- {
- switch (shape.type)
- {
- case BSPhysicsShapeType.SHAPE_HULL:
- DereferenceHull(shape, shapeCallback);
- break;
- case BSPhysicsShapeType.SHAPE_MESH:
- DereferenceMesh(shape, shapeCallback);
- break;
- case BSPhysicsShapeType.SHAPE_COMPOUND:
- DereferenceCompound(shape, shapeCallback);
- break;
- case BSPhysicsShapeType.SHAPE_UNKNOWN:
- break;
- default:
- break;
- }
- }
- }
- });
- }
-
- // Count down the reference count for a mesh shape
- // Called at taint-time.
- private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback)
- {
- MeshDesc meshDesc;
- if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
- {
- meshDesc.referenceCount--;
- // TODO: release the Bullet storage
- if (shapeCallback != null) shapeCallback(shape);
- meshDesc.lastReferenced = System.DateTime.Now;
- Meshes[shape.shapeKey] = meshDesc;
- if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceMesh,shape={1},refCnt={2}",
- BSScene.DetailLogZero, shape, meshDesc.referenceCount);
-
- }
- }
-
- // Count down the reference count for a hull shape
- // Called at taint-time.
- private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback)
- {
- HullDesc hullDesc;
- if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
- {
- hullDesc.referenceCount--;
- // TODO: release the Bullet storage (aging old entries?)
-
- // Tell upper layers that, if they have dependencies on this shape, this link is going away
- if (shapeCallback != null) shapeCallback(shape);
-
- hullDesc.lastReferenced = System.DateTime.Now;
- Hulls[shape.shapeKey] = hullDesc;
- if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceHull,shape={1},refCnt={2}",
- BSScene.DetailLogZero, shape, hullDesc.referenceCount);
- }
- }
-
- // Remove a reference to a compound shape.
- // Taking a compound shape apart is a little tricky because if you just delete the
- // physical shape, it will free all the underlying children. We can't do that because
- // they could be shared. So, this removes each of the children from the compound and
- // dereferences them separately before destroying the compound collision object itself.
- // Called at taint-time.
- private void DereferenceCompound(BulletShape shape, ShapeDestructionCallback shapeCallback)
- {
- if (!BulletSimAPI.IsCompound2(shape.ptr))
- {
- // Failed the sanity check!!
- PhysicsScene.Logger.ErrorFormat("{0} Attempt to free a compound shape that is not compound!! type={1}, ptr={2}",
- LogHeader, shape.type, shape.ptr.ToString());
- if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,notACompoundShape,type={1},ptr={2}",
- BSScene.DetailLogZero, shape.type, shape.ptr.ToString());
- return;
- }
-
- int numChildren = BulletSimAPI.GetNumberOfCompoundChildren2(shape.ptr);
- if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceCompound,shape={1},children={2}", BSScene.DetailLogZero, shape, numChildren);
-
- for (int ii = numChildren - 1; ii >= 0; ii--)
- {
- Object childShape = BulletSimAPI.RemoveChildShapeFromCompoundShapeIndex2(shape.ptr, ii);
- DereferenceAnonCollisionShape(childShape);
- }
- BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
- }
-
- // Sometimes we have a pointer to a collision shape but don't know what type it is.
- // Figure out type and call the correct dereference routine.
- // Called at taint-time.
- private void DereferenceAnonCollisionShape(Object cShape)
- {
- MeshDesc meshDesc;
- HullDesc hullDesc;
-
- BulletShape shapeInfo = new BulletShape(cShape);
- if (TryGetMeshByPtr(cShape, out meshDesc))
- {
- shapeInfo.type = BSPhysicsShapeType.SHAPE_MESH;
- shapeInfo.shapeKey = meshDesc.shapeKey;
- }
- else
- {
- if (TryGetHullByPtr(cShape, out hullDesc))
- {
- shapeInfo.type = BSPhysicsShapeType.SHAPE_HULL;
- shapeInfo.shapeKey = hullDesc.shapeKey;
- }
- else
- {
- if (BulletSimAPI.IsCompound2(cShape))
- {
- shapeInfo.type = BSPhysicsShapeType.SHAPE_COMPOUND;
- }
- else
- {
- if (BulletSimAPI.IsNativeShape2(cShape))
- {
- shapeInfo.isNativeShape = true;
- shapeInfo.type = BSPhysicsShapeType.SHAPE_BOX; // (technically, type doesn't matter)
- }
- }
- }
- }
-
- if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceAnonCollisionShape,shape={1}", BSScene.DetailLogZero, shapeInfo);
-
- if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN)
- {
- DereferenceShape(shapeInfo, true, null);
- }
- else
- {
- PhysicsScene.Logger.ErrorFormat("{0} Could not decypher shape type. Region={1}, addr={2}",
- LogHeader, PhysicsScene.RegionName, cShape.ToString());
- }
- }
-
- // Create the geometry information in Bullet for later use.
- // The objects needs a hull if it's physical otherwise a mesh is enough.
- // if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls,
- // shared geometries will be used. If the parameters of the existing shape are the same
- // as this request, the shape is not rebuilt.
- // Info in prim.BSShape is updated to the new shape.
- // Returns 'true' if the geometry was rebuilt.
- // Called at taint-time!
- private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
- {
- bool ret = false;
- bool haveShape = false;
-
- if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
- {
- // an avatar capsule is close to a native shape (it is not shared)
- GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE,
- FixedShapeKey.KEY_CAPSULE, shapeCallback);
- if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
- ret = true;
- haveShape = true;
- }
-
- // Compound shapes are handled special as they are rebuilt from scratch.
- // This isn't too great a hardship since most of the child shapes will have already been created.
- if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
- {
- ret = GetReferenceToCompoundShape(prim, shapeCallback);
- if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, prim.PhysShape);
- haveShape = true;
- }
-
- if (!haveShape)
- {
- ret = CreateGeomNonSpecial(forceRebuild, prim, shapeCallback);
- }
-
- return ret;
- }
-
- // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'.
- public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
- {
- bool ret = false;
- bool haveShape = false;
- bool nativeShapePossible = true;
- PrimitiveBaseShape pbs = prim.BaseShape;
-
- // If the prim attributes are simple, this could be a simple Bullet native shape
- if (!haveShape
- && pbs != null
- && nativeShapePossible
- && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim)
- || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
- && pbs.ProfileHollow == 0
- && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
- && pbs.PathBegin == 0 && pbs.PathEnd == 0
- && pbs.PathTaperX == 0 && pbs.PathTaperY == 0
- && pbs.PathScaleX == 100 && pbs.PathScaleY == 100
- && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) )
- {
- // Get the scale of any existing shape so we can see if the new shape is same native type and same size.
- OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero;
- if (prim.PhysShape.HasPhysicalShape)
- scaleOfExistingShape = BulletSimAPI.GetLocalScaling2(prim.PhysShape.ptr);
-
- if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}",
- prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type);
-
- // It doesn't look like Bullet scales spheres so make sure the scales are all equal
- if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
- && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)
- {
- haveShape = true;
- if (forceRebuild
- || prim.Scale != scaleOfExistingShape
- || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE
- )
- {
- ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE,
- FixedShapeKey.KEY_SPHERE, shapeCallback);
- if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
- prim.LocalID, forceRebuild, prim.PhysShape);
- }
- }
- if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
- {
- haveShape = true;
- if (forceRebuild
- || prim.Scale != scaleOfExistingShape
- || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX
- )
- {
- ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX,
- FixedShapeKey.KEY_BOX, shapeCallback);
- if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
- prim.LocalID, forceRebuild, prim.PhysShape);
- }
- }
- }
-
- // If a simple shape is not happening, create a mesh and possibly a hull.
- if (!haveShape && pbs != null)
- {
- ret = CreateGeomMeshOrHull(prim, shapeCallback);
- }
-
- return ret;
- }
-
- public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
- {
-
- bool ret = false;
- // Note that if it's a native shape, the check for physical/non-physical is not
- // made. Native shapes work in either case.
- if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects)
- {
- // Update prim.BSShape to reference a hull of this shape.
- ret = GetReferenceToHull(prim,shapeCallback);
- if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
- prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
- }
- else
- {
- ret = GetReferenceToMesh(prim, shapeCallback);
- if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
- prim.LocalID, prim.PhysShape, prim.PhysShape.shapeKey.ToString("X"));
- }
- return ret;
- }
-
- // Creates a native shape and assignes it to prim.BSShape.
- // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape().
- private bool GetReferenceToNativeShape(BSPhysObject prim,
- BSPhysicsShapeType shapeType, FixedShapeKey shapeKey,
- ShapeDestructionCallback shapeCallback)
- {
- // release any previous shape
- DereferenceShape(prim.PhysShape, true, shapeCallback);
-
- BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
-
- // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
- if (DDetail) DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
- prim.LocalID, newShape, prim.Scale);
-
- // native shapes are scaled by Bullet
- prim.PhysShape = newShape;
- return true;
- }
-
- private BulletShape BuildPhysicalNativeShape(BSPhysObject prim, BSPhysicsShapeType shapeType,
- FixedShapeKey shapeKey)
- {
- BulletShape newShape;
- // Need to make sure the passed shape information is for the native type.
- ShapeData nativeShapeData = new ShapeData();
- nativeShapeData.Type = shapeType;
- nativeShapeData.ID = prim.LocalID;
- nativeShapeData.Scale = prim.Scale;
- nativeShapeData.Size = prim.Scale; // unneeded, I think.
- nativeShapeData.MeshKey = (ulong)shapeKey;
- nativeShapeData.HullKey = (ulong)shapeKey;
-
- if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
- {
- // The proper scale has been calculated in the prim.
- newShape = new BulletShape(
- BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale)
- , shapeType);
- if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
- }
- else
- {
- // Native shapes are scaled in Bullet so set the scaling to the size
- newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType);
- }
- if (!newShape.HasPhysicalShape)
- {
- PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
- LogHeader, prim.LocalID, shapeType);
- }
- newShape.shapeKey = (System.UInt64)shapeKey;
- newShape.isNativeShape = true;
-
- return newShape;
- }
-
- // Builds a mesh shape in the physical world and updates prim.BSShape.
- // Dereferences previous shape in BSShape and adds a reference for this new shape.
- // Returns 'true' of a mesh was actually built. Otherwise .
- // Called at taint-time!
- private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
- {
- BulletShape newShape = new BulletShape();
-
- float lod;
- System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
-
- // if this new shape is the same as last time, don't recreate the mesh
- if (newMeshKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_MESH)
- return false;
-
- if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToMesh,create,oldKey={1},newKey={2}",
- prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
-
- // Since we're recreating new, get rid of the reference to the previous shape
- DereferenceShape(prim.PhysShape, true, shapeCallback);
-
- newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod);
- // Take evasive action if the mesh was not constructed.
- newShape = VerifyMeshCreated(newShape, prim);
-
- ReferenceShape(newShape);
-
- prim.PhysShape = newShape;
-
- return true; // 'true' means a new shape has been added to this prim
- }
-
- private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
- {
- IMesh meshData = null;
- Object meshPtr = null;
- MeshDesc meshDesc;
- if (Meshes.TryGetValue(newMeshKey, out meshDesc))
- {
- // If the mesh has already been built just use it.
- meshPtr = meshDesc.ptr;
- }
- else
- {
- meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false);
-
- if (meshData != null)
- {
- int[] indices = meshData.getIndexListAsInt();
- List<OMV.Vector3> vertices = meshData.getVertexList();
-
- float[] verticesAsFloats = new float[vertices.Count * 3];
- int vi = 0;
- foreach (OMV.Vector3 vv in vertices)
- {
- verticesAsFloats[vi++] = vv.X;
- verticesAsFloats[vi++] = vv.Y;
- verticesAsFloats[vi++] = vv.Z;
- }
-
- // m_log.DebugFormat("{0}: BSShapeCollection.CreatePhysicalMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
- // LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
-
- meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
- indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
- }
- }
- BulletShape newShape = new BulletShape(meshPtr, BSPhysicsShapeType.SHAPE_MESH);
- newShape.shapeKey = newMeshKey;
-
- return newShape;
- }
-
- // See that hull shape exists in the physical world and update prim.BSShape.
- // We could be creating the hull because scale changed or whatever.
- private bool GetReferenceToHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
- {
- BulletShape newShape;
-
- float lod;
- System.UInt64 newHullKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
-
- // if the hull hasn't changed, don't rebuild it
- if (newHullKey == prim.PhysShape.shapeKey && prim.PhysShape.type == BSPhysicsShapeType.SHAPE_HULL)
- return false;
-
- if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToHull,create,oldKey={1},newKey={2}",
- prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
-
- // Remove usage of the previous shape.
- DereferenceShape(prim.PhysShape, true, shapeCallback);
-
- newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod);
- newShape = VerifyMeshCreated(newShape, prim);
-
- ReferenceShape(newShape);
-
- prim.PhysShape = newShape;
- return true; // 'true' means a new shape has been added to this prim
- }
-
- List<ConvexResult> m_hulls;
- private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
- {
-
- Object hullPtr = null;
- HullDesc hullDesc;
- if (Hulls.TryGetValue(newHullKey, out hullDesc))
- {
- // If the hull shape already is created, just use it.
- hullPtr = hullDesc.ptr;
- }
- else
- {
- // Build a new hull in the physical world
- // Pass true for physicalness as this creates some sort of bounding box which we don't need
- IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false);
- if (meshData != null)
- {
-
- int[] indices = meshData.getIndexListAsInt();
- List<OMV.Vector3> vertices = meshData.getVertexList();
-
- //format conversion from IMesh format to DecompDesc format
- List<int> convIndices = new List<int>();
- List<float3> convVertices = new List<float3>();
- for (int ii = 0; ii < indices.GetLength(0); ii++)
- {
- convIndices.Add(indices[ii]);
- }
- foreach (OMV.Vector3 vv in vertices)
- {
- convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
- }
-
- // setup and do convex hull conversion
- m_hulls = new List<ConvexResult>();
- DecompDesc dcomp = new DecompDesc();
- dcomp.mIndices = convIndices;
- dcomp.mVertices = convVertices;
- ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
- // create the hull into the _hulls variable
- convexBuilder.process(dcomp);
-
- // Convert the vertices and indices for passing to unmanaged.
- // The hull information is passed as a large floating point array.
- // The format is:
- // convHulls[0] = number of hulls
- // convHulls[1] = number of vertices in first hull
- // convHulls[2] = hull centroid X coordinate
- // convHulls[3] = hull centroid Y coordinate
- // convHulls[4] = hull centroid Z coordinate
- // convHulls[5] = first hull vertex X
- // convHulls[6] = first hull vertex Y
- // convHulls[7] = first hull vertex Z
- // convHulls[8] = second hull vertex X
- // ...
- // convHulls[n] = number of vertices in second hull
- // convHulls[n+1] = second hull centroid X coordinate
- // ...
- //
- // TODO: is is very inefficient. Someday change the convex hull generator to return
- // data structures that do not need to be converted in order to pass to Bullet.
- // And maybe put the values directly into pinned memory rather than marshaling.
- int hullCount = m_hulls.Count;
- int totalVertices = 1; // include one for the count of the hulls
- foreach (ConvexResult cr in m_hulls)
- {
- totalVertices += 4; // add four for the vertex count and centroid
- totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
- }
- float[] convHulls = new float[totalVertices];
-
- convHulls[0] = (float)hullCount;
- int jj = 1;
- foreach (ConvexResult cr in m_hulls)
- {
- // copy vertices for index access
- float3[] verts = new float3[cr.HullVertices.Count];
- int kk = 0;
- foreach (float3 ff in cr.HullVertices)
- {
- verts[kk++] = ff;
- }
-
- // add to the array one hull's worth of data
- convHulls[jj++] = cr.HullIndices.Count;
- convHulls[jj++] = 0f; // centroid x,y,z
- convHulls[jj++] = 0f;
- convHulls[jj++] = 0f;
- foreach (int ind in cr.HullIndices)
- {
- convHulls[jj++] = verts[ind].x;
- convHulls[jj++] = verts[ind].y;
- convHulls[jj++] = verts[ind].z;
- }
- }
- // create the hull data structure in Bullet
- hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
- }
- }
-
- BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL);
- newShape.shapeKey = newHullKey;
-
- return newShape;
- }
-
- // Callback from convex hull creater with a newly created hull.
- // Just add it to our collection of hulls for this shape.
- private void HullReturn(ConvexResult result)
- {
- m_hulls.Add(result);
- return;
- }
-
- // Compound shapes are always built from scratch.
- // This shouldn't be to bad since most of the parts will be meshes that had been built previously.
- private bool GetReferenceToCompoundShape(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
- {
- // Remove reference to the old shape
- // Don't need to do this as the shape is freed when the new root shape is created below.
- // DereferenceShape(prim.PhysShape, true, shapeCallback);
-
- BulletShape cShape = new BulletShape(
- BulletSimAPI.CreateCompoundShape2(PhysicsScene.World.ptr, false), BSPhysicsShapeType.SHAPE_COMPOUND);
-
- // Create the shape for the root prim and add it to the compound shape. Cannot be a native shape.
- CreateGeomMeshOrHull(prim, shapeCallback);
- BulletSimAPI.AddChildShapeToCompoundShape2(cShape.ptr, prim.PhysShape.ptr, OMV.Vector3.Zero, OMV.Quaternion.Identity);
- if (DDetail) DetailLog("{0},BSShapeCollection.GetReferenceToCompoundShape,addRootPrim,compShape={1},rootShape={2}",
- prim.LocalID, cShape, prim.PhysShape);
-
- prim.PhysShape = cShape;
-
- return true;
- }
-
- // Create a hash of all the shape parameters to be used as a key
- // for this particular shape.
- private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
- {
- // level of detail based on size and type of the object
- float lod = BSParam.MeshLOD;
- if (pbs.SculptEntry)
- lod = BSParam.SculptLOD;
-
- // Mega prims usually get more detail because one can interact with shape approximations at this size.
- float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z));
- if (maxAxis > BSParam.MeshMegaPrimThreshold)
- lod = BSParam.MeshMegaPrimLOD;
-
- retLod = lod;
- return pbs.GetMeshKey(size, lod);
- }
- // For those who don't want the LOD
- private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs)
- {
- float lod;
- return ComputeShapeKey(size, pbs, out lod);
- }
-
- // The creation of a mesh or hull can fail if an underlying asset is not available.
- // There are two cases: 1) the asset is not in the cache and it needs to be fetched;
- // and 2) the asset cannot be converted (like failed decompression of JPEG2000s).
- // The first case causes the asset to be fetched. The second case requires
- // us to not loop forever.
- // Called after creating a physical mesh or hull. If the physical shape was created,
- // just return.
- private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim)
- {
- // If the shape was successfully created, nothing more to do
- if (newShape.HasPhysicalShape)
- return newShape;
-
- // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
- if (prim.BaseShape.SculptEntry && !prim.LastAssetBuildFailed && prim.BaseShape.SculptTexture != OMV.UUID.Zero)
- {
- prim.LastAssetBuildFailed = true;
- BSPhysObject xprim = prim;
- DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}",
- LogHeader, prim.LocalID, prim.LastAssetBuildFailed);
- Util.FireAndForget(delegate
- {
- RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
- if (assetProvider != null)
- {
- BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
- assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset)
- {
- if (!yprim.BaseShape.SculptEntry)
- return;
- if (yprim.BaseShape.SculptTexture.ToString() != asset.ID)
- return;
-
- yprim.BaseShape.SculptData = asset.Data;
- // This will cause the prim to see that the filler shape is not the right
- // one and try again to build the object.
- // No race condition with the normal shape setting since the rebuild is at taint time.
- yprim.ForceBodyShapeRebuild(false);
-
- });
- }
- });
- }
- else
- {
- if (prim.LastAssetBuildFailed)
- {
- PhysicsScene.Logger.ErrorFormat("{0} Mesh failed to fetch asset. lID={1}, texture={2}",
- LogHeader, prim.LocalID, prim.BaseShape.SculptTexture);
- }
- }
-
- // While we figure out the real problem, stick a simple native shape on the object.
- BulletShape fillinShape =
- BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
-
- return fillinShape;
- }
-
- // Create a body object in Bullet.
- // Updates prim.BSBody with the information about the new body if one is created.
- // Returns 'true' if an object was actually created.
- // Called at taint-time.
- private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BulletShape shape,
- BodyDestructionCallback bodyCallback)
- {
- bool ret = false;
-
- // the mesh, hull or native shape must have already been created in Bullet
- bool mustRebuild = !prim.PhysBody.HasPhysicalBody;
-
- // If there is an existing body, verify it's of an acceptable type.
- // If not a solid object, body is a GhostObject. Otherwise a RigidBody.
- if (!mustRebuild)
- {
- CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.PhysBody.ptr);
- if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
- || !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
- {
- // If the collisionObject is not the correct type for solidness, rebuild what's there
- mustRebuild = true;
- }
- }
-
- if (mustRebuild || forceRebuild)
- {
- // Free any old body
- DereferenceBody(prim.PhysBody, true, bodyCallback);
-
- BulletBody aBody;
- Object bodyPtr = null;
- if (prim.IsSolid)
- {
- bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
- prim.LocalID, prim.RawPosition, prim.RawOrientation);
- if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString());
- }
- else
- {
- bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
- prim.LocalID, prim.RawPosition, prim.RawOrientation);
- if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString());
- }
- aBody = new BulletBody(prim.LocalID, bodyPtr);
-
- ReferenceBody(aBody, true);
-
- prim.PhysBody = aBody;
-
- ret = true;
- }
-
- return ret;
- }
-
- private bool TryGetMeshByPtr(Object addr, out MeshDesc outDesc)
- {
- bool ret = false;
- MeshDesc foundDesc = new MeshDesc();
- foreach (MeshDesc md in Meshes.Values)
- {
- if (md.ptr == addr)
- {
- foundDesc = md;
- ret = true;
- break;
- }
-
- }
- outDesc = foundDesc;
- return ret;
- }
-
- private bool TryGetHullByPtr(Object addr, out HullDesc outDesc)
- {
- bool ret = false;
- HullDesc foundDesc = new HullDesc();
- foreach (HullDesc hd in Hulls.Values)
- {
- if (hd.ptr == addr)
- {
- foundDesc = hd;
- ret = true;
- break;
- }
-
- }
- outDesc = foundDesc;
- return ret;
- }
-
- private void DetailLog(string msg, params Object[] args)
- {
- if (PhysicsScene.PhysicsLogging.Enabled)
- PhysicsScene.DetailLog(msg, args);
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs
deleted file mode 100644
index 8ff027535c..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSShapes.cs
+++ /dev/null
@@ -1,208 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.Linq;
-using System.Text;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public abstract class BSShape
-{
- public Object ptr { get; set; }
- public BSPhysicsShapeType type { get; set; }
- public System.UInt64 key { get; set; }
- public int referenceCount { get; set; }
- public DateTime lastReferenced { get; set; }
-
- public BSShape()
- {
- ptr = null;
- type = BSPhysicsShapeType.SHAPE_UNKNOWN;
- key = 0;
- referenceCount = 0;
- lastReferenced = DateTime.Now;
- }
-
- // Get a reference to a physical shape. Create if it doesn't exist
- public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
- {
- BSShape ret = null;
-
- if (prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
- {
- // an avatar capsule is close to a native shape (it is not shared)
- ret = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_CAPSULE,
- FixedShapeKey.KEY_CAPSULE);
- physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret);
- }
-
- // Compound shapes are handled special as they are rebuilt from scratch.
- // This isn't too great a hardship since most of the child shapes will already been created.
- if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
- {
- // Getting a reference to a compound shape gets you the compound shape with the root prim shape added
- ret = BSShapeCompound.GetReference(prim);
- physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret);
- }
-
- if (ret == null)
- ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim);
-
- return ret;
- }
- public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
- {
- return null;
- }
- public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
- {
- return null;
- }
-
- // Release the use of a physical shape.
- public abstract void Dereference(BSScene physicsScene);
-
- // All shapes have a static call to get a reference to the physical shape
- // protected abstract static BSShape GetReference();
-
- public override string ToString()
- {
- StringBuilder buff = new StringBuilder();
- buff.Append("<p=");
- buff.Append(ptr.ToString());
- buff.Append(",s=");
- buff.Append(type.ToString());
- buff.Append(",k=");
- buff.Append(key.ToString("X"));
- buff.Append(",c=");
- buff.Append(referenceCount.ToString());
- buff.Append(">");
- return buff.ToString();
- }
-}
-
-public class BSShapeNull : BSShape
-{
- public BSShapeNull() : base()
- {
- }
- public static BSShape GetReference() { return new BSShapeNull(); }
- public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ }
-}
-
-public class BSShapeNative : BSShape
-{
- private static string LogHeader = "[BULLETSIM SHAPE NATIVE]";
- public BSShapeNative() : base()
- {
- }
- public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim,
- BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
- {
- // Native shapes are not shared and are always built anew.
- return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
- }
-
- private BSShapeNative(BSScene physicsScene, BSPhysObject prim,
- BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
- {
- ShapeData nativeShapeData = new ShapeData();
- nativeShapeData.Type = shapeType;
- nativeShapeData.ID = prim.LocalID;
- nativeShapeData.Scale = prim.Scale;
- nativeShapeData.Size = prim.Scale;
- nativeShapeData.MeshKey = (ulong)shapeKey;
- nativeShapeData.HullKey = (ulong)shapeKey;
-
-
- if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
- {
- ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
- physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
- }
- else
- {
- ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData);
- }
- if (ptr == null)
- {
- physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
- LogHeader, prim.LocalID, shapeType);
- }
- type = shapeType;
- key = (UInt64)shapeKey;
- }
- // Make this reference to the physical shape go away since native shapes are not shared.
- public override void Dereference(BSScene physicsScene)
- {
- // Native shapes are not tracked and are released immediately
- physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
- BulletSimAPI.DeleteCollisionShape2(physicsScene.World.ptr, ptr);
- ptr = null;
- // Garbage collection will free up this instance.
- }
-}
-
-public class BSShapeMesh : BSShape
-{
- private static string LogHeader = "[BULLETSIM SHAPE MESH]";
- private static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>();
-
- public BSShapeMesh() : base()
- {
- }
- public static BSShape GetReference() { return new BSShapeNull(); }
- public override void Dereference(BSScene physicsScene) { }
-}
-
-public class BSShapeHull : BSShape
-{
- private static string LogHeader = "[BULLETSIM SHAPE HULL]";
- private static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
-
- public BSShapeHull() : base()
- {
- }
- public static BSShape GetReference() { return new BSShapeNull(); }
- public override void Dereference(BSScene physicsScene) { }
-}
-
-public class BSShapeCompound : BSShape
-{
- private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
- public BSShapeCompound() : base()
- {
- }
- public static BSShape GetReference(BSPhysObject prim)
- {
- return new BSShapeNull();
- }
- public override void Dereference(BSScene physicsScene) { }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs
deleted file mode 100644
index ba17059da0..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs
+++ /dev/null
@@ -1,175 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.Text;
-
-using OpenSim.Framework;
-using OpenSim.Region.Framework;
-using OpenSim.Region.CoreModules;
-using OpenSim.Region.Physics.Manager;
-
-using Nini.Config;
-using log4net;
-
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public sealed class BSTerrainHeightmap : BSTerrainPhys
-{
- static string LogHeader = "[BULLETSIM TERRAIN HEIGHTMAP]";
-
- BulletHeightMapInfo m_mapInfo = null;
-
- // Constructor to build a default, flat heightmap terrain.
- public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
- : base(physicsScene, regionBase, id)
- {
- Vector3 minTerrainCoords = new Vector3(0f, 0f, BSTerrainManager.HEIGHT_INITIALIZATION - BSTerrainManager.HEIGHT_EQUAL_FUDGE);
- Vector3 maxTerrainCoords = new Vector3(regionSize.X, regionSize.Y, BSTerrainManager.HEIGHT_INITIALIZATION);
- int totalHeights = (int)maxTerrainCoords.X * (int)maxTerrainCoords.Y;
- float[] initialMap = new float[totalHeights];
- for (int ii = 0; ii < totalHeights; ii++)
- {
- initialMap[ii] = BSTerrainManager.HEIGHT_INITIALIZATION;
- }
- m_mapInfo = new BulletHeightMapInfo(id, initialMap, null);
- m_mapInfo.minCoords = minTerrainCoords;
- m_mapInfo.maxCoords = maxTerrainCoords;
- m_mapInfo.terrainRegionBase = TerrainBase;
- // Don't have to free any previous since we just got here.
- BuildHeightmapTerrain();
- }
-
- // This minCoords and maxCoords passed in give the size of the terrain (min and max Z
- // are the high and low points of the heightmap).
- public BSTerrainHeightmap(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
- Vector3 minCoords, Vector3 maxCoords)
- : base(physicsScene, regionBase, id)
- {
- m_mapInfo = new BulletHeightMapInfo(id, initialMap, null);
- m_mapInfo.minCoords = minCoords;
- m_mapInfo.maxCoords = maxCoords;
- m_mapInfo.minZ = minCoords.Z;
- m_mapInfo.maxZ = maxCoords.Z;
- m_mapInfo.terrainRegionBase = TerrainBase;
-
- // Don't have to free any previous since we just got here.
- BuildHeightmapTerrain();
- }
-
- public override void Dispose()
- {
- ReleaseHeightMapTerrain();
- }
-
- // Using the information in m_mapInfo, create the physical representation of the heightmap.
- private void BuildHeightmapTerrain()
- {
- m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
- m_mapInfo.minCoords, m_mapInfo.maxCoords,
- m_mapInfo.heightMap, BSParam.TerrainCollisionMargin);
-
- // Create the terrain shape from the mapInfo
- m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),
- BSPhysicsShapeType.SHAPE_TERRAIN);
-
- // The terrain object initial position is at the center of the object
- Vector3 centerPos;
- centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f);
- centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
- centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f - 0.5f);
-
- m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID,
- BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr,
- m_mapInfo.ID, centerPos, Quaternion.Identity));
-
- // Set current terrain attributes
- BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainFriction);
- BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainHitFraction);
- BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, BSParam.TerrainRestitution);
- BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
-
- // Return the new terrain to the world of physical objects
- BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr, centerPos, Quaternion.Identity);
-
- // redo its bounding box now that it is in the world
- BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
-
- m_mapInfo.terrainBody.collisionType = CollisionType.Terrain;
- m_mapInfo.terrainBody.ApplyCollisionMask();
-
- // Make it so the terrain will not move or be considered for movement.
- BulletSimAPI.ForceActivationState2(m_mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
-
- return;
- }
-
- // If there is information in m_mapInfo pointing to physical structures, release same.
- private void ReleaseHeightMapTerrain()
- {
- if (m_mapInfo != null)
- {
- if (m_mapInfo.terrainBody.HasPhysicalBody)
- {
- BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
- // Frees both the body and the shape.
- BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
- BulletSimAPI.ReleaseHeightMapInfo2(m_mapInfo.Ptr);
- }
- }
- m_mapInfo = null;
- }
-
- // The passed position is relative to the base of the region.
- public override float GetTerrainHeightAtXYZ(Vector3 pos)
- {
- float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
-
- int mapIndex = (int)pos.Y * (int)m_mapInfo.sizeY + (int)pos.X;
- try
- {
- ret = m_mapInfo.heightMap[mapIndex];
- }
- catch
- {
- // Sometimes they give us wonky values of X and Y. Give a warning and return something.
- PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
- LogHeader, m_mapInfo.terrainRegionBase, pos);
- ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
- }
- return ret;
- }
-
- // The passed position is relative to the base of the region.
- public override float GetWaterLevelAtXYZ(Vector3 pos)
- {
- return PhysicsScene.SimpleWaterLevel;
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs
deleted file mode 100644
index 66d62f0afb..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs
+++ /dev/null
@@ -1,461 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.Text;
-
-using OpenSim.Framework;
-using OpenSim.Region.Framework;
-using OpenSim.Region.CoreModules;
-using OpenSim.Region.Physics.Manager;
-
-using Nini.Config;
-using log4net;
-
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-
-// The physical implementation of the terrain is wrapped in this class.
-public abstract class BSTerrainPhys : IDisposable
-{
- public enum TerrainImplementation
- {
- Heightmap = 0,
- Mesh = 1
- }
-
- public BSScene PhysicsScene { get; private set; }
- // Base of the region in world coordinates. Coordinates inside the region are relative to this.
- public Vector3 TerrainBase { get; private set; }
- public uint ID { get; private set; }
-
- public BSTerrainPhys(BSScene physicsScene, Vector3 regionBase, uint id)
- {
- PhysicsScene = physicsScene;
- TerrainBase = regionBase;
- ID = id;
- }
- public abstract void Dispose();
- public abstract float GetTerrainHeightAtXYZ(Vector3 pos);
- public abstract float GetWaterLevelAtXYZ(Vector3 pos);
-}
-
-// ==========================================================================================
-public sealed class BSTerrainManager : IDisposable
-{
- static string LogHeader = "[BULLETSIM TERRAIN MANAGER]";
-
- // These height values are fractional so the odd values will be
- // noticable when debugging.
- public const float HEIGHT_INITIALIZATION = 24.987f;
- public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f;
- public const float HEIGHT_GETHEIGHT_RET = 24.765f;
- public const float WATER_HEIGHT_GETHEIGHT_RET = 19.998f;
-
- // If the min and max height are equal, we reduce the min by this
- // amount to make sure that a bounding box is built for the terrain.
- public const float HEIGHT_EQUAL_FUDGE = 0.2f;
-
- // Until the whole simulator is changed to pass us the region size, we rely on constants.
- public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
-
- // The scene that I am part of
- private BSScene PhysicsScene { get; set; }
-
- // The ground plane created to keep thing from falling to infinity.
- private BulletBody m_groundPlane;
-
- // If doing mega-regions, if we're region zero we will be managing multiple
- // region terrains since region zero does the physics for the whole mega-region.
- private Dictionary<Vector3, BSTerrainPhys> m_terrains;
-
- // Flags used to know when to recalculate the height.
- private bool m_terrainModified = false;
-
- // If we are doing mega-regions, terrains are added from TERRAIN_ID to m_terrainCount.
- // This is incremented before assigning to new region so it is the last ID allocated.
- private uint m_terrainCount = BSScene.CHILDTERRAIN_ID - 1;
- public uint HighestTerrainID { get {return m_terrainCount; } }
-
- // If doing mega-regions, this holds our offset from region zero of
- // the mega-regions. "parentScene" points to the PhysicsScene of region zero.
- private Vector3 m_worldOffset;
- // If the parent region (region 0), this is the extent of the combined regions
- // relative to the origin of region zero
- private Vector3 m_worldMax;
- private PhysicsScene MegaRegionParentPhysicsScene { get; set; }
-
- public BSTerrainManager(BSScene physicsScene)
- {
- PhysicsScene = physicsScene;
- m_terrains = new Dictionary<Vector3,BSTerrainPhys>();
-
- // Assume one region of default size
- m_worldOffset = Vector3.Zero;
- m_worldMax = new Vector3(DefaultRegionSize);
- MegaRegionParentPhysicsScene = null;
- }
-
- public void Dispose()
- {
- ReleaseGroundPlaneAndTerrain();
- }
-
- // Create the initial instance of terrain and the underlying ground plane.
- // This is called from the initialization routine so we presume it is
- // safe to call Bullet in real time. We hope no one is moving prims around yet.
- public void CreateInitialGroundPlaneAndTerrain()
- {
- // The ground plane is here to catch things that are trying to drop to negative infinity
- BulletShape groundPlaneShape = new BulletShape(
- BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f,
- BSParam.TerrainCollisionMargin),
- BSPhysicsShapeType.SHAPE_GROUNDPLANE);
- m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
- BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
- Vector3.Zero, Quaternion.Identity));
- BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr, Vector3.Zero, Quaternion.Identity);
- BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr);
- // Ground plane does not move
- BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
- // Everything collides with the ground plane.
- m_groundPlane.collisionType = CollisionType.Groundplane;
- m_groundPlane.ApplyCollisionMask();
-
- // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
- BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);
- m_terrains.Add(Vector3.Zero, initialTerrain);
- }
-
- // Release all the terrain structures we might have allocated
- public void ReleaseGroundPlaneAndTerrain()
- {
- if (m_groundPlane.HasPhysicalBody)
- {
- if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr))
- {
- BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr);
- }
- m_groundPlane.Clear();
- }
-
- ReleaseTerrain();
- }
-
- // Release all the terrain we have allocated
- public void ReleaseTerrain()
- {
- lock (m_terrains)
- {
- foreach (KeyValuePair<Vector3, BSTerrainPhys> kvp in m_terrains)
- {
- kvp.Value.Dispose();
- }
- m_terrains.Clear();
- }
- }
-
- // The simulator wants to set a new heightmap for the terrain.
- public void SetTerrain(float[] heightMap) {
- float[] localHeightMap = heightMap;
- // If there are multiple requests for changes to the same terrain between ticks,
- // only do that last one.
- PhysicsScene.PostTaintObject("TerrainManager.SetTerrain-"+ m_worldOffset.ToString(), 0, delegate()
- {
- if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null)
- {
- // If a child of a mega-region, we shouldn't have any terrain allocated for us
- ReleaseGroundPlaneAndTerrain();
- // If doing the mega-prim stuff and we are the child of the zero region,
- // the terrain is added to our parent
- if (MegaRegionParentPhysicsScene is BSScene)
- {
- DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}",
- BSScene.DetailLogZero, m_worldOffset, m_worldMax);
- ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateTerrain(
- BSScene.CHILDTERRAIN_ID, localHeightMap,
- m_worldOffset, m_worldOffset + DefaultRegionSize, true);
- }
- }
- else
- {
- // If not doing the mega-prim thing, just change the terrain
- DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
-
- UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap,
- m_worldOffset, m_worldOffset + DefaultRegionSize, true);
- }
- });
- }
-
- // If called with no mapInfo for the terrain, this will create a new mapInfo and terrain
- // based on the passed information. The 'id' should be either the terrain id or
- // BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used.
- // The latter feature is for creating child terrains for mega-regions.
- // If called with a mapInfo in m_heightMaps and there is an existing terrain body, a new
- // terrain shape is created and added to the body.
- // This call is most often used to update the heightMap and parameters of the terrain.
- // (The above does suggest that some simplification/refactoring is in order.)
- // Called during taint-time.
- private void UpdateTerrain(uint id, float[] heightMap,
- Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
- {
- DetailLog("{0},BSTerrainManager.UpdateTerrain,call,minC={1},maxC={2},inTaintTime={3}",
- BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime);
-
- // Find high and low points of passed heightmap.
- // The min and max passed in is usually the area objects can be in (maximum
- // object height, for instance). The terrain wants the bounding box for the
- // terrain so replace passed min and max Z with the actual terrain min/max Z.
- float minZ = float.MaxValue;
- float maxZ = float.MinValue;
- foreach (float height in heightMap)
- {
- if (height < minZ) minZ = height;
- if (height > maxZ) maxZ = height;
- }
- if (minZ == maxZ)
- {
- // If min and max are the same, reduce min a little bit so a good bounding box is created.
- minZ -= BSTerrainManager.HEIGHT_EQUAL_FUDGE;
- }
- minCoords.Z = minZ;
- maxCoords.Z = maxZ;
-
- Vector3 terrainRegionBase = new Vector3(minCoords.X, minCoords.Y, 0f);
-
- lock (m_terrains)
- {
- BSTerrainPhys terrainPhys;
- if (m_terrains.TryGetValue(terrainRegionBase, out terrainPhys))
- {
- // There is already a terrain in this spot. Free the old and build the new.
- DetailLog("{0},UpdateTerrain:UpdateExisting,call,id={1},base={2},minC={3},maxC={4}",
- BSScene.DetailLogZero, id, terrainRegionBase, minCoords, minCoords);
-
- // Remove old terrain from the collection
- m_terrains.Remove(terrainRegionBase);
- // Release any physical memory it may be using.
- terrainPhys.Dispose();
-
- if (MegaRegionParentPhysicsScene == null)
- {
- BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
- m_terrains.Add(terrainRegionBase, newTerrainPhys);
-
- m_terrainModified = true;
- }
- else
- {
- // It's possible that Combine() was called after this code was queued.
- // If we are a child of combined regions, we don't create any terrain for us.
- DetailLog("{0},BSTerrainManager.UpdateTerrain:AmACombineChild,taint", BSScene.DetailLogZero);
-
- // Get rid of any terrain that may have been allocated for us.
- ReleaseGroundPlaneAndTerrain();
-
- // I hate doing this, but just bail
- return;
- }
- }
- else
- {
- // We don't know about this terrain so either we are creating a new terrain or
- // our mega-prim child is giving us a new terrain to add to the phys world
-
- // if this is a child terrain, calculate a unique terrain id
- uint newTerrainID = id;
- if (newTerrainID >= BSScene.CHILDTERRAIN_ID)
- newTerrainID = ++m_terrainCount;
-
- DetailLog("{0},UpdateTerrain:NewTerrain,taint,newID={1},minCoord={2},maxCoord={3}",
- BSScene.DetailLogZero, newTerrainID, minCoords, minCoords);
- BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords);
- m_terrains.Add(terrainRegionBase, newTerrainPhys);
-
- m_terrainModified = true;
- }
- }
- }
-
- // TODO: redo terrain implementation selection to allow other base types than heightMap.
- private BSTerrainPhys BuildPhysicalTerrain(Vector3 terrainRegionBase, uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords)
- {
- PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}",
- LogHeader, PhysicsScene.RegionName, terrainRegionBase,
- (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation);
- BSTerrainPhys newTerrainPhys = null;
- switch ((int)BSParam.TerrainImplementation)
- {
- case (int)BSTerrainPhys.TerrainImplementation.Heightmap:
- newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id,
- heightMap, minCoords, maxCoords);
- break;
- case (int)BSTerrainPhys.TerrainImplementation.Mesh:
- newTerrainPhys = new BSTerrainMesh(PhysicsScene, terrainRegionBase, id,
- heightMap, minCoords, maxCoords);
- break;
- default:
- PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}",
- LogHeader,
- (int)BSParam.TerrainImplementation,
- BSParam.TerrainImplementation,
- PhysicsScene.RegionName, terrainRegionBase);
- break;
- }
- return newTerrainPhys;
- }
-
- // Return 'true' of this position is somewhere in known physical terrain space
- public bool IsWithinKnownTerrain(Vector3 pos)
- {
- Vector3 terrainBaseXYZ;
- BSTerrainPhys physTerrain;
- return GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ);
- }
-
- // Given an X and Y, find the height of the terrain.
- // Since we could be handling multiple terrains for a mega-region,
- // the base of the region is calcuated assuming all regions are
- // the same size and that is the default.
- // Once the heightMapInfo is found, we have all the information to
- // compute the offset into the array.
- private float lastHeightTX = 999999f;
- private float lastHeightTY = 999999f;
- private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT;
- public float GetTerrainHeightAtXYZ(Vector3 pos)
- {
- float tX = pos.X;
- float tY = pos.Y;
- // You'd be surprized at the number of times this routine is called
- // with the same parameters as last time.
- if (!m_terrainModified && (lastHeightTX == tX) && (lastHeightTY == tY))
- return lastHeight;
- m_terrainModified = false;
-
- lastHeightTX = tX;
- lastHeightTY = tY;
- float ret = HEIGHT_GETHEIGHT_RET;
-
- Vector3 terrainBaseXYZ;
- BSTerrainPhys physTerrain;
- if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
- {
- ret = physTerrain.GetTerrainHeightAtXYZ(pos - terrainBaseXYZ);
- }
- else
- {
- PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
- LogHeader, PhysicsScene.RegionName, tX, tY);
- DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}",
- BSScene.DetailLogZero, pos, terrainBaseXYZ);
- }
-
- lastHeight = ret;
- return ret;
- }
-
- public float GetWaterLevelAtXYZ(Vector3 pos)
- {
- float ret = WATER_HEIGHT_GETHEIGHT_RET;
-
- Vector3 terrainBaseXYZ;
- BSTerrainPhys physTerrain;
- if (GetTerrainPhysicalAtXYZ(pos, out physTerrain, out terrainBaseXYZ))
- {
- ret = physTerrain.GetWaterLevelAtXYZ(pos);
- }
- else
- {
- PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: pos={1}, terrainBase={2}, height={3}",
- LogHeader, PhysicsScene.RegionName, pos, terrainBaseXYZ, ret);
- }
- return ret;
- }
-
- // Given an address, return 'true' of there is a description of that terrain and output
- // the descriptor class and the 'base' fo the addresses therein.
- private bool GetTerrainPhysicalAtXYZ(Vector3 pos, out BSTerrainPhys outPhysTerrain, out Vector3 outTerrainBase)
- {
- int offsetX = ((int)(pos.X / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X;
- int offsetY = ((int)(pos.Y / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y;
- Vector3 terrainBaseXYZ = new Vector3(offsetX, offsetY, 0f);
-
- BSTerrainPhys physTerrain = null;
- lock (m_terrains)
- {
- m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain);
- }
- outTerrainBase = terrainBaseXYZ;
- outPhysTerrain = physTerrain;
- return (physTerrain != null);
- }
-
- // Although no one seems to check this, I do support combining.
- public bool SupportsCombining()
- {
- return true;
- }
-
- // This routine is called two ways:
- // One with 'offset' and 'pScene' zero and null but 'extents' giving the maximum
- // extent of the combined regions. This is to inform the parent of the size
- // of the combined regions.
- // and one with 'offset' as the offset of the child region to the base region,
- // 'pScene' pointing to the parent and 'extents' of zero. This informs the
- // child of its relative base and new parent.
- public void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
- {
- m_worldOffset = offset;
- m_worldMax = extents;
- MegaRegionParentPhysicsScene = pScene;
- if (pScene != null)
- {
- // We are a child.
- // We want m_worldMax to be the highest coordinate of our piece of terrain.
- m_worldMax = offset + DefaultRegionSize;
- }
- DetailLog("{0},BSTerrainManager.Combine,offset={1},extents={2},wOffset={3},wMax={4}",
- BSScene.DetailLogZero, offset, extents, m_worldOffset, m_worldMax);
- }
-
- // Unhook all the combining that I know about.
- public void UnCombine(PhysicsScene pScene)
- {
- // Just like ODE, we don't do anything yet.
- DetailLog("{0},BSTerrainManager.UnCombine", BSScene.DetailLogZero);
- }
-
-
- private void DetailLog(string msg, params Object[] args)
- {
- PhysicsScene.PhysicsLogging.Write(msg, args);
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs
deleted file mode 100644
index 6083dd451a..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainMesh.cs
+++ /dev/null
@@ -1,267 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.Text;
-
-using OpenSim.Framework;
-using OpenSim.Region.Framework;
-using OpenSim.Region.CoreModules;
-using OpenSim.Region.Physics.Manager;
-
-using Nini.Config;
-using log4net;
-
-using OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-public sealed class BSTerrainMesh : BSTerrainPhys
-{
- static string LogHeader = "[BULLETSIM TERRAIN MESH]";
-
- private float[] m_savedHeightMap;
- int m_sizeX;
- int m_sizeY;
-
- BulletShape m_terrainShape;
- BulletBody m_terrainBody;
-
- public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, Vector3 regionSize)
- : base(physicsScene, regionBase, id)
- {
- }
-
- public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id /* parameters for making mesh */)
- : base(physicsScene, regionBase, id)
- {
- }
-
- // Create terrain mesh from a heightmap.
- public BSTerrainMesh(BSScene physicsScene, Vector3 regionBase, uint id, float[] initialMap,
- Vector3 minCoords, Vector3 maxCoords)
- : base(physicsScene, regionBase, id)
- {
- int indicesCount;
- int[] indices;
- int verticesCount;
- float[] vertices;
-
- m_savedHeightMap = initialMap;
-
- m_sizeX = (int)(maxCoords.X - minCoords.X);
- m_sizeY = (int)(maxCoords.Y - minCoords.Y);
-
- if (!BSTerrainMesh.ConvertHeightmapToMesh(PhysicsScene, initialMap,
- m_sizeX, m_sizeY,
- (float)m_sizeX, (float)m_sizeY,
- Vector3.Zero, 1.0f,
- out indicesCount, out indices, out verticesCount, out vertices))
- {
- // DISASTER!!
- PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedConversionOfHeightmap", ID);
- PhysicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh! base={1}", LogHeader, TerrainBase);
- // Something is very messed up and a crash is in our future.
- return;
- }
- PhysicsScene.DetailLog("{0},BSTerrainMesh.create,meshed,indices={1},indSz={2},vertices={3},vertSz={4}",
- ID, indicesCount, indices.Length, verticesCount, vertices.Length);
-
- m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
- indicesCount, indices, verticesCount, vertices),
- BSPhysicsShapeType.SHAPE_MESH);
- if (!m_terrainShape.HasPhysicalShape)
- {
- // DISASTER!!
- PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID);
- physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain mesh! base={1}", LogHeader, TerrainBase);
- // Something is very messed up and a crash is in our future.
- return;
- }
-
- Vector3 pos = regionBase;
- Quaternion rot = Quaternion.Identity;
-
- m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot));
- if (!m_terrainBody.HasPhysicalBody)
- {
- // DISASTER!!
- physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase);
- // Something is very messed up and a crash is in our future.
- return;
- }
-
- // Set current terrain attributes
- BulletSimAPI.SetFriction2(m_terrainBody.ptr, BSParam.TerrainFriction);
- BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, BSParam.TerrainHitFraction);
- BulletSimAPI.SetRestitution2(m_terrainBody.ptr, BSParam.TerrainRestitution);
- BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
-
- // Static objects are not very massive.
- BulletSimAPI.SetMassProps2(m_terrainBody.ptr, 0f, Vector3.Zero);
-
- // Put the new terrain to the world of physical objects
- BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr, pos, rot);
-
- // Redo its bounding box now that it is in the world
- BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr);
-
- m_terrainBody.collisionType = CollisionType.Terrain;
- m_terrainBody.ApplyCollisionMask();
-
- // Make it so the terrain will not move or be considered for movement.
- BulletSimAPI.ForceActivationState2(m_terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
- }
-
- public override void Dispose()
- {
- if (m_terrainBody.HasPhysicalBody)
- {
- BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
- // Frees both the body and the shape.
- BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_terrainBody.ptr);
- }
- }
-
- public override float GetTerrainHeightAtXYZ(Vector3 pos)
- {
- // For the moment use the saved heightmap to get the terrain height.
- // TODO: raycast downward to find the true terrain below the position.
- float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
-
- int mapIndex = (int)pos.Y * m_sizeY + (int)pos.X;
- try
- {
- ret = m_savedHeightMap[mapIndex];
- }
- catch
- {
- // Sometimes they give us wonky values of X and Y. Give a warning and return something.
- PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, pos={2}",
- LogHeader, TerrainBase, pos);
- ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET;
- }
- return ret;
- }
-
- // The passed position is relative to the base of the region.
- public override float GetWaterLevelAtXYZ(Vector3 pos)
- {
- return PhysicsScene.SimpleWaterLevel;
- }
-
- // Convert the passed heightmap to mesh information suitable for CreateMeshShape2().
- // Return 'true' if successfully created.
- public static bool ConvertHeightmapToMesh(
- BSScene physicsScene,
- float[] heightMap, int sizeX, int sizeY, // parameters of incoming heightmap
- float extentX, float extentY, // zero based range for output vertices
- Vector3 extentBase, // base to be added to all vertices
- float magnification, // number of vertices to create between heightMap coords
- out int indicesCountO, out int[] indicesO,
- out int verticesCountO, out float[] verticesO)
- {
- bool ret = false;
-
- int indicesCount = 0;
- int verticesCount = 0;
- int[] indices = new int[0];
- float[] vertices = new float[0];
-
- // Simple mesh creation which assumes magnification == 1.
- // TODO: do a more general solution that scales, adds new vertices and smoothes the result.
-
- // Create an array of vertices that is sizeX+1 by sizeY+1 (note the loop
- // from zero to <= sizeX). The triangle indices are then generated as two triangles
- // per heightmap point. There are sizeX by sizeY of these squares. The extra row and
- // column of vertices are used to complete the triangles of the last row and column
- // of the heightmap.
- try
- {
- // One vertice per heightmap value plus the vertices off the top and bottom edge.
- int totalVertices = (sizeX + 1) * (sizeY + 1);
- vertices = new float[totalVertices * 3];
- int totalIndices = sizeX * sizeY * 6;
- indices = new int[totalIndices];
-
- float magX = (float)sizeX / extentX;
- float magY = (float)sizeY / extentY;
- physicsScene.DetailLog("{0},BSTerrainMesh.ConvertHeightMapToMesh,totVert={1},totInd={2},extentBase={3},magX={4},magY={5}",
- BSScene.DetailLogZero, totalVertices, totalIndices, extentBase, magX, magY);
- float minHeight = float.MaxValue;
- // Note that sizeX+1 vertices are created since there is land between this and the next region.
- for (int yy = 0; yy <= sizeY; yy++)
- {
- for (int xx = 0; xx <= sizeX; xx++) // Hint: the "<=" means we go around sizeX + 1 times
- {
- int offset = yy * sizeX + xx;
- // Extend the height with the height from the last row or column
- if (yy == sizeY) offset -= sizeX;
- if (xx == sizeX) offset -= 1;
- float height = heightMap[offset];
- minHeight = Math.Min(minHeight, height);
- vertices[verticesCount + 0] = (float)xx * magX + extentBase.X;
- vertices[verticesCount + 1] = (float)yy * magY + extentBase.Y;
- vertices[verticesCount + 2] = height + extentBase.Z;
- verticesCount += 3;
- }
- }
- verticesCount = verticesCount / 3;
-
- for (int yy = 0; yy < sizeY; yy++)
- {
- for (int xx = 0; xx < sizeX; xx++)
- {
- int offset = yy * (sizeX + 1) + xx;
- // Each vertices is presumed to be the upper left corner of a box of two triangles
- indices[indicesCount + 0] = offset;
- indices[indicesCount + 1] = offset + 1;
- indices[indicesCount + 2] = offset + sizeX + 1; // accounting for the extra column
- indices[indicesCount + 3] = offset + 1;
- indices[indicesCount + 4] = offset + sizeX + 2;
- indices[indicesCount + 5] = offset + sizeX + 1;
- indicesCount += 6;
- }
- }
-
- ret = true;
- }
- catch (Exception e)
- {
- physicsScene.Logger.ErrorFormat("{0} Failed conversion of heightmap to mesh. For={1}/{2}, e={3}",
- LogHeader, physicsScene.RegionName, extentBase, e);
- }
-
- indicesCountO = indicesCount;
- indicesO = indices;
- verticesCountO = verticesCount;
- verticesO = vertices;
-
- return ret;
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
deleted file mode 100644
index ba969058bc..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
+++ /dev/null
@@ -1,1604 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.IO;
-using System.Runtime.InteropServices;
-using System.Security;
-using System.Text;
-using BulletXNA;
-using OpenMetaverse;
-using BulletXNA.LinearMath;
-using BulletXNA.BulletCollision;
-using BulletXNA.BulletDynamics;
-using BulletXNA.BulletCollision.CollisionDispatch;
-using OpenSim.Framework;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin {
-
-// Classes to allow some type checking for the API
-// These hold pointers to allocated objects in the unmanaged space.
-
-
-
- // Constraint type values as defined by Bullet
-public enum ConstraintType : int
-{
- POINT2POINT_CONSTRAINT_TYPE = 3,
- HINGE_CONSTRAINT_TYPE,
- CONETWIST_CONSTRAINT_TYPE,
- D6_CONSTRAINT_TYPE,
- SLIDER_CONSTRAINT_TYPE,
- CONTACT_CONSTRAINT_TYPE,
- D6_SPRING_CONSTRAINT_TYPE,
- MAX_CONSTRAINT_TYPE
-}
-
-// ===============================================================================
-[StructLayout(LayoutKind.Sequential)]
-public struct ConvexHull
-{
- Vector3 Offset;
- int VertexCount;
- Vector3[] Vertices;
-}
-public enum BSPhysicsShapeType
-{
- SHAPE_UNKNOWN = 0,
- SHAPE_CAPSULE = 1,
- SHAPE_BOX = 2,
- SHAPE_CONE = 3,
- SHAPE_CYLINDER = 4,
- SHAPE_SPHERE = 5,
- SHAPE_MESH = 6,
- SHAPE_HULL = 7,
- // following defined by BulletSim
- SHAPE_GROUNDPLANE = 20,
- SHAPE_TERRAIN = 21,
- SHAPE_COMPOUND = 22,
- SHAPE_HEIGHTMAP = 23,
-};
-
-// The native shapes have predefined shape hash keys
-public enum FixedShapeKey : ulong
-{
- KEY_NONE = 0,
- KEY_BOX = 1,
- KEY_SPHERE = 2,
- KEY_CONE = 3,
- KEY_CYLINDER = 4,
- KEY_CAPSULE = 5,
-}
-
-[StructLayout(LayoutKind.Sequential)]
-public struct ShapeData
-{
- public uint ID;
- public BSPhysicsShapeType Type;
- public Vector3 Position;
- public Quaternion Rotation;
- public Vector3 Velocity;
- public Vector3 Scale;
- public float Mass;
- public float Buoyancy;
- public System.UInt64 HullKey;
- public System.UInt64 MeshKey;
- public float Friction;
- public float Restitution;
- public float Collidable; // true of things bump into this
- public float Static; // true if a static object. Otherwise gravity, etc.
- public float Solid; // true if object cannot be passed through
- public Vector3 Size;
-
- // note that bools are passed as floats since bool size changes by language and architecture
- public const float numericTrue = 1f;
- public const float numericFalse = 0f;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct SweepHit
-{
- public uint ID;
- public float Fraction;
- public Vector3 Normal;
- public Vector3 Point;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct RaycastHit
-{
- public uint ID;
- public float Fraction;
- public Vector3 Normal;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct CollisionDesc
-{
- public uint aID;
- public uint bID;
- public Vector3 point;
- public Vector3 normal;
-}
-[StructLayout(LayoutKind.Sequential)]
-public struct EntityProperties
-{
- public uint ID;
- public Vector3 Position;
- public Quaternion Rotation;
- public Vector3 Velocity;
- public Vector3 Acceleration;
- public Vector3 RotationalVelocity;
- public override string ToString()
- {
- return string.Format("ID:{0}, Pos:<{1:F},{2:F},{3:F}>, Rot:<{4:F},{5:F},{6:F},{7:F}>, LVel:<{8:F},{9:F},{10:F}>, AVel:<{11:F},{12:F},{13:F}>",
- ID.ToString(),
- Position.X,Position.Y,Position.Z,
- Rotation.X,Rotation.Y,Rotation.Z,Rotation.W,
- Velocity.X,Velocity.Y,Velocity.Z,
- RotationalVelocity.X,RotationalVelocity.Y,RotationalVelocity.Z
- );
- }
-}
-
-// Format of this structure must match the definition in the C++ code
-// NOTE: adding the X causes compile breaks if used. These are unused symbols
-// that can be removed from both here and the unmanaged definition of this structure.
-[StructLayout(LayoutKind.Sequential)]
-public struct ConfigurationParameters
-{
- public float defaultFriction;
- public float defaultDensity;
- public float defaultRestitution;
- public float collisionMargin;
- public float gravity;
-
- public float XlinearDamping;
- public float XangularDamping;
- public float XdeactivationTime;
- public float XlinearSleepingThreshold;
- public float XangularSleepingThreshold;
- public float XccdMotionThreshold;
- public float XccdSweptSphereRadius;
- public float XcontactProcessingThreshold;
-
- public float XterrainImplementation;
- public float XterrainFriction;
- public float XterrainHitFraction;
- public float XterrainRestitution;
- public float XterrainCollisionMargin;
-
- public float XavatarFriction;
- public float XavatarStandingFriction;
- public float XavatarDensity;
- public float XavatarRestitution;
- public float XavatarCapsuleWidth;
- public float XavatarCapsuleDepth;
- public float XavatarCapsuleHeight;
- public float XavatarContactProcessingThreshold;
-
- public float XvehicleAngularDamping;
-
- public float maxPersistantManifoldPoolSize;
- public float maxCollisionAlgorithmPoolSize;
- public float shouldDisableContactPoolDynamicAllocation;
- public float shouldForceUpdateAllAabbs;
- public float shouldRandomizeSolverOrder;
- public float shouldSplitSimulationIslands;
- public float shouldEnableFrictionCaching;
- public float numberOfSolverIterations;
-
- public float XlinksetImplementation;
- public float XlinkConstraintUseFrameOffset;
- public float XlinkConstraintEnableTransMotor;
- public float XlinkConstraintTransMotorMaxVel;
- public float XlinkConstraintTransMotorMaxForce;
- public float XlinkConstraintERP;
- public float XlinkConstraintCFM;
- public float XlinkConstraintSolverIterations;
-
- public float physicsLoggingFrames;
-
- public const float numericTrue = 1f;
- public const float numericFalse = 0f;
-}
-
-
-// The states a bullet collision object can have
-
-public enum ActivationState : uint
-{
- UNDEFINED = 0,
- ACTIVE_TAG = 1,
- ISLAND_SLEEPING = 2,
- WANTS_DEACTIVATION = 3,
- DISABLE_DEACTIVATION = 4,
- DISABLE_SIMULATION = 5,
-}
-
-public enum CollisionObjectTypes : int
-{
- CO_COLLISION_OBJECT = 1 << 0,
- CO_RIGID_BODY = 1 << 1,
- CO_GHOST_OBJECT = 1 << 2,
- CO_SOFT_BODY = 1 << 3,
- CO_HF_FLUID = 1 << 4,
- CO_USER_TYPE = 1 << 5,
-}
-
-// Values used by Bullet and BulletSim to control object properties.
-// Bullet's "CollisionFlags" has more to do with operations on the
-// object (if collisions happen, if gravity effects it, ...).
- [Flags]
-public enum CollisionFlags : uint
-{
- CF_STATIC_OBJECT = 1 << 0,
- CF_KINEMATIC_OBJECT = 1 << 1,
- CF_NO_CONTACT_RESPONSE = 1 << 2,
- CF_CUSTOM_MATERIAL_CALLBACK = 1 << 3,
- CF_CHARACTER_OBJECT = 1 << 4,
- CF_DISABLE_VISUALIZE_OBJECT = 1 << 5,
- CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
- // Following used by BulletSim to control collisions and updates
- BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
- BS_FLOATS_ON_WATER = 1 << 11,
- BS_VEHICLE_COLLISIONS = 1 << 12,
- BS_NONE = 0,
- BS_ALL = 0xFFFFFFFF,
-
- // These are the collision flags switched depending on physical state.
- // The other flags are used for other things and should not be fooled with.
- BS_ACTIVE = CF_STATIC_OBJECT
- | CF_KINEMATIC_OBJECT
- | CF_NO_CONTACT_RESPONSE
-};
-
-// Values for collisions groups and masks
-public enum CollisionFilterGroups : uint
-{
- // Don't use the bit definitions!! Define the use in a
- // filter/mask definition below. This way collision interactions
- // are more easily debugged.
- BNoneGroup = 0,
- BDefaultGroup = 1 << 0,
- BStaticGroup = 1 << 1,
- BKinematicGroup = 1 << 2,
- BDebrisGroup = 1 << 3,
- BSensorTrigger = 1 << 4,
- BCharacterGroup = 1 << 5,
- BAllGroup = 0xFFFFFFFF,
- // Filter groups defined by BulletSim
- BGroundPlaneGroup = 1 << 10,
- BTerrainGroup = 1 << 11,
- BRaycastGroup = 1 << 12,
- BSolidGroup = 1 << 13,
- // BLinksetGroup = xx // a linkset proper is either static or dynamic
- BLinksetChildGroup = 1 << 14,
- // The collsion filters and masked are defined in one place -- don't want them scattered
- AvatarGroup = BCharacterGroup,
- AvatarMask = BAllGroup,
- ObjectGroup = BSolidGroup,
- ObjectMask = BAllGroup,
- StaticObjectGroup = BStaticGroup,
- StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much
- LinksetGroup = BLinksetChildGroup,
- LinksetMask = BAllGroup & ~BLinksetChildGroup, // linkset objects don't collide with each other
- VolumeDetectGroup = BSensorTrigger,
- VolumeDetectMask = ~BSensorTrigger,
- TerrainGroup = BTerrainGroup,
- TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide
- GroundPlaneGroup = BGroundPlaneGroup,
- GroundPlaneMask = BAllGroup
-
-};
-
-// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
-// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
-public enum ConstraintParams : int
-{
- BT_CONSTRAINT_ERP = 1, // this one is not used in Bullet as of 20120730
- BT_CONSTRAINT_STOP_ERP,
- BT_CONSTRAINT_CFM,
- BT_CONSTRAINT_STOP_CFM,
-};
-public enum ConstraintParamAxis : int
-{
- AXIS_LINEAR_X = 0,
- AXIS_LINEAR_Y,
- AXIS_LINEAR_Z,
- AXIS_ANGULAR_X,
- AXIS_ANGULAR_Y,
- AXIS_ANGULAR_Z,
- AXIS_LINEAR_ALL = 20, // these last three added by BulletSim so we don't have to do zillions of calls
- AXIS_ANGULAR_ALL,
- AXIS_ALL
-};
-
-// ===============================================================================
-static class BulletSimAPI {
- private static int m_collisionsThisFrame;
- public delegate void DebugLogCallback(string msg);
- /// <summary>
- ///
- /// </summary>
- /// <param name="p"></param>
- /// <param name="p_2"></param>
- internal static bool RemoveObjectFromWorld2(object pWorld, object pBody)
- {
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- RigidBody body = pBody as RigidBody;
- world.RemoveRigidBody(body);
- return true;
- }
-
- internal static void SetRestitution2(object pBody, float pRestitution)
- {
- RigidBody body = pBody as RigidBody;
- body.SetRestitution(pRestitution);
- }
-
- internal static void SetMargin2(object pShape, float pMargin)
- {
- CollisionShape shape = pShape as CollisionShape;
- shape.SetMargin(pMargin);
- }
-
- internal static void SetLocalScaling2(object pShape, Vector3 pScale)
- {
- CollisionShape shape = pShape as CollisionShape;
- IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
- shape.SetLocalScaling(ref vec);
-
- }
-
- internal static void SetContactProcessingThreshold2(object pBody, float contactprocessingthreshold)
- {
- RigidBody body = pBody as RigidBody;
- body.SetContactProcessingThreshold(contactprocessingthreshold);
- }
-
- internal static void SetCcdMotionThreshold2(object pBody, float pccdMotionThreashold)
- {
- RigidBody body = pBody as RigidBody;
- body.SetCcdMotionThreshold(pccdMotionThreashold);
- }
-
- internal static void SetCcdSweptSphereRadius2(object pBody, float pCcdSweptSphereRadius)
- {
- RigidBody body = pBody as RigidBody;
- body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
- }
-
- internal static void SetAngularFactorV2(object pBody, Vector3 pAngularFactor)
- {
- RigidBody body = pBody as RigidBody;
- body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
- }
-
- internal static CollisionFlags AddToCollisionFlags2(object pBody, CollisionFlags pcollisionFlags)
- {
- CollisionObject body = pBody as CollisionObject;
- CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
- existingcollisionFlags |= pcollisionFlags;
- body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
- return (CollisionFlags) (uint) existingcollisionFlags;
- }
-
- internal static void AddObjectToWorld2(object pWorld, object pBody)
- {
- RigidBody body = pBody as RigidBody;
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE))
-
- world.AddRigidBody(body);
-
- //if (body.GetBroadphaseHandle() != null)
- // world.UpdateSingleAabb(body);
- }
-
- internal static void AddObjectToWorld2(object pWorld, object pBody, Vector3 _position, Quaternion _orientation)
- {
- RigidBody body = pBody as RigidBody;
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- //if (!(body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.STATIC_PLANE_PROXYTYPE && body.GetCollisionShape().GetShapeType() == BroadphaseNativeTypes.TERRAIN_SHAPE_PROXYTYPE))
-
- world.AddRigidBody(body);
- IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
- IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
- _orientation.W);
- IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
- mat._origin = vposition;
- body.SetWorldTransform(mat);
- //if (body.GetBroadphaseHandle() != null)
- // world.UpdateSingleAabb(body);
- }
-
- internal static void ForceActivationState2(object pBody, ActivationState pActivationState)
- {
- CollisionObject body = pBody as CollisionObject;
- body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
- }
-
- internal static void UpdateSingleAabb2(object pWorld, object pBody)
- {
- CollisionObject body = pBody as CollisionObject;
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- world.UpdateSingleAabb(body);
- }
-
- internal static bool SetCollisionGroupMask2(object pBody, uint pGroup, uint pMask)
- {
- RigidBody body = pBody as RigidBody;
- body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
- body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
- if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0)
- return false;
- return true;
- }
-
- internal static void ClearAllForces2(object pBody)
- {
- CollisionObject body = pBody as CollisionObject;
- IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0);
- body.SetInterpolationLinearVelocity(ref zeroVector);
- body.SetInterpolationAngularVelocity(ref zeroVector);
- IndexedMatrix bodytransform = body.GetWorldTransform();
-
- body.SetInterpolationWorldTransform(ref bodytransform);
-
- if (body is RigidBody)
- {
- RigidBody rigidbody = body as RigidBody;
- rigidbody.SetLinearVelocity(zeroVector);
- rigidbody.SetAngularVelocity(zeroVector);
- rigidbody.ClearForces();
- }
- }
-
- internal static void SetInterpolationAngularVelocity2(object pBody, Vector3 pVector3)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
- body.SetInterpolationAngularVelocity(ref vec);
- }
-
- internal static void SetAngularVelocity2(object pBody, Vector3 pVector3)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
- body.SetAngularVelocity(ref vec);
- }
-
- internal static void ClearForces2(object pBody)
- {
- RigidBody body = pBody as RigidBody;
- body.ClearForces();
- }
-
- internal static void SetTranslation2(object pBody, Vector3 _position, Quaternion _orientation)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
- IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
- _orientation.W);
- IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
- mat._origin = vposition;
- body.SetWorldTransform(mat);
-
- }
-
- internal static Vector3 GetPosition2(object pBody)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin;
- return new Vector3(pos.X, pos.Y, pos.Z);
- }
-
- internal static Vector3 CalculateLocalInertia2(object pShape, float pphysMass)
- {
- CollisionShape shape = pShape as CollisionShape;
- IndexedVector3 inertia = IndexedVector3.Zero;
- shape.CalculateLocalInertia(pphysMass, out inertia);
- return new Vector3(inertia.X, inertia.Y, inertia.Z);
- }
-
- internal static void SetMassProps2(object pBody, float pphysMass, Vector3 plocalInertia)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
- body.SetMassProps(pphysMass, inertia);
- }
-
-
- internal static void SetObjectForce2(object pBody, Vector3 _force)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z);
- body.SetTotalForce(ref force);
- }
-
- internal static void SetFriction2(object pBody, float _currentFriction)
- {
- RigidBody body = pBody as RigidBody;
- body.SetFriction(_currentFriction);
- }
-
- internal static void SetLinearVelocity2(object pBody, Vector3 _velocity)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
- body.SetLinearVelocity(velocity);
- }
-
- internal static void Activate2(object pBody, bool pforceactivation)
- {
- RigidBody body = pBody as RigidBody;
- body.Activate(pforceactivation);
-
- }
-
- internal static Quaternion GetOrientation2(object pBody)
- {
- RigidBody body = pBody as RigidBody;
- IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation();
- return new Quaternion(mat.X, mat.Y, mat.Z, mat.W);
- }
-
- internal static CollisionFlags RemoveFromCollisionFlags2(object pBody, CollisionFlags pcollisionFlags)
- {
- RigidBody body = pBody as RigidBody;
- CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
- existingcollisionFlags &= ~pcollisionFlags;
- body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
- return (CollisionFlags)(uint)existingcollisionFlags;
- }
-
- internal static void SetGravity2(object pBody, Vector3 pGravity)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
- body.SetGravity(gravity);
- }
-
- internal static bool DestroyConstraint2(object pBody, object pConstraint)
- {
- RigidBody body = pBody as RigidBody;
- TypedConstraint constraint = pConstraint as TypedConstraint;
- body.RemoveConstraintRef(constraint);
- return true;
- }
-
- internal static bool SetLinearLimits2(object pConstraint, Vector3 low, Vector3 high)
- {
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
- IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
- IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
- constraint.SetLinearLowerLimit(lowlimit);
- constraint.SetLinearUpperLimit(highlimit);
- return true;
- }
-
- internal static bool SetAngularLimits2(object pConstraint, Vector3 low, Vector3 high)
- {
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
- IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
- IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
- constraint.SetAngularLowerLimit(lowlimit);
- constraint.SetAngularUpperLimit(highlimit);
- return true;
- }
-
- internal static void SetConstraintNumSolverIterations2(object pConstraint, float cnt)
- {
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
- constraint.SetOverrideNumSolverIterations((int)cnt);
- }
-
- internal static void CalculateTransforms2(object pConstraint)
- {
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
- constraint.CalculateTransforms();
- }
-
- internal static void SetConstraintEnable2(object pConstraint, float p_2)
- {
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
- constraint.SetEnabled((p_2 == 0) ? false : true);
- }
-
-
- //BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,frame1, frame1rot,frame2, frame2rot,useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
- internal static object Create6DofConstraint2(object pWorld, object pBody1, object pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
-
- {
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- RigidBody body1 = pBody1 as RigidBody;
- RigidBody body2 = pBody2 as RigidBody;
- IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
- IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
- IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
- frame1._origin = frame1v;
-
- IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
- IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
- IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
- frame2._origin = frame1v;
-
- Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2,
- puseLinearReferenceFrameA);
- consttr.CalculateTransforms();
- world.AddConstraint(consttr,pdisableCollisionsBetweenLinkedBodies);
-
- return consttr;
- }
-
-
- /// <summary>
- ///
- /// </summary>
- /// <param name="pWorld"></param>
- /// <param name="pBody1"></param>
- /// <param name="pBody2"></param>
- /// <param name="pjoinPoint"></param>
- /// <param name="puseLinearReferenceFrameA"></param>
- /// <param name="pdisableCollisionsBetweenLinkedBodies"></param>
- /// <returns></returns>
- internal static object Create6DofConstraintToPoint2(object pWorld, object pBody1, object pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
- {
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- RigidBody body1 = pBody1 as RigidBody;
- RigidBody body2 = pBody2 as RigidBody;
- IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
- IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
-
- IndexedVector3 joinPoint = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
- IndexedMatrix mat = IndexedMatrix.Identity;
- mat._origin = new IndexedVector3(pjoinPoint.X, pjoinPoint.Y, pjoinPoint.Z);
- frame1._origin = body1.GetWorldTransform().Inverse()*joinPoint;
- frame2._origin = body2.GetWorldTransform().Inverse()*joinPoint;
-
- Generic6DofConstraint consttr = new Generic6DofConstraint(body1, body2, ref frame1, ref frame2, puseLinearReferenceFrameA);
- consttr.CalculateTransforms();
- world.AddConstraint(consttr, pdisableCollisionsBetweenLinkedBodies);
-
- return consttr;
- }
- //SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
- internal static void SetFrames2(object pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
- {
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
- IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
- IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
- IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
- frame1._origin = frame1v;
-
- IndexedVector3 frame2v = new IndexedVector3(pframe2.X, pframe2.Y, pframe2.Z);
- IndexedQuaternion frame2rot = new IndexedQuaternion(pframe2rot.X, pframe2rot.Y, pframe2rot.Z, pframe2rot.W);
- IndexedMatrix frame2 = IndexedMatrix.CreateFromQuaternion(frame2rot);
- frame2._origin = frame1v;
- constraint.SetFrames(ref frame1, ref frame2);
- }
-
-
-
-
- internal static bool IsInWorld2(object pWorld, object pShapeObj)
- {
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- CollisionObject shape = pShapeObj as CollisionObject;
- return world.IsInWorld(shape);
- }
-
- internal static void SetInterpolationLinearVelocity2(object pBody, Vector3 VehicleVelocity)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z);
- body.SetInterpolationLinearVelocity(ref velocity);
- }
-
- internal static bool UseFrameOffset2(object pConstraint, float onOff)
- {
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
- constraint.SetUseFrameOffset((onOff == 0) ? false : true);
- return true;
- }
- //SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
- internal static bool SetBreakingImpulseThreshold2(object pConstraint, float threshold)
- {
- Generic6DofConstraint constraint = pConstraint as Generic6DofConstraint;
- constraint.SetBreakingImpulseThreshold(threshold);
- return true;
- }
- //BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping);
- internal static void SetAngularDamping2(object pBody, float angularDamping)
- {
- RigidBody body = pBody as RigidBody;
- float lineardamping = body.GetLinearDamping();
- body.SetDamping(lineardamping, angularDamping);
-
- }
-
- internal static void UpdateInertiaTensor2(object pBody)
- {
- RigidBody body = pBody as RigidBody;
- body.UpdateInertiaTensor();
- }
-
- internal static void RecalculateCompoundShapeLocalAabb2( object pCompoundShape)
- {
-
- CompoundShape shape = pCompoundShape as CompoundShape;
- shape.RecalculateLocalAabb();
- }
-
- //BulletSimAPI.GetCollisionFlags2(PhysBody.ptr)
- internal static CollisionFlags GetCollisionFlags2(object pBody)
- {
- RigidBody body = pBody as RigidBody;
- uint flags = (uint)body.GetCollisionFlags();
- return (CollisionFlags) flags;
- }
-
- internal static void SetDamping2(object pBody, float pLinear, float pAngular)
- {
- RigidBody body = pBody as RigidBody;
- body.SetDamping(pLinear, pAngular);
- }
- //PhysBody.ptr, PhysicsScene.Params.deactivationTime);
- internal static void SetDeactivationTime2(object pBody, float pDeactivationTime)
- {
- RigidBody body = pBody as RigidBody;
- body.SetDeactivationTime(pDeactivationTime);
- }
- //SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
- internal static void SetSleepingThresholds2(object pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
- {
- RigidBody body = pBody as RigidBody;
- body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
- }
-
- internal static CollisionObjectTypes GetBodyType2(object pBody)
- {
- RigidBody body = pBody as RigidBody;
- return (CollisionObjectTypes)(int) body.GetInternalType();
- }
-
- //BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
- internal static void ApplyCentralForce2(object pBody, Vector3 pfSum)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
- body.ApplyCentralForce(ref fSum);
- }
- internal static void ApplyCentralImpulse2(object pBody, Vector3 pfSum)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
- body.ApplyCentralImpulse(ref fSum);
- }
- internal static void ApplyTorque2(object pBody, Vector3 pfSum)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
- body.ApplyTorque(ref fSum);
- }
- internal static void ApplyTorqueImpulse2(object pBody, Vector3 pfSum)
- {
- RigidBody body = pBody as RigidBody;
- IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
- body.ApplyTorqueImpulse(ref fSum);
- }
-
- internal static void DumpRigidBody2(object p, object p_2)
- {
- //TODO:
- }
-
- internal static void DumpCollisionShape2(object p, object p_2)
- {
- //TODO:
- }
-
- internal static void DestroyObject2(object p, object p_2)
- {
- //TODO:
- }
-
- internal static void Shutdown2(object pWorld)
- {
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- world.Cleanup();
- }
-
- internal static void DeleteCollisionShape2(object p, object p_2)
- {
- //TODO:
- }
- //(sim.ptr, shape.ptr, prim.LocalID, prim.RawPosition, prim.RawOrientation);
-
- internal static object CreateBodyFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
- {
- CollisionWorld world = pWorld as CollisionWorld;
- IndexedMatrix mat =
- IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
- pRawOrientation.Z, pRawOrientation.W));
- mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
- CollisionShape shape = pShape as CollisionShape;
- //UpdateSingleAabb2(world, shape);
- // TODO: Feed Update array into null
- RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero);
-
- body.SetUserPointer(pLocalID);
- return body;
- }
-
-
- internal static object CreateBodyWithDefaultMotionState2( object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
- {
-
- IndexedMatrix mat =
- IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
- pRawOrientation.Z, pRawOrientation.W));
- mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
-
- CollisionShape shape = pShape as CollisionShape;
-
- // TODO: Feed Update array into null
- RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
- body.SetWorldTransform(mat);
- body.SetUserPointer(pLocalID);
- return body;
- }
- //(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
- internal static void SetCollisionFlags2(object pBody, CollisionFlags collisionFlags)
- {
- RigidBody body = pBody as RigidBody;
- body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
- }
- //(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
- internal static void SetHitFraction2(object pBody, float pHitFraction)
- {
- RigidBody body = pBody as RigidBody;
- body.SetHitFraction(pHitFraction);
- }
- //BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
- internal static object BuildCapsuleShape2(object pWorld, float pRadius, float pHeight, Vector3 pScale)
- {
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
- CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight);
- capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin);
- capsuleShapeZ.SetLocalScaling(ref scale);
-
- return capsuleShapeZ;
- }
-
- public static object Initialize2(Vector3 worldExtent, ConfigurationParameters[] o, int mMaxCollisionsPerFrame, ref BulletXNA.CollisionDesc[] collisionArray, int mMaxUpdatesPerFrame, ref BulletXNA.EntityProperties[] updateArray, object mDebugLogCallbackHandle)
- {
- CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
-
- p.angularDamping = o[0].XangularDamping;
- p.defaultFriction = o[0].defaultFriction;
- p.defaultFriction = o[0].defaultFriction;
- p.defaultDensity = o[0].defaultDensity;
- p.defaultRestitution = o[0].defaultRestitution;
- p.collisionMargin = o[0].collisionMargin;
- p.gravity = o[0].gravity;
-
- p.linearDamping = o[0].XlinearDamping;
- p.angularDamping = o[0].XangularDamping;
- p.deactivationTime = o[0].XdeactivationTime;
- p.linearSleepingThreshold = o[0].XlinearSleepingThreshold;
- p.angularSleepingThreshold = o[0].XangularSleepingThreshold;
- p.ccdMotionThreshold = o[0].XccdMotionThreshold;
- p.ccdSweptSphereRadius = o[0].XccdSweptSphereRadius;
- p.contactProcessingThreshold = o[0].XcontactProcessingThreshold;
-
- p.terrainImplementation = o[0].XterrainImplementation;
- p.terrainFriction = o[0].XterrainFriction;
-
- p.terrainHitFraction = o[0].XterrainHitFraction;
- p.terrainRestitution = o[0].XterrainRestitution;
- p.terrainCollisionMargin = o[0].XterrainCollisionMargin;
-
- p.avatarFriction = o[0].XavatarFriction;
- p.avatarStandingFriction = o[0].XavatarStandingFriction;
- p.avatarDensity = o[0].XavatarDensity;
- p.avatarRestitution = o[0].XavatarRestitution;
- p.avatarCapsuleWidth = o[0].XavatarCapsuleWidth;
- p.avatarCapsuleDepth = o[0].XavatarCapsuleDepth;
- p.avatarCapsuleHeight = o[0].XavatarCapsuleHeight;
- p.avatarContactProcessingThreshold = o[0].XavatarContactProcessingThreshold;
-
- p.vehicleAngularDamping = o[0].XvehicleAngularDamping;
-
- p.maxPersistantManifoldPoolSize = o[0].maxPersistantManifoldPoolSize;
- p.maxCollisionAlgorithmPoolSize = o[0].maxCollisionAlgorithmPoolSize;
- p.shouldDisableContactPoolDynamicAllocation = o[0].shouldDisableContactPoolDynamicAllocation;
- p.shouldForceUpdateAllAabbs = o[0].shouldForceUpdateAllAabbs;
- p.shouldRandomizeSolverOrder = o[0].shouldRandomizeSolverOrder;
- p.shouldSplitSimulationIslands = o[0].shouldSplitSimulationIslands;
- p.shouldEnableFrictionCaching = o[0].shouldEnableFrictionCaching;
- p.numberOfSolverIterations = o[0].numberOfSolverIterations;
-
- p.linksetImplementation = o[0].XlinksetImplementation;
- p.linkConstraintUseFrameOffset = o[0].XlinkConstraintUseFrameOffset;
- p.linkConstraintEnableTransMotor = o[0].XlinkConstraintEnableTransMotor;
- p.linkConstraintTransMotorMaxVel = o[0].XlinkConstraintTransMotorMaxVel;
- p.linkConstraintTransMotorMaxForce = o[0].XlinkConstraintTransMotorMaxForce;
- p.linkConstraintERP = o[0].XlinkConstraintERP;
- p.linkConstraintCFM = o[0].XlinkConstraintCFM;
- p.linkConstraintSolverIterations = o[0].XlinkConstraintSolverIterations;
- p.physicsLoggingFrames = o[0].physicsLoggingFrames;
- DefaultCollisionConstructionInfo ccci = new DefaultCollisionConstructionInfo();
-
- DefaultCollisionConfiguration cci = new DefaultCollisionConfiguration();
- CollisionDispatcher m_dispatcher = new CollisionDispatcher(cci);
-
-
- if (p.maxPersistantManifoldPoolSize > 0)
- cci.m_persistentManifoldPoolSize = (int)p.maxPersistantManifoldPoolSize;
- if (p.shouldDisableContactPoolDynamicAllocation !=0)
- m_dispatcher.SetDispatcherFlags(DispatcherFlags.CD_DISABLE_CONTACTPOOL_DYNAMIC_ALLOCATION);
- //if (p.maxCollisionAlgorithmPoolSize >0 )
-
- DbvtBroadphase m_broadphase = new DbvtBroadphase();
- //IndexedVector3 aabbMin = new IndexedVector3(0, 0, 0);
- //IndexedVector3 aabbMax = new IndexedVector3(256, 256, 256);
-
- //AxisSweep3Internal m_broadphase2 = new AxisSweep3Internal(ref aabbMin, ref aabbMax, Convert.ToInt32(0xfffe), 0xffff, ushort.MaxValue/2, null, true);
- m_broadphase.GetOverlappingPairCache().SetInternalGhostPairCallback(new GhostPairCallback());
-
- SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
-
- DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
- world.UpdatedObjects = updateArray;
- world.UpdatedCollisions = collisionArray;
- world.WorldSettings.Params = p;
- world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
- world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
- if (p.shouldRandomizeSolverOrder != 0)
- world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_RANDMIZE_ORDER;
-
- world.GetSimulationIslandManager().SetSplitIslands(p.shouldSplitSimulationIslands != 0);
- //world.GetDispatchInfo().m_enableSatConvex Not implemented in C# port
-
- if (p.shouldEnableFrictionCaching != 0)
- world.GetSolverInfo().m_solverMode |= SolverMode.SOLVER_ENABLE_FRICTION_DIRECTION_CACHING;
-
- if (p.numberOfSolverIterations > 0)
- world.GetSolverInfo().m_numIterations = (int) p.numberOfSolverIterations;
-
-
- world.GetSolverInfo().m_damping = world.WorldSettings.Params.linearDamping;
- world.GetSolverInfo().m_restitution = world.WorldSettings.Params.defaultRestitution;
- world.GetSolverInfo().m_globalCfm = 0.0f;
- world.GetSolverInfo().m_tau = 0.6f;
- world.GetSolverInfo().m_friction = 0.3f;
- world.GetSolverInfo().m_maxErrorReduction = 20f;
- world.GetSolverInfo().m_numIterations = 10;
- world.GetSolverInfo().m_erp = 0.2f;
- world.GetSolverInfo().m_erp2 = 0.1f;
- world.GetSolverInfo().m_sor = 1.0f;
- world.GetSolverInfo().m_splitImpulse = false;
- world.GetSolverInfo().m_splitImpulsePenetrationThreshold = -0.02f;
- world.GetSolverInfo().m_linearSlop = 0.0f;
- world.GetSolverInfo().m_warmstartingFactor = 0.85f;
- world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
- world.SetForceUpdateAllAabbs(true);
-
-
- world.SetGravity(new IndexedVector3(0,0,p.gravity));
-
- return world;
- }
- //m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
- internal static bool SetConstraintParam2(object pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
- {
- Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint;
- if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
- {
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 1);
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 2);
- }
- if (axis == ConstraintParamAxis.AXIS_ANGULAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
- {
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 3);
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 4);
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, 5);
- }
- if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL)
- {
- constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams)(int)paramIndex, paramvalue, (int)axis);
- }
- return true;
- }
-
- internal static bool PushUpdate2(object pCollisionObject)
- {
- bool ret = false;
- RigidBody rb = pCollisionObject as RigidBody;
- if (rb != null)
- {
- SimMotionState sms = rb.GetMotionState() as SimMotionState;
- if (sms != null)
- {
- IndexedMatrix wt = IndexedMatrix.Identity;
- sms.GetWorldTransform(out wt);
- sms.SetWorldTransform(ref wt, true);
- ret = true;
- }
- }
- return ret;
-
- }
-
- internal static bool IsCompound2(object pShape)
- {
- CollisionShape shape = pShape as CollisionShape;
- return shape.IsCompound();
- }
- internal static bool IsPloyhedral2(object pShape)
- {
- CollisionShape shape = pShape as CollisionShape;
- return shape.IsPolyhedral();
- }
- internal static bool IsConvex2d2(object pShape)
- {
- CollisionShape shape = pShape as CollisionShape;
- return shape.IsConvex2d();
- }
- internal static bool IsConvex2(object pShape)
- {
- CollisionShape shape = pShape as CollisionShape;
- return shape.IsConvex();
- }
- internal static bool IsNonMoving2(object pShape)
- {
- CollisionShape shape = pShape as CollisionShape;
- return shape.IsNonMoving();
- }
- internal static bool IsConcave2(object pShape)
- {
- CollisionShape shape = pShape as CollisionShape;
- return shape.IsConcave();
- }
- internal static bool IsInfinite2(object pShape)
- {
- CollisionShape shape = pShape as CollisionShape;
- return shape.IsInfinite();
- }
- internal static bool IsNativeShape2(object pShape)
- {
- CollisionShape shape = pShape as CollisionShape;
- bool ret;
- switch (shape.GetShapeType())
- {
- case BroadphaseNativeTypes.BOX_SHAPE_PROXYTYPE:
- case BroadphaseNativeTypes.CONE_SHAPE_PROXYTYPE:
- case BroadphaseNativeTypes.SPHERE_SHAPE_PROXYTYPE:
- case BroadphaseNativeTypes.CYLINDER_SHAPE_PROXYTYPE:
- ret = true;
- break;
- default:
- ret = false;
- break;
- }
- return ret;
- }
- //sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
- internal static object CreateGhostFromShape2(object pWorld, object pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
- {
- IndexedMatrix bodyTransform = new IndexedMatrix();
- bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
- bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
- GhostObject gObj = new PairCachingGhostObject();
- gObj.SetWorldTransform(bodyTransform);
- CollisionShape shape = pShape as CollisionShape;
- gObj.SetCollisionShape(shape);
- gObj.SetUserPointer(pLocalID);
- // TODO: Add to Special CollisionObjects!
- return gObj;
- }
-
- public static void SetCollisionShape2(object pWorld, object pObj, object pShape)
- {
- var world = pWorld as DiscreteDynamicsWorld;
- var obj = pObj as CollisionObject;
- var shape = pShape as CollisionShape;
- obj.SetCollisionShape(shape);
-
- }
- //(PhysicsScene.World.ptr, nativeShapeData)
- internal static object BuildNativeShape2(object pWorld, ShapeData pShapeData)
- {
- var world = pWorld as DiscreteDynamicsWorld;
- CollisionShape shape = null;
- switch (pShapeData.Type)
- {
- case BSPhysicsShapeType.SHAPE_BOX:
- shape = new BoxShape(new IndexedVector3(0.5f,0.5f,0.5f));
- break;
- case BSPhysicsShapeType.SHAPE_CONE:
- shape = new ConeShapeZ(0.5f, 1.0f);
- break;
- case BSPhysicsShapeType.SHAPE_CYLINDER:
- shape = new CylinderShapeZ(new IndexedVector3(0.5f, 0.5f, 0.5f));
- break;
- case BSPhysicsShapeType.SHAPE_SPHERE:
- shape = new SphereShape(0.5f);
- break;
-
- }
- if (shape != null)
- {
- IndexedVector3 scaling = new IndexedVector3(pShapeData.Scale.X, pShapeData.Scale.Y, pShapeData.Scale.Z);
- shape.SetMargin(world.WorldSettings.Params.collisionMargin);
- shape.SetLocalScaling(ref scaling);
-
- }
- return shape;
- }
- //PhysicsScene.World.ptr, false
- internal static object CreateCompoundShape2(object pWorld, bool enableDynamicAabbTree)
- {
- return new CompoundShape(enableDynamicAabbTree);
- }
-
- internal static int GetNumberOfCompoundChildren2(object pCompoundShape)
- {
- var compoundshape = pCompoundShape as CompoundShape;
- return compoundshape.GetNumChildShapes();
- }
- //LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
- internal static void AddChildShapeToCompoundShape2(object pCShape, object paddShape, Vector3 displacementPos, Quaternion displacementRot)
- {
- IndexedMatrix relativeTransform = new IndexedMatrix();
- var compoundshape = pCShape as CompoundShape;
- var addshape = paddShape as CollisionShape;
-
- relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z);
- relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W));
- compoundshape.AddChildShape(ref relativeTransform, addshape);
-
- }
-
- internal static object RemoveChildShapeFromCompoundShapeIndex2(object pCShape, int pii)
- {
- var compoundshape = pCShape as CompoundShape;
- CollisionShape ret = null;
- ret = compoundshape.GetChildShape(pii);
- compoundshape.RemoveChildShapeByIndex(pii);
- return ret;
- }
-
- internal static object CreateGroundPlaneShape2(uint pLocalId, float pheight, float pcollisionMargin)
- {
- StaticPlaneShape m_planeshape = new StaticPlaneShape(new IndexedVector3(0,0,1),(int)pheight );
- m_planeshape.SetMargin(pcollisionMargin);
- m_planeshape.SetUserPointer(pLocalId);
- return m_planeshape;
- }
-
- internal static object CreateHingeConstraint2(object pWorld, object pBody1, object ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
- {
- HingeConstraint constrain = null;
- var rb1 = pBody1 as RigidBody;
- var rb2 = ppBody2 as RigidBody;
- if (rb1 != null && rb2 != null)
- {
- IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
- IndexedVector3 pivotInB = new IndexedVector3(ppivotInB.X, ppivotInB.Y, ppivotInB.Z);
- IndexedVector3 axisInA = new IndexedVector3(paxisInA.X, paxisInA.Y, paxisInA.Z);
- IndexedVector3 axisInB = new IndexedVector3(paxisInB.X, paxisInB.Y, paxisInB.Z);
- var world = pWorld as DiscreteDynamicsWorld;
- world.AddConstraint(constrain, pdisableCollisionsBetweenLinkedBodies);
- }
- return constrain;
- }
-
- internal static bool ReleaseHeightMapInfo2(object pMapInfo)
- {
- if (pMapInfo != null)
- {
- BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
- if (mapinfo.heightMap != null)
- mapinfo.heightMap = null;
-
-
- }
- return true;
- }
-
- internal static object CreateHullShape2(object pWorld, int pHullCount, float[] pConvHulls)
- {
- CompoundShape compoundshape = new CompoundShape(false);
- var world = pWorld as DiscreteDynamicsWorld;
-
-
- compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
- int ii = 1;
-
- for (int i = 0; i < pHullCount; i++)
- {
- int vertexCount = (int) pConvHulls[ii];
-
- IndexedVector3 centroid = new IndexedVector3(pConvHulls[ii + 1], pConvHulls[ii + 2], pConvHulls[ii + 3]);
- IndexedMatrix childTrans = IndexedMatrix.Identity;
- childTrans._origin = centroid;
-
- List<IndexedVector3> virts = new List<IndexedVector3>();
- int ender = ((ii + 4) + (vertexCount*3));
- for (int iii = ii + 4; iii < ender; iii+=3)
- {
-
- virts.Add(new IndexedVector3(pConvHulls[iii], pConvHulls[iii + 1], pConvHulls[iii +2]));
- }
- ConvexHullShape convexShape = new ConvexHullShape(virts, vertexCount);
- convexShape.SetMargin(world.WorldSettings.Params.collisionMargin);
- compoundshape.AddChildShape(ref childTrans, convexShape);
- ii += (vertexCount*3 + 4);
- }
-
-
- return compoundshape;
- }
-
- internal static object CreateMeshShape2(object pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
- {
- //DumpRaw(indices,verticesAsFloats,pIndicesCount,pVerticesCount);
-
- for (int iter = 0; iter < pVerticesCount; iter++)
- {
- if (verticesAsFloats[iter] > 0 && verticesAsFloats[iter] < 0.0001) verticesAsFloats[iter] = 0;
- if (verticesAsFloats[iter] < 0 && verticesAsFloats[iter] > -0.0001) verticesAsFloats[iter] = 0;
- }
-
- ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
- ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
- DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
- var world = pWorld as DiscreteDynamicsWorld;
- IndexedMesh mesh = new IndexedMesh();
- mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
- mesh.m_numTriangles = pIndicesCount/3;
- mesh.m_numVertices = pVerticesCount;
- mesh.m_triangleIndexBase = indicesarr;
- mesh.m_vertexBase = vertices;
- mesh.m_vertexStride = 3;
- mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
- mesh.m_triangleIndexStride = 3;
-
- TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
- tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
- BvhTriangleMeshShape meshShape = new BvhTriangleMeshShape(tribuilder, true,true);
- meshShape.SetMargin(world.WorldSettings.Params.collisionMargin);
- // world.UpdateSingleAabb(meshShape);
- return meshShape;
-
- }
- public static void DumpRaw(ObjectArray<int>indices, ObjectArray<float> vertices, int pIndicesCount,int pVerticesCount )
- {
-
- String fileName = "objTest3.raw";
- String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
- StreamWriter sw = new StreamWriter(completePath);
- IndexedMesh mesh = new IndexedMesh();
-
- mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
- mesh.m_numTriangles = pIndicesCount / 3;
- mesh.m_numVertices = pVerticesCount;
- mesh.m_triangleIndexBase = indices;
- mesh.m_vertexBase = vertices;
- mesh.m_vertexStride = 3;
- mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
- mesh.m_triangleIndexStride = 3;
-
- TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
- tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
-
-
-
- for (int i = 0; i < pVerticesCount; i++)
- {
-
- string s = vertices[indices[i * 3]].ToString("0.0000");
- s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
- s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
-
- sw.Write(s + "\n");
- }
-
- sw.Close();
- }
- public static void DumpRaw(int[] indices, float[] vertices, int pIndicesCount, int pVerticesCount)
- {
-
- String fileName = "objTest6.raw";
- String completePath = System.IO.Path.Combine(Util.configDir(), fileName);
- StreamWriter sw = new StreamWriter(completePath);
- IndexedMesh mesh = new IndexedMesh();
-
- mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
- mesh.m_numTriangles = pIndicesCount / 3;
- mesh.m_numVertices = pVerticesCount;
- mesh.m_triangleIndexBase = indices;
- mesh.m_vertexBase = vertices;
- mesh.m_vertexStride = 3;
- mesh.m_vertexType = PHY_ScalarType.PHY_FLOAT;
- mesh.m_triangleIndexStride = 3;
-
- TriangleIndexVertexArray tribuilder = new TriangleIndexVertexArray();
- tribuilder.AddIndexedMesh(mesh, PHY_ScalarType.PHY_INTEGER);
-
-
- sw.WriteLine("Indices");
- sw.WriteLine(string.Format("int[] indices = new int[{0}];",pIndicesCount));
- for (int iter = 0; iter < indices.Length; iter++)
- {
- sw.WriteLine(string.Format("indices[{0}]={1};",iter,indices[iter]));
- }
- sw.WriteLine("VerticesFloats");
- sw.WriteLine(string.Format("float[] vertices = new float[{0}];", pVerticesCount));
- for (int iter = 0; iter < vertices.Length; iter++)
- {
- sw.WriteLine(string.Format("Vertices[{0}]={1};", iter, vertices[iter].ToString("0.0000")));
- }
-
- // for (int i = 0; i < pVerticesCount; i++)
- // {
- //
- // string s = vertices[indices[i * 3]].ToString("0.0000");
- // s += " " + vertices[indices[i * 3 + 1]].ToString("0.0000");
- // s += " " + vertices[indices[i * 3 + 2]].ToString("0.0000");
- //
- // sw.Write(s + "\n");
- //}
-
- sw.Close();
- }
- //PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.minCoords, m_mapInfo.maxCoords, m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin
- internal static object CreateHeightMapInfo2(object pWorld, uint pId, Vector3 pminCoords, Vector3 pmaxCoords, float[] pheightMap, float pCollisionMargin)
- {
- BulletHeightMapInfo mapInfo = new BulletHeightMapInfo(pId, pheightMap, null);
- mapInfo.heightMap = null;
- mapInfo.minCoords = pminCoords;
- mapInfo.maxCoords = pmaxCoords;
- mapInfo.sizeX = (int) (pmaxCoords.X - pminCoords.X);
- mapInfo.sizeY = (int) (pmaxCoords.Y - pminCoords.Y);
- mapInfo.ID = pId;
- mapInfo.minZ = pminCoords.Z;
- mapInfo.maxZ = pmaxCoords.Z;
- mapInfo.collisionMargin = pCollisionMargin;
- if (mapInfo.minZ == mapInfo.maxZ)
- mapInfo.minZ -= 0.2f;
- mapInfo.heightMap = pheightMap;
-
- return mapInfo;
-
- }
-
- internal static object CreateTerrainShape2(object pMapInfo)
- {
- BulletHeightMapInfo mapinfo = pMapInfo as BulletHeightMapInfo;
- const int upAxis = 2;
- const float scaleFactor = 1.0f;
- HeightfieldTerrainShape terrainShape = new HeightfieldTerrainShape((int)mapinfo.sizeX, (int)mapinfo.sizeY,
- mapinfo.heightMap, scaleFactor,
- mapinfo.minZ, mapinfo.maxZ, upAxis,
- false);
- terrainShape.SetMargin(mapinfo.collisionMargin + 0.5f);
- terrainShape.SetUseDiamondSubdivision(true);
- terrainShape.SetUserPointer(mapinfo.ID);
- return terrainShape;
- }
-
- internal static bool TranslationalLimitMotor2(object pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
- {
- TypedConstraint tconstrain = pConstraint as TypedConstraint;
- bool onOff = ponOff != 0;
- bool ret = false;
-
- switch (tconstrain.GetConstraintType())
- {
- case TypedConstraintType.D6_CONSTRAINT_TYPE:
- Generic6DofConstraint constrain = pConstraint as Generic6DofConstraint;
- constrain.GetTranslationalLimitMotor().m_enableMotor[0] = onOff;
- constrain.GetTranslationalLimitMotor().m_targetVelocity[0] = targetVelocity;
- constrain.GetTranslationalLimitMotor().m_maxMotorForce[0] = maxMotorForce;
- ret = true;
- break;
- }
-
-
- return ret;
-
- }
-
- internal static int PhysicsStep2(object pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out BulletXNA.EntityProperties[] updatedEntities, out int collidersCount, out BulletXNA.CollisionDesc[] colliders)
- {
- int epic = PhysicsStepint2(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
- out collidersCount, out colliders);
- return epic;
- }
-
- private static int PhysicsStepint2(object pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out BulletXNA.EntityProperties[] updatedEntities, out int collidersCount, out BulletXNA.CollisionDesc[] colliders)
- {
- int numSimSteps = 0;
-
-
- //if (updatedEntities is null)
- // updatedEntities = new List<BulletXNA.EntityProperties>();
-
- //if (colliders is null)
- // colliders = new List<BulletXNA.CollisionDesc>();
-
-
- if (pWorld is DiscreteDynamicsWorld)
- {
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
-
- numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
- int updates = 0;
-
- updatedEntityCount = world.UpdatedObjects.Length;
- updatedEntities = (world.UpdatedObjects);
- updatedEntityCount = updatedEntities.Length;
- //world.UpdatedObjects = ;
-
-
- collidersCount = world.UpdatedCollisions.Length;
- colliders = (world.UpdatedCollisions);
-
- world.UpdatedCollisions = new BulletXNA.CollisionDesc[0];
- m_collisionsThisFrame = 0;
- int numManifolds = world.GetDispatcher().GetNumManifolds();
- for (int j = 0; j < numManifolds; j++)
- {
- PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j);
- int numContacts = contactManifold.GetNumContacts();
- if (numContacts == 0)
- continue;
-
- CollisionObject objA = contactManifold.GetBody0() as CollisionObject;
- CollisionObject objB = contactManifold.GetBody1() as CollisionObject;
-
- ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0);
- IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB();
- IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A
-
- RecordCollision(world, objA, objB, contactPoint, contactNormal);
- m_collisionsThisFrame ++;
- if (m_collisionsThisFrame >= 9999999)
- break;
-
-
- }
-
-
- }
- else
- {
- //if (updatedEntities is null)
- updatedEntities = new BulletXNA.EntityProperties[0];
- updatedEntityCount = 0;
- //if (colliders is null)
- colliders = new BulletXNA.CollisionDesc[0];
- collidersCount = 0;
- }
- return numSimSteps;
- }
-
- private static void RecordCollision(CollisionWorld world,CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm)
- {
-
- IndexedVector3 contactNormal = norm;
- if ((objA.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0 &&
- (objB.GetCollisionFlags() & BulletXNA.BulletCollision.CollisionFlags.BS_WANTS_COLLISIONS) == 0)
- {
- return;
- }
- uint idA = (uint)objA.GetUserPointer();
- uint idB = (uint)objB.GetUserPointer();
- if (idA > idB)
- {
- uint temp = idA;
- idA = idB;
- idB = temp;
- contactNormal = -contactNormal;
- }
-
- ulong collisionID = ((ulong) idA << 32) | idB;
-
- BulletXNA.CollisionDesc cDesc = new BulletXNA.CollisionDesc()
- {
- aID = idA,
- bID = idB,
- point = contact,
- normal = contactNormal
- };
- if (world.LastCollisionDesc < world.UpdatedCollisions.Length)
- world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc);
- m_collisionsThisFrame++;
-
-
- }
- private static EntityProperties GetDebugProperties(object pWorld, object pBody)
- {
- EntityProperties ent = new EntityProperties();
- DiscreteDynamicsWorld world = pWorld as DiscreteDynamicsWorld;
- RigidBody body = pBody as RigidBody;
- IndexedMatrix transform = body.GetWorldTransform();
- IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity();
- IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity();
- IndexedQuaternion rotation = transform.GetRotation();
- ent.Acceleration = Vector3.Zero;
- ent.ID = (uint)body.GetUserPointer();
- ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z);
- ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W);
- ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
- ent.RotationalVelocity = new Vector3(AngularVelocity.X, AngularVelocity.Y, AngularVelocity.Z);
- return ent;
-
-
- }
-
-
- internal static Vector3 GetLocalScaling2(object pBody)
- {
- CollisionShape shape = pBody as CollisionShape;
- IndexedVector3 scale = shape.GetLocalScaling();
- return new Vector3(scale.X,scale.Y,scale.Z);
- }
-
- internal static bool RayCastGround(object pWorld, Vector3 _RayOrigin, float pRayHeight, object NotMe)
- {
- DynamicsWorld world = pWorld as DynamicsWorld;
- if (world != null)
- {
- if (NotMe is CollisionObject || NotMe is RigidBody)
- {
- CollisionObject AvoidBody = NotMe as CollisionObject;
-
- IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
- IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
- using (
- ClosestNotMeRayResultCallback rayCallback = new ClosestNotMeRayResultCallback(rOrigin,
- rEnd, AvoidBody)
- )
- {
- world.RayTest(ref rOrigin, ref rEnd, rayCallback);
- if (rayCallback.HasHit())
- {
- IndexedVector3 hitLocation = rayCallback.m_hitPointWorld;
-
- }
- return rayCallback.HasHit();
- }
- }
- }
- return false;
- }
-}
-}
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs
deleted file mode 100644
index f509dc4092..0000000000
--- a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs
+++ /dev/null
@@ -1,280 +0,0 @@
-/*
- * 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 copyrightD
- * 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.Collections.Generic;
-using System.Text;
-using OMV = OpenMetaverse;
-
-namespace OpenSim.Region.Physics.BulletSNPlugin
-{
-// Classes to allow some type checking for the API
-// These hold pointers to allocated objects in the unmanaged space.
-
-// The physics engine controller class created at initialization
-public struct BulletWorld
-{
- public BulletWorld(uint worldId, BSScene bss, object xx)
- {
- ptr = xx;
- worldID = worldId;
- physicsScene = bss;
- }
- public object ptr;
- public uint worldID;
- // The scene is only in here so very low level routines have a handle to print debug/error messages
- public BSScene physicsScene;
-}
-
-// An allocated Bullet btRigidBody
-public struct BulletBody
-{
- public BulletBody(uint id) : this(id, null)
- {
- }
- public BulletBody(uint id, object xx)
- {
- ID = id;
- ptr = xx;
- collisionType = CollisionType.Static;
- }
- public object ptr;
- public uint ID;
- public CollisionType collisionType;
-
- public void Clear()
- {
- ptr = null;
- }
- public bool HasPhysicalBody { get { return ptr != null; } }
-
- // Apply the specificed collision mask into the physical world
- public void ApplyCollisionMask()
- {
- // Should assert the body has been added to the physical world.
- // (The collision masks are stored in the collision proxy cache which only exists for
- // a collision body that is in the world.)
- BulletSimAPI.SetCollisionGroupMask2(ptr,
- BulletSimData.CollisionTypeMasks[collisionType].group,
- BulletSimData.CollisionTypeMasks[collisionType].mask);
- }
-
- public override string ToString()
- {
- StringBuilder buff = new StringBuilder();
- buff.Append("<id=");
- buff.Append(ID.ToString());
- buff.Append(",p=");
- buff.Append(ptr.ToString());
- buff.Append(",c=");
- buff.Append(collisionType);
- buff.Append(">");
- return buff.ToString();
- }
-}
-
-public struct BulletShape
-{
- public BulletShape(object xx) : this(xx, BSPhysicsShapeType.SHAPE_UNKNOWN)
- {
- }
- public BulletShape(object xx, BSPhysicsShapeType typ)
- {
- ptr = xx;
- type = typ;
- shapeKey = (System.UInt64)FixedShapeKey.KEY_NONE;
- isNativeShape = false;
- }
- public object ptr;
- public BSPhysicsShapeType type;
- public System.UInt64 shapeKey;
- public bool isNativeShape;
-
- public void Clear()
- {
- ptr = null;
- }
- public bool HasPhysicalShape { get { return ptr != null; } }
-
- public override string ToString()
- {
- StringBuilder buff = new StringBuilder();
- buff.Append("<p=");
- buff.Append(ptr.ToString());
- buff.Append(",s=");
- buff.Append(type.ToString());
- buff.Append(",k=");
- buff.Append(shapeKey.ToString("X"));
- buff.Append(",n=");
- buff.Append(isNativeShape.ToString());
- buff.Append(">");
- return buff.ToString();
- }
-}
-
-// An allocated Bullet btConstraint
-public struct BulletConstraint
-{
- public BulletConstraint(object xx)
- {
- ptr = xx;
- }
- public object ptr;
-
- public void Clear()
- {
- ptr = null;
- }
- public bool HasPhysicalConstraint { get { return ptr != null; } }
-}
-
-// An allocated HeightMapThing which holds various heightmap info.
-// Made a class rather than a struct so there would be only one
-// instance of this and C# will pass around pointers rather
-// than making copies.
-public class BulletHeightMapInfo
-{
- public BulletHeightMapInfo(uint id, float[] hm, object xx) {
- ID = id;
- Ptr = xx;
- heightMap = hm;
- terrainRegionBase = OMV.Vector3.Zero;
- minCoords = new OMV.Vector3(100f, 100f, 25f);
- maxCoords = new OMV.Vector3(101f, 101f, 26f);
- minZ = maxZ = 0f;
- sizeX = sizeY = 256f;
- }
- public uint ID;
- public object Ptr;
- public float[] heightMap;
- public OMV.Vector3 terrainRegionBase;
- public OMV.Vector3 minCoords;
- public OMV.Vector3 maxCoords;
- public float sizeX, sizeY;
- public float minZ, maxZ;
- public BulletShape terrainShape;
- public BulletBody terrainBody;
-
- public float collisionMargin { get; set; }
-}
-
-// The general class of collsion object.
-public enum CollisionType
-{
- Avatar,
- Groundplane,
- Terrain,
- Static,
- Dynamic,
- VolumeDetect,
- // Linkset, // A linkset should be either Static or Dynamic
- LinksetChild,
- Unknown
-};
-
-// Hold specification of group and mask collision flags for a CollisionType
-public struct CollisionTypeFilterGroup
-{
- public CollisionTypeFilterGroup(CollisionType t, uint g, uint m)
- {
- type = t;
- group = g;
- mask = m;
- }
- public CollisionType type;
- public uint group;
- public uint mask;
-};
-
- /* NOTE: old definitions kept for reference. Delete when things are working.
- // The collsion filters and masked are defined in one place -- don't want them scattered
- AvatarGroup = BCharacterGroup,
- AvatarMask = BAllGroup,
- ObjectGroup = BSolidGroup,
- ObjectMask = BAllGroup,
- StaticObjectGroup = BStaticGroup,
- StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much
- LinksetGroup = BLinksetGroup,
- LinksetMask = BAllGroup,
- LinksetChildGroup = BLinksetChildGroup,
- LinksetChildMask = BNoneGroup, // Linkset children disappear from the world
- VolumeDetectGroup = BSensorTrigger,
- VolumeDetectMask = ~BSensorTrigger,
- TerrainGroup = BTerrainGroup,
- TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide
- GroundPlaneGroup = BGroundPlaneGroup,
- GroundPlaneMask = BAllGroup
- */
-
-public static class BulletSimData
-{
-
-// Map of collisionTypes to flags for collision groups and masks.
-// As mentioned above, don't use the CollisionFilterGroups definitions directly in the code
-// but, instead, use references to this dictionary. Finding and debugging
-// collision flag problems will be made easier.
-public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeMasks
- = new Dictionary<CollisionType, CollisionTypeFilterGroup>()
-{
- { CollisionType.Avatar,
- new CollisionTypeFilterGroup(CollisionType.Avatar,
- (uint)CollisionFilterGroups.BCharacterGroup,
- (uint)CollisionFilterGroups.BAllGroup)
- },
- { CollisionType.Groundplane,
- new CollisionTypeFilterGroup(CollisionType.Groundplane,
- (uint)CollisionFilterGroups.BGroundPlaneGroup,
- (uint)CollisionFilterGroups.BAllGroup)
- },
- { CollisionType.Terrain,
- new CollisionTypeFilterGroup(CollisionType.Terrain,
- (uint)CollisionFilterGroups.BTerrainGroup,
- (uint)(CollisionFilterGroups.BAllGroup & ~CollisionFilterGroups.BStaticGroup))
- },
- { CollisionType.Static,
- new CollisionTypeFilterGroup(CollisionType.Static,
- (uint)CollisionFilterGroups.BStaticGroup,
- (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
- },
- { CollisionType.Dynamic,
- new CollisionTypeFilterGroup(CollisionType.Dynamic,
- (uint)CollisionFilterGroups.BSolidGroup,
- (uint)(CollisionFilterGroups.BAllGroup))
- },
- { CollisionType.VolumeDetect,
- new CollisionTypeFilterGroup(CollisionType.VolumeDetect,
- (uint)CollisionFilterGroups.BSensorTrigger,
- (uint)(~CollisionFilterGroups.BSensorTrigger))
- },
- { CollisionType.LinksetChild,
- new CollisionTypeFilterGroup(CollisionType.LinksetChild,
- (uint)CollisionFilterGroups.BTerrainGroup,
- (uint)(CollisionFilterGroups.BNoneGroup))
- },
-};
-
-}
-}
From 2c517d792f0440c2705458e01a5067628b6b2c7c Mon Sep 17 00:00:00 2001
From: teravus <teravus@gmail.com>
Date: Sun, 20 Jan 2013 08:18:16 -0500
Subject: [PATCH 19/36] This updates prebuild to remove BulletSimN, implements
the BulletSim API in BulletSPlugin using the BulletXNA Bullet physics engine.
It also updates the BulletXNA library to be compatible with the changes.
OpenSimDefaults has been updated to describe how to switch engines and
terrain implementations.
---
.../Region/Physics/BulletSPlugin/BSAPIXNA.cs | 887 ++++++++++++------
bin/BulletXNA.dll | Bin 614400 -> 614400 bytes
bin/BulletXNA.pdb | Bin 1875456 -> 1969664 bytes
bin/OpenSimDefaults.ini | 14 +
prebuild.xml | 34 -
5 files changed, 638 insertions(+), 297 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
index b6ff52bf5b..49b17305df 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs
@@ -129,7 +129,12 @@ private sealed class BulletConstraintXNA : BulletConstraint
get { return "XNAConstraint"; }
}
}
+ internal int m_maxCollisions;
+ internal CollisionDesc[] m_collisionArray;
+ internal int m_maxUpdatesPerFrame;
+ internal EntityProperties[] m_updateArray;
+
private static int m_collisionsThisFrame;
private BSScene PhysicsScene { get; set; }
@@ -148,92 +153,98 @@ private sealed class BulletConstraintXNA : BulletConstraint
/// <param name="p_2"></param>
public override bool RemoveObjectFromWorld(BulletWorld pWorld, BulletBody pBody)
{
- DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
world.RemoveRigidBody(body);
return true;
}
- public override bool AddConstraintToWorld(BulletWorld world, BulletConstraint constrain, bool disableCollisionsBetweenLinkedObjects)
+ public override bool AddConstraintToWorld(BulletWorld pWorld, BulletConstraint pConstraint, bool pDisableCollisionsBetweenLinkedObjects)
{
- /* TODO */
- return false;
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+ TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
+ world.AddConstraint(constraint, pDisableCollisionsBetweenLinkedObjects);
+
+ return true;
+
}
- public override bool RemoveConstraintFromWorld(BulletWorld world, BulletConstraint constrain)
+ public override bool RemoveConstraintFromWorld(BulletWorld pWorld, BulletConstraint pConstraint)
{
- /* TODO */
- return false;
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+ TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
+ world.RemoveConstraint(constraint);
+ return true;
}
- public override void SetRestitution(BulletBody pBody, float pRestitution)
+ public override void SetRestitution(BulletBody pCollisionObject, float pRestitution)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- body.SetRestitution(pRestitution);
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ collisionObject.SetRestitution(pRestitution);
}
public override int GetShapeType(BulletShape pShape)
{
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
return (int)shape.GetShapeType();
}
public override void SetMargin(BulletShape pShape, float pMargin)
{
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
shape.SetMargin(pMargin);
}
public override float GetMargin(BulletShape pShape)
{
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.GetMargin();
}
public override void SetLocalScaling(BulletShape pShape, Vector3 pScale)
{
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
IndexedVector3 vec = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
shape.SetLocalScaling(ref vec);
}
- public override void SetContactProcessingThreshold(BulletBody pBody, float contactprocessingthreshold)
+ public override void SetContactProcessingThreshold(BulletBody pCollisionObject, float contactprocessingthreshold)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- body.SetContactProcessingThreshold(contactprocessingthreshold);
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ collisionObject.SetContactProcessingThreshold(contactprocessingthreshold);
}
- public override void SetCcdMotionThreshold(BulletBody pBody, float pccdMotionThreashold)
+ public override void SetCcdMotionThreshold(BulletBody pCollisionObject, float pccdMotionThreashold)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- body.SetCcdMotionThreshold(pccdMotionThreashold);
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ collisionObject.SetCcdMotionThreshold(pccdMotionThreashold);
}
- public override void SetCcdSweptSphereRadius(BulletBody pBody, float pCcdSweptSphereRadius)
+ public override void SetCcdSweptSphereRadius(BulletBody pCollisionObject, float pCcdSweptSphereRadius)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- body.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ collisionObject.SetCcdSweptSphereRadius(pCcdSweptSphereRadius);
}
public override void SetAngularFactorV(BulletBody pBody, Vector3 pAngularFactor)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
body.SetAngularFactor(new IndexedVector3(pAngularFactor.X, pAngularFactor.Y, pAngularFactor.Z));
}
- public override CollisionFlags AddToCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags)
+ public override CollisionFlags AddToCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags)
{
- CollisionObject body = ((BulletBodyXNA)pBody).body;
- CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+ CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags();
existingcollisionFlags |= pcollisionFlags;
- body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
+ collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
return (CollisionFlags) (uint) existingcollisionFlags;
}
public override bool AddObjectToWorld(BulletWorld pWorld, BulletBody pBody)
{
- DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
- CollisionObject cbody = ((BulletBodyXNA)pBody).body;
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+ CollisionObject cbody = (pBody as BulletBodyXNA).body;
RigidBody rbody = cbody as RigidBody;
// Bullet resets several variables when an object is added to the world. In particular,
@@ -259,99 +270,110 @@ private sealed class BulletConstraintXNA : BulletConstraint
return true;
}
- public override void ForceActivationState(BulletBody pBody, ActivationState pActivationState)
+ public override void ForceActivationState(BulletBody pCollisionObject, ActivationState pActivationState)
{
- CollisionObject body = ((BulletBodyXNA)pBody).body;
- body.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+ collisionObject.ForceActivationState((BulletXNA.BulletCollision.ActivationState)(uint)pActivationState);
}
- public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pBody)
+ public override void UpdateSingleAabb(BulletWorld pWorld, BulletBody pCollisionObject)
{
- DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
- CollisionObject body = ((BulletBodyXNA)pBody).body;
- world.UpdateSingleAabb(body);
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+ world.UpdateSingleAabb(collisionObject);
}
- public override void UpdateAabbs(BulletWorld world) { /* TODO */ }
- public override bool GetForceUpdateAllAabbs(BulletWorld world) { /* TODO */ return false; }
- public override void SetForceUpdateAllAabbs(BulletWorld world, bool force) { /* TODO */ }
-
- public override bool SetCollisionGroupMask(BulletBody pBody, uint pGroup, uint pMask)
+ public override void UpdateAabbs(BulletWorld pWorld) {
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+ world.UpdateAabbs();
+ }
+ public override bool GetForceUpdateAllAabbs(BulletWorld pWorld) {
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+ return world.GetForceUpdateAllAabbs();
+
+ }
+ public override void SetForceUpdateAllAabbs(BulletWorld pWorld, bool pForce)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
- body.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
- if ((uint) body.GetBroadphaseHandle().m_collisionFilterGroup == 0)
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+ world.SetForceUpdateAllAabbs(pForce);
+ }
+
+ public override bool SetCollisionGroupMask(BulletBody pCollisionObject, uint pGroup, uint pMask)
+ {
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
+ collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup;
+ if ((uint) collisionObject.GetBroadphaseHandle().m_collisionFilterGroup == 0)
return false;
return true;
}
- public override void ClearAllForces(BulletBody pBody)
+ public override void ClearAllForces(BulletBody pCollisionObject)
{
- CollisionObject body = ((BulletBodyXNA)pBody).body;
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
IndexedVector3 zeroVector = new IndexedVector3(0, 0, 0);
- body.SetInterpolationLinearVelocity(ref zeroVector);
- body.SetInterpolationAngularVelocity(ref zeroVector);
- IndexedMatrix bodytransform = body.GetWorldTransform();
+ collisionObject.SetInterpolationLinearVelocity(ref zeroVector);
+ collisionObject.SetInterpolationAngularVelocity(ref zeroVector);
+ IndexedMatrix bodytransform = collisionObject.GetWorldTransform();
- body.SetInterpolationWorldTransform(ref bodytransform);
+ collisionObject.SetInterpolationWorldTransform(ref bodytransform);
- if (body is RigidBody)
+ if (collisionObject is RigidBody)
{
- RigidBody rigidbody = body as RigidBody;
+ RigidBody rigidbody = collisionObject as RigidBody;
rigidbody.SetLinearVelocity(zeroVector);
rigidbody.SetAngularVelocity(zeroVector);
rigidbody.ClearForces();
}
}
- public override void SetInterpolationAngularVelocity(BulletBody pBody, Vector3 pVector3)
+ public override void SetInterpolationAngularVelocity(BulletBody pCollisionObject, Vector3 pVector3)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
- body.SetInterpolationAngularVelocity(ref vec);
+ collisionObject.SetInterpolationAngularVelocity(ref vec);
}
public override void SetAngularVelocity(BulletBody pBody, Vector3 pVector3)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 vec = new IndexedVector3(pVector3.X, pVector3.Y, pVector3.Z);
body.SetAngularVelocity(ref vec);
}
public override Vector3 GetTotalForce(BulletBody pBody)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 iv3 = body.GetTotalForce();
return new Vector3(iv3.X, iv3.Y, iv3.Z);
}
public override Vector3 GetTotalTorque(BulletBody pBody)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 iv3 = body.GetTotalTorque();
return new Vector3(iv3.X, iv3.Y, iv3.Z);
}
public override Vector3 GetInvInertiaDiagLocal(BulletBody pBody)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 iv3 = body.GetInvInertiaDiagLocal();
return new Vector3(iv3.X, iv3.Y, iv3.Z);
}
public override void SetInvInertiaDiagLocal(BulletBody pBody, Vector3 inert)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 iv3 = new IndexedVector3(inert.X, inert.Y, inert.Z);
body.SetInvInertiaDiagLocal(ref iv3);
}
public override void ApplyForce(BulletBody pBody, Vector3 force, Vector3 pos)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 forceiv3 = new IndexedVector3(force.X, force.Y, force.Z);
IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
body.ApplyForce(ref forceiv3, ref posiv3);
}
public override void ApplyImpulse(BulletBody pBody, Vector3 imp, Vector3 pos)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 impiv3 = new IndexedVector3(imp.X, imp.Y, imp.Z);
IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
body.ApplyImpulse(ref impiv3, ref posiv3);
@@ -359,32 +381,32 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override void ClearForces(BulletBody pBody)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
body.ClearForces();
}
- public override void SetTranslation(BulletBody pBody, Vector3 _position, Quaternion _orientation)
+ public override void SetTranslation(BulletBody pCollisionObject, Vector3 _position, Quaternion _orientation)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z);
IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z,
_orientation.W);
IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(vquaternion);
mat._origin = vposition;
- body.SetWorldTransform(mat);
+ collisionObject.SetWorldTransform(mat);
}
- public override Vector3 GetPosition(BulletBody pBody)
+ public override Vector3 GetPosition(BulletBody pCollisionObject)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- IndexedVector3 pos = body.GetInterpolationWorldTransform()._origin;
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ IndexedVector3 pos = collisionObject.GetInterpolationWorldTransform()._origin;
return new Vector3(pos.X, pos.Y, pos.Z);
}
public override Vector3 CalculateLocalInertia(BulletShape pShape, float pphysMass)
{
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
IndexedVector3 inertia = IndexedVector3.Zero;
shape.CalculateLocalInertia(pphysMass, out inertia);
return new Vector3(inertia.X, inertia.Y, inertia.Z);
@@ -392,7 +414,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z);
body.SetMassProps(pphysMass, inertia);
}
@@ -400,73 +422,90 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override void SetObjectForce(BulletBody pBody, Vector3 _force)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 force = new IndexedVector3(_force.X, _force.Y, _force.Z);
body.SetTotalForce(ref force);
}
- public override void SetFriction(BulletBody pBody, float _currentFriction)
+ public override void SetFriction(BulletBody pCollisionObject, float _currentFriction)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- body.SetFriction(_currentFriction);
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ collisionObject.SetFriction(_currentFriction);
}
public override void SetLinearVelocity(BulletBody pBody, Vector3 _velocity)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 velocity = new IndexedVector3(_velocity.X, _velocity.Y, _velocity.Z);
body.SetLinearVelocity(velocity);
}
- public override void Activate(BulletBody pBody, bool pforceactivation)
+ public override void Activate(BulletBody pCollisionObject, bool pforceactivation)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- body.Activate(pforceactivation);
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ collisionObject.Activate(pforceactivation);
}
- public override Quaternion GetOrientation(BulletBody pBody)
+ public override Quaternion GetOrientation(BulletBody pCollisionObject)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- IndexedQuaternion mat = body.GetInterpolationWorldTransform().GetRotation();
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ IndexedQuaternion mat = collisionObject.GetInterpolationWorldTransform().GetRotation();
return new Quaternion(mat.X, mat.Y, mat.Z, mat.W);
}
- public override CollisionFlags RemoveFromCollisionFlags(BulletBody pBody, CollisionFlags pcollisionFlags)
+ public override CollisionFlags RemoveFromCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)body.GetCollisionFlags();
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags();
existingcollisionFlags &= ~pcollisionFlags;
- body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
+ collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags);
return (CollisionFlags)(uint)existingcollisionFlags;
}
- public override float GetCcdMotionThreshold(BulletBody obj) { /* TODO */ return 0f; }
+ public override float GetCcdMotionThreshold(BulletBody pCollisionObject)
+ {
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ return collisionObject.GetCcdSquareMotionThreshold();
+ }
- public override float GetCcdSweptSphereRadius(BulletBody obj) { /* TODO */ return 0f; }
+ public override float GetCcdSweptSphereRadius(BulletBody pCollisionObject)
+ {
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ return collisionObject.GetCcdSweptSphereRadius();
+
+ }
- public override IntPtr GetUserPointer(BulletBody obj) { /* TODO */ return IntPtr.Zero; }
+ public override IntPtr GetUserPointer(BulletBody pCollisionObject)
+ {
+ CollisionObject shape = (pCollisionObject as BulletBodyXNA).body;
+ return (IntPtr)shape.GetUserPointer();
+ }
- public override void SetUserPointer(BulletBody obj, IntPtr val) { /* TODO */ }
+ public override void SetUserPointer(BulletBody pCollisionObject, IntPtr val)
+ {
+ CollisionObject shape = (pCollisionObject as BulletBodyXNA).body;
+ shape.SetUserPointer(val);
+ }
public override void SetGravity(BulletBody pBody, Vector3 pGravity)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z);
body.SetGravity(gravity);
}
public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint)
{
- DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
- TypedConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain;
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+ TypedConstraint constraint = (pConstraint as BulletConstraintXNA).constrain;
world.RemoveConstraint(constraint);
return true;
}
public override bool SetLinearLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
{
- Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+ Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
constraint.SetLinearLowerLimit(lowlimit);
@@ -476,7 +515,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override bool SetAngularLimits(BulletConstraint pConstraint, Vector3 low, Vector3 high)
{
- Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+ Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
IndexedVector3 lowlimit = new IndexedVector3(low.X, low.Y, low.Z);
IndexedVector3 highlimit = new IndexedVector3(high.X, high.Y, high.Z);
constraint.SetAngularLowerLimit(lowlimit);
@@ -486,20 +525,20 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override void SetConstraintNumSolverIterations(BulletConstraint pConstraint, float cnt)
{
- Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+ Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.SetOverrideNumSolverIterations((int)cnt);
}
public override bool CalculateTransforms(BulletConstraint pConstraint)
{
- Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+ Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.CalculateTransforms();
return true;
}
public override void SetConstraintEnable(BulletConstraint pConstraint, float p_2)
{
- Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+ Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.SetEnabled((p_2 == 0) ? false : true);
}
@@ -508,9 +547,9 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override BulletConstraint Create6DofConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
{
- DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
- RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody;
- RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody;
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+ RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
+ RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
@@ -542,9 +581,9 @@ private sealed class BulletConstraintXNA : BulletConstraint
/// <returns></returns>
public override BulletConstraint Create6DofConstraintToPoint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 pjoinPoint, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
{
- DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
- RigidBody body1 = ((BulletBodyXNA)pBody1).rigidBody;
- RigidBody body2 = ((BulletBodyXNA)pBody2).rigidBody;
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+ RigidBody body1 = (pBody1 as BulletBodyXNA).rigidBody;
+ RigidBody body2 = (pBody2 as BulletBodyXNA).rigidBody;
IndexedMatrix frame1 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
IndexedMatrix frame2 = new IndexedMatrix(IndexedBasisMatrix.Identity, new IndexedVector3(0, 0, 0));
@@ -563,7 +602,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
//SetFrames(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
public override bool SetFrames(BulletConstraint pConstraint, Vector3 pframe1, Quaternion pframe1rot, Vector3 pframe2, Quaternion pframe2rot)
{
- Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+ Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
IndexedVector3 frame1v = new IndexedVector3(pframe1.X, pframe1.Y, pframe1.Z);
IndexedQuaternion frame1rot = new IndexedQuaternion(pframe1rot.X, pframe1rot.Y, pframe1rot.Z, pframe1rot.W);
IndexedMatrix frame1 = IndexedMatrix.CreateFromQuaternion(frame1rot);
@@ -579,109 +618,110 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override Vector3 GetLinearVelocity(BulletBody pBody)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 iv3 = body.GetLinearVelocity();
return new Vector3(iv3.X, iv3.Y, iv3.Z);
}
public override Vector3 GetAngularVelocity(BulletBody pBody)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 iv3 = body.GetAngularVelocity();
return new Vector3(iv3.X, iv3.Y, iv3.Z);
}
public override Vector3 GetVelocityInLocalPoint(BulletBody pBody, Vector3 pos)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 posiv3 = new IndexedVector3(pos.X, pos.Y, pos.Z);
IndexedVector3 iv3 = body.GetVelocityInLocalPoint(ref posiv3);
return new Vector3(iv3.X, iv3.Y, iv3.Z);
}
- public override void Translate(BulletBody pBody, Vector3 trans)
+ public override void Translate(BulletBody pCollisionObject, Vector3 trans)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ collisionObject.Translate(new IndexedVector3(trans.X,trans.Y,trans.Z));
}
public override void UpdateDeactivation(BulletBody pBody, float timeStep)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
body.UpdateDeactivation(timeStep);
}
public override bool WantsSleeping(BulletBody pBody)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
return body.WantsSleeping();
}
public override void SetAngularFactor(BulletBody pBody, float factor)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
body.SetAngularFactor(factor);
}
public override Vector3 GetAngularFactor(BulletBody pBody)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 iv3 = body.GetAngularFactor();
return new Vector3(iv3.X, iv3.Y, iv3.Z);
}
- public override bool IsInWorld(BulletWorld pWorld, BulletBody pBody)
+ public override bool IsInWorld(BulletWorld pWorld, BulletBody pCollisionObject)
{
- DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
- CollisionObject body = ((BulletBodyXNA)pBody).body;
- return world.IsInWorld(body);
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+ return world.IsInWorld(collisionObject);
}
- public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstrain)
+ public override void AddConstraintRef(BulletBody pBody, BulletConstraint pConstraint)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+ TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain;
body.AddConstraintRef(constrain);
}
- public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstrain)
+ public override void RemoveConstraintRef(BulletBody pBody, BulletConstraint pConstraint)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- TypedConstraint constrain = ((BulletConstraintXNA)pConstrain).constrain;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+ TypedConstraint constrain = (pConstraint as BulletConstraintXNA).constrain;
body.RemoveConstraintRef(constrain);
}
public override BulletConstraint GetConstraintRef(BulletBody pBody, int index)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
return new BulletConstraintXNA(body.GetConstraintRef(index));
}
public override int GetNumConstraintRefs(BulletBody pBody)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
return body.GetNumConstraintRefs();
}
- public override void SetInterpolationLinearVelocity(BulletBody pBody, Vector3 VehicleVelocity)
+ public override void SetInterpolationLinearVelocity(BulletBody pCollisionObject, Vector3 VehicleVelocity)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
IndexedVector3 velocity = new IndexedVector3(VehicleVelocity.X, VehicleVelocity.Y, VehicleVelocity.Z);
- body.SetInterpolationLinearVelocity(ref velocity);
+ collisionObject.SetInterpolationLinearVelocity(ref velocity);
}
public override bool UseFrameOffset(BulletConstraint pConstraint, float onOff)
{
- Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+ Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.SetUseFrameOffset((onOff == 0) ? false : true);
return true;
}
//SetBreakingImpulseThreshold(m_constraint.ptr, threshold);
public override bool SetBreakingImpulseThreshold(BulletConstraint pConstraint, float threshold)
{
- Generic6DofConstraint constraint = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+ Generic6DofConstraint constraint = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
constraint.SetBreakingImpulseThreshold(threshold);
return true;
}
//BulletSimAPI.SetAngularDamping(Prim.PhysBody.ptr, angularDamping);
public override void SetAngularDamping(BulletBody pBody, float angularDamping)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
float lineardamping = body.GetLinearDamping();
body.SetDamping(lineardamping, angularDamping);
@@ -689,111 +729,183 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override void UpdateInertiaTensor(BulletBody pBody)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
body.UpdateInertiaTensor();
}
public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape)
{
- CompoundShape shape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape;
+ CompoundShape shape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape;
shape.RecalculateLocalAabb();
}
//BulletSimAPI.GetCollisionFlags(PhysBody.ptr)
- public override CollisionFlags GetCollisionFlags(BulletBody pBody)
+ public override CollisionFlags GetCollisionFlags(BulletBody pCollisionObject)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- uint flags = (uint)body.GetCollisionFlags();
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ uint flags = (uint)collisionObject.GetCollisionFlags();
return (CollisionFlags) flags;
}
public override void SetDamping(BulletBody pBody, float pLinear, float pAngular)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
body.SetDamping(pLinear, pAngular);
}
//PhysBody.ptr, PhysicsScene.Params.deactivationTime);
- public override void SetDeactivationTime(BulletBody pBody, float pDeactivationTime)
+ public override void SetDeactivationTime(BulletBody pCollisionObject, float pDeactivationTime)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- body.SetDeactivationTime(pDeactivationTime);
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ collisionObject.SetDeactivationTime(pDeactivationTime);
}
//SetSleepingThresholds(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
public override void SetSleepingThresholds(BulletBody pBody, float plinearSleepingThreshold, float pangularSleepingThreshold)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
body.SetSleepingThresholds(plinearSleepingThreshold, pangularSleepingThreshold);
}
- public override CollisionObjectTypes GetBodyType(BulletBody pBody)
+ public override CollisionObjectTypes GetBodyType(BulletBody pCollisionObject)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- return (CollisionObjectTypes)(int) body.GetInternalType();
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ return (CollisionObjectTypes)(int) collisionObject.GetInternalType();
}
- public override void ApplyGravity(BulletBody obj) { /* TODO */ }
+ public override void ApplyGravity(BulletBody pBody)
+ {
- public override Vector3 GetGravity(BulletBody obj) { /* TODO */ return Vector3.Zero; }
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+ body.ApplyGravity();
+ }
- public override void SetLinearDamping(BulletBody obj, float lin_damping) { /* TODO */ }
+ public override Vector3 GetGravity(BulletBody pBody)
+ {
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+ IndexedVector3 gravity = body.GetGravity();
+ return new Vector3(gravity.X, gravity.Y, gravity.Z);
+ }
- public override float GetLinearDamping(BulletBody obj) { /* TODO */ return 0f; }
+ public override void SetLinearDamping(BulletBody pBody, float lin_damping)
+ {
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+ float angularDamping = body.GetAngularDamping();
+ body.SetDamping(lin_damping, angularDamping);
+ }
- public override float GetAngularDamping(BulletBody obj) { /* TODO */ return 0f; }
+ public override float GetLinearDamping(BulletBody pBody)
+ {
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+ return body.GetLinearDamping();
+ }
- public override float GetLinearSleepingThreshold(BulletBody obj) { /* TODO */ return 0f; }
+ public override float GetAngularDamping(BulletBody pBody)
+ {
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+ return body.GetAngularDamping();
+ }
- public override void ApplyDamping(BulletBody obj, float timeStep) { /* TODO */ }
+ public override float GetLinearSleepingThreshold(BulletBody pBody)
+ {
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+ return body.GetLinearSleepingThreshold();
+ }
- public override Vector3 GetLinearFactor(BulletBody obj) { /* TODO */ return Vector3.Zero; }
+ public override void ApplyDamping(BulletBody pBody, float timeStep)
+ {
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+ body.ApplyDamping(timeStep);
+ }
- public override void SetLinearFactor(BulletBody obj, Vector3 factor) { /* TODO */ }
+ public override Vector3 GetLinearFactor(BulletBody pBody)
+ {
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+ IndexedVector3 linearFactor = body.GetLinearFactor();
+ return new Vector3(linearFactor.X, linearFactor.Y, linearFactor.Z);
+ }
- public override void SetCenterOfMassByPosRot(BulletBody obj, Vector3 pos, Quaternion rot) { /* TODO */ }
+ public override void SetLinearFactor(BulletBody pBody, Vector3 factor)
+ {
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+ body.SetLinearFactor(new IndexedVector3(factor.X, factor.Y, factor.Z));
+ }
+
+ public override void SetCenterOfMassByPosRot(BulletBody pBody, Vector3 pos, Quaternion rot)
+ {
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
+ IndexedQuaternion quat = new IndexedQuaternion(rot.X, rot.Y, rot.Z,rot.W);
+ IndexedMatrix mat = IndexedMatrix.CreateFromQuaternion(quat);
+ mat._origin = new IndexedVector3(pos.X, pos.Y, pos.Z);
+ body.SetCenterOfMassTransform( ref mat);
+ /* TODO: double check this */
+ }
//BulletSimAPI.ApplyCentralForce(PhysBody.ptr, fSum);
public override void ApplyCentralForce(BulletBody pBody, Vector3 pfSum)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
body.ApplyCentralForce(ref fSum);
}
public override void ApplyCentralImpulse(BulletBody pBody, Vector3 pfSum)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
body.ApplyCentralImpulse(ref fSum);
}
public override void ApplyTorque(BulletBody pBody, Vector3 pfSum)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
body.ApplyTorque(ref fSum);
}
public override void ApplyTorqueImpulse(BulletBody pBody, Vector3 pfSum)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
+ RigidBody body = (pBody as BulletBodyXNA).rigidBody;
IndexedVector3 fSum = new IndexedVector3(pfSum.X, pfSum.Y, pfSum.Z);
body.ApplyTorqueImpulse(ref fSum);
}
- public override void DestroyObject(BulletWorld p, BulletBody p_2)
+ public override void DestroyObject(BulletWorld pWorld, BulletBody pBody)
{
- //TODO:
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+ CollisionObject co = (pBody as BulletBodyXNA).rigidBody;
+ RigidBody bo = co as RigidBody;
+ if (bo == null)
+ {
+
+ if (world.IsInWorld(co))
+ {
+ world.RemoveCollisionObject(co);
+ }
+ }
+ else
+ {
+
+ if (world.IsInWorld(bo))
+ {
+ world.RemoveRigidBody(bo);
+ }
+ }
+
}
public override void Shutdown(BulletWorld pWorld)
{
- DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
world.Cleanup();
}
- public override BulletShape DuplicateCollisionShape(BulletWorld sim, BulletShape srcShape, uint id)
+ public override BulletShape DuplicateCollisionShape(BulletWorld pWorld, BulletShape pShape, uint id)
{
- return null;
+ CollisionShape shape1 = (pShape as BulletShapeXNA).shape;
+
+ // TODO: Turn this from a reference copy to a Value Copy.
+ BulletShapeXNA shape2 = new BulletShapeXNA(shape1, BSPhysicsShapeType.SHAPE_UNKNOWN);
+
+ return shape2;
}
- public override bool DeleteCollisionShape(BulletWorld p, BulletShape p_2)
+ public override bool DeleteCollisionShape(BulletWorld pWorld, BulletShape pShape)
{
//TODO:
return false;
@@ -802,17 +914,40 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override BulletBody CreateBodyFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
{
- CollisionWorld world = ((BulletWorldXNA)pWorld).world;
+ CollisionWorld world = (pWorld as BulletWorldXNA).world;
IndexedMatrix mat =
IndexedMatrix.CreateFromQuaternion(new IndexedQuaternion(pRawOrientation.X, pRawOrientation.Y,
pRawOrientation.Z, pRawOrientation.W));
mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
//UpdateSingleAabb(world, shape);
// TODO: Feed Update array into null
- RigidBody body = new RigidBody(0,new SimMotionState(world,pLocalID,mat,null),shape,IndexedVector3.Zero);
-
+ SimMotionState motionState = new SimMotionState(world, pLocalID, mat, null);
+ RigidBody body = new RigidBody(0,motionState,shape,IndexedVector3.Zero);
+ RigidBodyConstructionInfo constructionInfo = new RigidBodyConstructionInfo(0, new SimMotionState(world, pLocalID, mat, null),shape,IndexedVector3.Zero)
+ {
+ m_mass = 0
+ };
+ /*
+ m_mass = mass;
+ m_motionState =motionState;
+ m_collisionShape = collisionShape;
+ m_localInertia = localInertia;
+ m_linearDamping = 0f;
+ m_angularDamping = 0f;
+ m_friction = 0.5f;
+ m_restitution = 0f;
+ m_linearSleepingThreshold = 0.8f;
+ m_angularSleepingThreshold = 1f;
+ m_additionalDamping = false;
+ m_additionalDampingFactor = 0.005f;
+ m_additionalLinearDampingThresholdSqr = 0.01f;
+ m_additionalAngularDampingThresholdSqr = 0.01f;
+ m_additionalAngularDampingFactor = 0.01f;
+ m_startWorldTransform = IndexedMatrix.Identity;
+ */
body.SetUserPointer(pLocalID);
+
return new BulletBodyXNA(pLocalID, body);
}
@@ -825,7 +960,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
pRawOrientation.Z, pRawOrientation.W));
mat._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
// TODO: Feed Update array into null
RigidBody body = new RigidBody(0, new DefaultMotionState( mat, IndexedMatrix.Identity), shape, IndexedVector3.Zero);
@@ -834,21 +969,43 @@ private sealed class BulletConstraintXNA : BulletConstraint
return new BulletBodyXNA(pLocalID, body);
}
//(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
- public override CollisionFlags SetCollisionFlags(BulletBody pBody, CollisionFlags collisionFlags)
+ public override CollisionFlags SetCollisionFlags(BulletBody pCollisionObject, CollisionFlags collisionFlags)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- body.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
- return (CollisionFlags)body.GetCollisionFlags();
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags) (uint) collisionFlags);
+ return (CollisionFlags)collisionObject.GetCollisionFlags();
}
- public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return Vector3.Zero; }
+ public override Vector3 GetAnisotripicFriction(BulletConstraint pconstrain)
+ {
+
+ /* TODO */
+ return Vector3.Zero;
+ }
public override Vector3 SetAnisotripicFriction(BulletConstraint pconstrain, Vector3 frict) { /* TODO */ return Vector3.Zero; }
public override bool HasAnisotripicFriction(BulletConstraint pconstrain) { /* TODO */ return false; }
public override float GetContactProcessingThreshold(BulletBody pBody) { /* TODO */ return 0f; }
- public override bool IsStaticObject(BulletBody pBody) { /* TODO */ return false; }
- public override bool IsKinematicObject(BulletBody pBody) { /* TODO */ return false; }
- public override bool IsStaticOrKinematicObject(BulletBody pBody) { /* TODO */ return false; }
- public override bool HasContactResponse(BulletBody pBody) { /* TODO */ return false; }
+ public override bool IsStaticObject(BulletBody pCollisionObject)
+ {
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ return collisionObject.IsStaticObject();
+
+ }
+ public override bool IsKinematicObject(BulletBody pCollisionObject)
+ {
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ return collisionObject.IsKinematicObject();
+ }
+ public override bool IsStaticOrKinematicObject(BulletBody pCollisionObject)
+ {
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ return collisionObject.IsStaticOrKinematicObject();
+ }
+ public override bool HasContactResponse(BulletBody pCollisionObject)
+ {
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ return collisionObject.HasContactResponse();
+ }
public override int GetActivationState(BulletBody pBody) { /* TODO */ return 0; }
public override void SetActivationState(BulletBody pBody, int state) { /* TODO */ }
public override float GetDeactivationTime(BulletBody pBody) { /* TODO */ return 0f; }
@@ -859,15 +1016,15 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override float GetHitFraction(BulletBody pBody) { /* TODO */ return 0f; }
//(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
- public override void SetHitFraction(BulletBody pBody, float pHitFraction)
+ public override void SetHitFraction(BulletBody pCollisionObject, float pHitFraction)
{
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- body.SetHitFraction(pHitFraction);
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ collisionObject.SetHitFraction(pHitFraction);
}
//BuildCapsuleShape(physicsScene.World.ptr, 1f, 1f, prim.Scale);
public override BulletShape BuildCapsuleShape(BulletWorld pWorld, float pRadius, float pHeight, Vector3 pScale)
{
- DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
IndexedVector3 scale = new IndexedVector3(pScale.X, pScale.Y, pScale.Z);
CapsuleShapeZ capsuleShapeZ = new CapsuleShapeZ(pRadius, pHeight);
capsuleShapeZ.SetMargin(world.WorldSettings.Params.collisionMargin);
@@ -881,14 +1038,24 @@ private sealed class BulletConstraintXNA : BulletConstraint
int maxUpdates, ref EntityProperties[] updateArray
)
{
+
+ m_updateArray = updateArray;
+ m_collisionArray = collisionArray;
/* TODO */
- return new BulletWorldXNA(1, null, null);
+ ConfigurationParameters[] configparms = new ConfigurationParameters[1];
+ configparms[0] = parms;
+ Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
+ m_maxCollisions = maxCollisions;
+ m_maxUpdatesPerFrame = maxUpdates;
+
+
+ return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null));
}
- private static object Initialize2(Vector3 worldExtent,
+ private static DiscreteDynamicsWorld Initialize2(Vector3 worldExtent,
ConfigurationParameters[] o,
- int mMaxCollisionsPerFrame, ref List<BulletXNA.CollisionDesc> collisionArray,
- int mMaxUpdatesPerFrame, ref List<BulletXNA.EntityProperties> updateArray,
+ int mMaxCollisionsPerFrame, ref CollisionDesc[] collisionArray,
+ int mMaxUpdatesPerFrame, ref EntityProperties[] updateArray,
object mDebugLogCallbackHandle)
{
CollisionWorld.WorldData.ParamData p = new CollisionWorld.WorldData.ParamData();
@@ -968,8 +1135,13 @@ private sealed class BulletConstraintXNA : BulletConstraint
SequentialImpulseConstraintSolver m_solver = new SequentialImpulseConstraintSolver();
DiscreteDynamicsWorld world = new DiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, cci);
- world.UpdatedObjects = updateArray;
- world.UpdatedCollisions = collisionArray;
+
+
+ world.UpdatedObjects = BSAPIXNA.GetBulletXNAEntityStruct(BSAPIXNA.BulletSimEntityStructToByteArray(updateArray, updateArray.Length));
+ world.UpdatedCollisions = BSAPIXNA.GetBulletXNACollisionStruct(BSAPIXNA.BulletSimCollisionStructToByteArray(collisionArray, collisionArray.Length));
+ world.LastCollisionDesc = 0;
+ world.LastEntityProperty = 0;
+
world.WorldSettings.Params = p;
world.SetForceUpdateAllAabbs(p.shouldForceUpdateAllAabbs != 0);
world.GetSolverInfo().m_solverMode = SolverMode.SOLVER_USE_WARMSTARTING | SolverMode.SOLVER_SIMD;
@@ -1003,7 +1175,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
world.GetSolverInfo().m_restingContactRestitutionThreshold = 2;
world.SetForceUpdateAllAabbs(true);
-
+ //BSParam.TerrainImplementation = 0;
world.SetGravity(new IndexedVector3(0,0,p.gravity));
return world;
@@ -1011,7 +1183,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
//m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL
public override bool SetConstraintParam(BulletConstraint pConstraint, ConstraintParams paramIndex, float paramvalue, ConstraintParamAxis axis)
{
- Generic6DofConstraint constrain = ((BulletConstraintXNA)pConstraint).constrain as Generic6DofConstraint;
+ Generic6DofConstraint constrain = (pConstraint as BulletConstraintXNA).constrain as Generic6DofConstraint;
if (axis == ConstraintParamAxis.AXIS_LINEAR_ALL || axis == ConstraintParamAxis.AXIS_ALL)
{
constrain.SetParam((BulletXNA.BulletDynamics.ConstraintParams) (int) paramIndex, paramvalue, 0);
@@ -1034,7 +1206,8 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override bool PushUpdate(BulletBody pCollisionObject)
{
bool ret = false;
- RigidBody rb = ((BulletBodyXNA)pCollisionObject).rigidBody;
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ RigidBody rb = collisionObject as RigidBody;
if (rb != null)
{
SimMotionState sms = rb.GetMotionState() as SimMotionState;
@@ -1052,57 +1225,57 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override float GetAngularMotionDisc(BulletShape pShape)
{
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.GetAngularMotionDisc();
}
public override float GetContactBreakingThreshold(BulletShape pShape, float defaultFactor)
{
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.GetContactBreakingThreshold(defaultFactor);
}
public override bool IsCompound(BulletShape pShape)
{
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.IsCompound();
}
public override bool IsSoftBody(BulletShape pShape)
{
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.IsSoftBody();
}
public override bool IsPolyhedral(BulletShape pShape)
{
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.IsPolyhedral();
}
public override bool IsConvex2d(BulletShape pShape)
{
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.IsConvex2d();
}
public override bool IsConvex(BulletShape pShape)
{
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.IsConvex();
}
public override bool IsNonMoving(BulletShape pShape)
{
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.IsNonMoving();
}
public override bool IsConcave(BulletShape pShape)
{
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.IsConcave();
}
public override bool IsInfinite(BulletShape pShape)
{
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
return shape.IsInfinite();
}
public override bool IsNativeShape(BulletShape pShape)
{
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
bool ret;
switch (shape.GetShapeType())
{
@@ -1119,38 +1292,53 @@ private sealed class BulletConstraintXNA : BulletConstraint
return ret;
}
- public override void SetShapeCollisionMargin(BulletShape shape, float margin) { /* TODO */ }
+ public override void SetShapeCollisionMargin(BulletShape pShape, float pMargin)
+ {
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
+ shape.SetMargin(pMargin);
+ }
//sim.ptr, shape.ptr,prim.LocalID, prim.RawPosition, prim.RawOrientation
public override BulletBody CreateGhostFromShape(BulletWorld pWorld, BulletShape pShape, uint pLocalID, Vector3 pRawPosition, Quaternion pRawOrientation)
{
- DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
IndexedMatrix bodyTransform = new IndexedMatrix();
bodyTransform._origin = new IndexedVector3(pRawPosition.X, pRawPosition.Y, pRawPosition.Z);
bodyTransform.SetRotation(new IndexedQuaternion(pRawOrientation.X,pRawOrientation.Y,pRawOrientation.Z,pRawOrientation.W));
GhostObject gObj = new PairCachingGhostObject();
gObj.SetWorldTransform(bodyTransform);
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
gObj.SetCollisionShape(shape);
gObj.SetUserPointer(pLocalID);
// TODO: Add to Special CollisionObjects!
return new BulletBodyXNA(pLocalID, gObj);
}
- public override void SetCollisionShape(BulletWorld pWorld, BulletBody pObj, BulletShape pShape)
+ public override void SetCollisionShape(BulletWorld pWorld, BulletBody pCollisionObject, BulletShape pShape)
{
- DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
- CollisionObject obj = ((BulletBodyXNA)pObj).body;
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
- obj.SetCollisionShape(shape);
-
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body;
+ if (pShape == null)
+ {
+ collisionObject.SetCollisionShape(new EmptyShape());
+ }
+ else
+ {
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
+ collisionObject.SetCollisionShape(shape);
+ }
+ }
+ public override BulletShape GetCollisionShape(BulletBody pCollisionObject)
+ {
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ CollisionShape shape = collisionObject.GetCollisionShape();
+ return new BulletShapeXNA(shape,BSPhysicsShapeType.SHAPE_UNKNOWN);
}
- public override BulletShape GetCollisionShape(BulletBody obj) { /* TODO */ return null; }
//(PhysicsScene.World.ptr, nativeShapeData)
public override BulletShape BuildNativeShape(BulletWorld pWorld, ShapeData pShapeData)
{
- DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
CollisionShape shape = null;
switch (pShapeData.Type)
{
@@ -1185,15 +1373,15 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override int GetNumberOfCompoundChildren(BulletShape pCompoundShape)
{
- CompoundShape compoundshape = ((BulletShapeXNA)pCompoundShape).shape as CompoundShape;
+ CompoundShape compoundshape = (pCompoundShape as BulletShapeXNA).shape as CompoundShape;
return compoundshape.GetNumChildShapes();
}
//LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot
public override void AddChildShapeToCompoundShape(BulletShape pCShape, BulletShape paddShape, Vector3 displacementPos, Quaternion displacementRot)
{
IndexedMatrix relativeTransform = new IndexedMatrix();
- CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape;
- CollisionShape addshape = ((BulletShapeXNA)paddShape).shape;
+ CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape;
+ CollisionShape addshape = (paddShape as BulletShapeXNA).shape;
relativeTransform._origin = new IndexedVector3(displacementPos.X, displacementPos.Y, displacementPos.Z);
relativeTransform.SetRotation(new IndexedQuaternion(displacementRot.X,displacementRot.Y,displacementRot.Z,displacementRot.W));
@@ -1203,7 +1391,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override BulletShape RemoveChildShapeFromCompoundShapeIndex(BulletShape pCShape, int pii)
{
- CompoundShape compoundshape = ((BulletShapeXNA)pCShape).shape as CompoundShape;
+ CompoundShape compoundshape = (pCShape as BulletShapeXNA).shape as CompoundShape;
CollisionShape ret = null;
ret = compoundshape.GetChildShape(pii);
compoundshape.RemoveChildShapeByIndex(pii);
@@ -1222,12 +1410,12 @@ private sealed class BulletConstraintXNA : BulletConstraint
return new BulletShapeXNA(m_planeshape, BSPhysicsShapeType.SHAPE_GROUNDPLANE);
}
- public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody ppBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
+ public override BulletConstraint CreateHingeConstraint(BulletWorld pWorld, BulletBody pBody1, BulletBody pBody2, Vector3 ppivotInA, Vector3 ppivotInB, Vector3 paxisInA, Vector3 paxisInB, bool puseLinearReferenceFrameA, bool pdisableCollisionsBetweenLinkedBodies)
{
HingeConstraint constrain = null;
- DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
- RigidBody rb1 = ((BulletBodyXNA)pBody1).rigidBody;
- RigidBody rb2 = ((BulletBodyXNA)ppBody2).rigidBody;
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+ RigidBody rb1 = (pBody1 as BulletBodyXNA).rigidBody;
+ RigidBody rb2 = (pBody2 as BulletBodyXNA).rigidBody;
if (rb1 != null && rb2 != null)
{
IndexedVector3 pivotInA = new IndexedVector3(ppivotInA.X, ppivotInA.Y, ppivotInA.Z);
@@ -1241,7 +1429,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override BulletShape CreateHullShape(BulletWorld pWorld, int pHullCount, float[] pConvHulls)
{
- DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
CompoundShape compoundshape = new CompoundShape(false);
compoundshape.SetMargin(world.WorldSettings.Params.collisionMargin);
@@ -1271,7 +1459,11 @@ private sealed class BulletConstraintXNA : BulletConstraint
return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL);
}
- public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) { /* TODO */ return null; }
+ public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape)
+ {
+ /* TODO */ return null;
+
+ }
public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats)
{
@@ -1286,7 +1478,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
ObjectArray<int> indicesarr = new ObjectArray<int>(indices);
ObjectArray<float> vertices = new ObjectArray<float>(verticesAsFloats);
DumpRaw(indicesarr,vertices,pIndicesCount,pVerticesCount);
- DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
IndexedMesh mesh = new IndexedMesh();
mesh.m_indexType = PHY_ScalarType.PHY_INTEGER;
mesh.m_numTriangles = pIndicesCount/3;
@@ -1402,7 +1594,7 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override bool TranslationalLimitMotor(BulletConstraint pConstraint, float ponOff, float targetVelocity, float maxMotorForce)
{
- TypedConstraint tconstrain = ((BulletConstraintXNA)pConstraint).constrain;
+ TypedConstraint tconstrain = (pConstraint as BulletConstraintXNA).constrain;
bool onOff = ponOff != 0;
bool ret = false;
@@ -1428,47 +1620,45 @@ private sealed class BulletConstraintXNA : BulletConstraint
/* TODO */
updatedEntityCount = 0;
collidersCount = 0;
- return 1;
+
+
+ int ret = PhysicsStep2(world,timeStep,maxSubSteps,fixedTimeStep,out updatedEntityCount,out world.physicsScene.m_updateArray, out collidersCount, out world.physicsScene.m_collisionArray);
+
+ return ret;
}
private int PhysicsStep2(BulletWorld pWorld, float timeStep, int m_maxSubSteps, float m_fixedTimeStep,
- out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities,
- out int collidersCount, out List<BulletXNA.CollisionDesc>colliders)
+ out int updatedEntityCount, out EntityProperties[] updatedEntities,
+ out int collidersCount, out CollisionDesc[] colliders)
{
int epic = PhysicsStepint(pWorld, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out updatedEntities,
- out collidersCount, out colliders);
+ out collidersCount, out colliders, m_maxCollisions, m_maxUpdatesPerFrame);
return epic;
}
- private static int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount, out List<BulletXNA.EntityProperties> updatedEntities, out int collidersCount, out List<BulletXNA.CollisionDesc> colliders)
+ private static int PhysicsStepint(BulletWorld pWorld,float timeStep, int m_maxSubSteps, float m_fixedTimeStep, out int updatedEntityCount,
+ out EntityProperties[] updatedEntities, out int collidersCount, out CollisionDesc[] colliders, int maxCollisions, int maxUpdates)
{
int numSimSteps = 0;
-
- //if (updatedEntities is null)
- // updatedEntities = new List<BulletXNA.EntityProperties>();
-
- //if (colliders is null)
- // colliders = new List<BulletXNA.CollisionDesc>();
+ updatedEntityCount = 0;
+ collidersCount = 0;
if (pWorld is BulletWorldXNA)
{
- DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+ world.LastCollisionDesc = 0;
+ world.LastEntityProperty = 0;
+ world.UpdatedObjects = new BulletXNA.EntityProperties[maxUpdates];
+ world.UpdatedCollisions = new BulletXNA.CollisionDesc[maxCollisions];
numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep);
int updates = 0;
- updatedEntityCount = world.UpdatedObjects.Count;
- updatedEntities = new List<BulletXNA.EntityProperties>(world.UpdatedObjects);
- updatedEntityCount = updatedEntities.Count;
- world.UpdatedObjects.Clear();
+
- collidersCount = world.UpdatedCollisions.Count;
- colliders = new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions);
-
- world.UpdatedCollisions.Clear();
m_collisionsThisFrame = 0;
int numManifolds = world.GetDispatcher().GetNumManifolds();
for (int j = 0; j < numManifolds; j++)
@@ -1493,16 +1683,31 @@ private sealed class BulletConstraintXNA : BulletConstraint
}
+ updatedEntityCount = world.LastEntityProperty;
+ updatedEntities = GetBulletSimEntityStruct(BulletXNAEntityStructToByteArray(world.UpdatedObjects, world.LastEntityProperty));
+
+
+
+
+ collidersCount = world.LastCollisionDesc;
+ colliders =
+ GetBulletSimCollisionStruct(BulletXNACollisionStructToByteArray(world.UpdatedCollisions, world.LastCollisionDesc));//new List<BulletXNA.CollisionDesc>(world.UpdatedCollisions);
}
else
{
//if (updatedEntities is null)
- updatedEntities = new List<BulletXNA.EntityProperties>();
- updatedEntityCount = 0;
+ //updatedEntities = new List<BulletXNA.EntityProperties>();
+ //updatedEntityCount = 0;
//if (colliders is null)
- colliders = new List<BulletXNA.CollisionDesc>();
- collidersCount = 0;
+ //colliders = new List<BulletXNA.CollisionDesc>();
+ //collidersCount = 0;
+
+ updatedEntities = new EntityProperties[0];
+
+
+ colliders = new CollisionDesc[0];
+
}
return numSimSteps;
}
@@ -1535,22 +1740,23 @@ private sealed class BulletConstraintXNA : BulletConstraint
point = contact,
normal = contactNormal
};
- world.UpdatedCollisions.Add(cDesc);
+ if (world.LastCollisionDesc < world.UpdatedCollisions.Length)
+ world.UpdatedCollisions[world.LastCollisionDesc++] = (cDesc);
m_collisionsThisFrame++;
}
- private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pBody)
+ private static EntityProperties GetDebugProperties(BulletWorld pWorld, BulletBody pCollisionObject)
{
EntityProperties ent = new EntityProperties();
- DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
- RigidBody body = ((BulletBodyXNA)pBody).rigidBody;
- IndexedMatrix transform = body.GetWorldTransform();
- IndexedVector3 LinearVelocity = body.GetInterpolationLinearVelocity();
- IndexedVector3 AngularVelocity = body.GetInterpolationAngularVelocity();
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
+ CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody;
+ IndexedMatrix transform = collisionObject.GetWorldTransform();
+ IndexedVector3 LinearVelocity = collisionObject.GetInterpolationLinearVelocity();
+ IndexedVector3 AngularVelocity = collisionObject.GetInterpolationAngularVelocity();
IndexedQuaternion rotation = transform.GetRotation();
ent.Acceleration = Vector3.Zero;
- ent.ID = (uint)body.GetUserPointer();
+ ent.ID = (uint)collisionObject.GetUserPointer();
ent.Position = new Vector3(transform._origin.X,transform._origin.Y,transform._origin.Z);
ent.Rotation = new Quaternion(rotation.X,rotation.Y,rotation.Z,rotation.W);
ent.Velocity = new Vector3(LinearVelocity.X, LinearVelocity.Y, LinearVelocity.Z);
@@ -1562,19 +1768,19 @@ private sealed class BulletConstraintXNA : BulletConstraint
public override Vector3 GetLocalScaling(BulletShape pShape)
{
- CollisionShape shape = ((BulletShapeXNA)pShape).shape;
+ CollisionShape shape = (pShape as BulletShapeXNA).shape;
IndexedVector3 scale = shape.GetLocalScaling();
return new Vector3(scale.X,scale.Y,scale.Z);
}
public bool RayCastGround(BulletWorld pWorld, Vector3 _RayOrigin, float pRayHeight, BulletBody NotMe)
{
- DiscreteDynamicsWorld world = ((BulletWorldXNA)pWorld).world;
+ DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world;
if (world != null)
{
if (NotMe is BulletBodyXNA && NotMe.HasPhysicalBody)
{
- CollisionObject AvoidBody = ((BulletBodyXNA)NotMe).body;
+ CollisionObject AvoidBody = (NotMe as BulletBodyXNA).body;
IndexedVector3 rOrigin = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z);
IndexedVector3 rEnd = new IndexedVector3(_RayOrigin.X, _RayOrigin.Y, _RayOrigin.Z - pRayHeight);
@@ -1594,5 +1800,160 @@ private sealed class BulletConstraintXNA : BulletConstraint
}
return false;
}
+
+ public static unsafe BulletXNA.CollisionDesc[] GetBulletXNACollisionStruct(byte[] buffer)
+ {
+ int count = buffer.Length/sizeof (BulletXNA.CollisionDesc);
+ BulletXNA.CollisionDesc[] result = new BulletXNA.CollisionDesc[count];
+ BulletXNA.CollisionDesc* ptr;
+ fixed (byte* localBytes = new byte[buffer.Length])
+ {
+ for (int i = 0; i < buffer.Length; i++)
+ {
+ localBytes[i] = buffer[i];
+ }
+ for (int i=0;i<count;i++)
+ {
+ ptr = (BulletXNA.CollisionDesc*) (localBytes + sizeof (BulletXNA.CollisionDesc)*i);
+ result[i] = new BulletXNA.CollisionDesc();
+ result[i] = *ptr;
+ }
+ }
+ return result;
+ }
+
+ public static unsafe CollisionDesc[] GetBulletSimCollisionStruct(byte[] buffer)
+ {
+ int count = buffer.Length / sizeof(CollisionDesc);
+ CollisionDesc[] result = new CollisionDesc[count];
+ CollisionDesc* ptr;
+ fixed (byte* localBytes = new byte[buffer.Length])
+ {
+ for (int i = 0; i < buffer.Length; i++)
+ {
+ localBytes[i] = buffer[i];
+ }
+ for (int i = 0; i < count; i++)
+ {
+ ptr = (CollisionDesc*)(localBytes + sizeof(CollisionDesc) * i);
+ result[i] = new CollisionDesc();
+ result[i] = *ptr;
+ }
+ }
+ return result;
+ }
+ public static unsafe byte[] BulletSimCollisionStructToByteArray(CollisionDesc[] CollisionDescArray, int count)
+ {
+ int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length;
+ byte[] byteArray = new byte[sizeof(CollisionDesc) * arrayLength];
+ fixed (CollisionDesc* floatPointer = CollisionDescArray)
+ {
+ fixed (byte* bytePointer = byteArray)
+ {
+ CollisionDesc* read = floatPointer;
+ CollisionDesc* write = (CollisionDesc*)bytePointer;
+ for (int i = 0; i < arrayLength; i++)
+ {
+ *write++ = *read++;
+ }
+ }
+ }
+ return byteArray;
+ }
+ public static unsafe byte[] BulletXNACollisionStructToByteArray(BulletXNA.CollisionDesc[] CollisionDescArray, int count)
+ {
+ int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length;
+ byte[] byteArray = new byte[sizeof(BulletXNA.CollisionDesc) * arrayLength];
+ fixed (BulletXNA.CollisionDesc* floatPointer = CollisionDescArray)
+ {
+ fixed (byte* bytePointer = byteArray)
+ {
+ BulletXNA.CollisionDesc* read = floatPointer;
+ BulletXNA.CollisionDesc* write = (BulletXNA.CollisionDesc*)bytePointer;
+ for (int i = 0; i < arrayLength; i++)
+ {
+ *write++ = *read++;
+ }
+ }
+ }
+ return byteArray;
+ }
+ public static unsafe BulletXNA.EntityProperties[] GetBulletXNAEntityStruct(byte[] buffer)
+ {
+ int count = buffer.Length / sizeof(BulletXNA.EntityProperties);
+ BulletXNA.EntityProperties[] result = new BulletXNA.EntityProperties[count];
+ BulletXNA.EntityProperties* ptr;
+ fixed (byte* localBytes = new byte[buffer.Length])
+ {
+ for (int i = 0; i < buffer.Length; i++)
+ {
+ localBytes[i] = buffer[i];
+ }
+ for (int i = 0; i < count; i++)
+ {
+ ptr = (BulletXNA.EntityProperties*)(localBytes + sizeof(BulletXNA.EntityProperties) * i);
+ result[i] = new BulletXNA.EntityProperties();
+ result[i] = *ptr;
+ }
+ }
+ return result;
+ }
+
+ public static unsafe EntityProperties[] GetBulletSimEntityStruct(byte[] buffer)
+ {
+ int count = buffer.Length / sizeof(EntityProperties);
+ EntityProperties[] result = new EntityProperties[count];
+ EntityProperties* ptr;
+ fixed (byte* localBytes = new byte[buffer.Length])
+ {
+ for (int i = 0; i < buffer.Length; i++)
+ {
+ localBytes[i] = buffer[i];
+ }
+ for (int i = 0; i < count; i++)
+ {
+ ptr = (EntityProperties*)(localBytes + sizeof(EntityProperties) * i);
+ result[i] = new EntityProperties();
+ result[i] = *ptr;
+ }
+ }
+ return result;
+ }
+ public static unsafe byte[] BulletSimEntityStructToByteArray(EntityProperties[] CollisionDescArray, int count)
+ {
+ int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length;
+ byte[] byteArray = new byte[sizeof(EntityProperties) * arrayLength];
+ fixed (EntityProperties* floatPointer = CollisionDescArray)
+ {
+ fixed (byte* bytePointer = byteArray)
+ {
+ EntityProperties* read = floatPointer;
+ EntityProperties* write = (EntityProperties*)bytePointer;
+ for (int i = 0; i < arrayLength; i++)
+ {
+ *write++ = *read++;
+ }
+ }
+ }
+ return byteArray;
+ }
+ public static unsafe byte[] BulletXNAEntityStructToByteArray(BulletXNA.EntityProperties[] CollisionDescArray, int count)
+ {
+ int arrayLength = CollisionDescArray.Length > count ? count : CollisionDescArray.Length;
+ byte[] byteArray = new byte[sizeof(BulletXNA.EntityProperties) * arrayLength];
+ fixed (BulletXNA.EntityProperties* floatPointer = CollisionDescArray)
+ {
+ fixed (byte* bytePointer = byteArray)
+ {
+ BulletXNA.EntityProperties* read = floatPointer;
+ BulletXNA.EntityProperties* write = (BulletXNA.EntityProperties*)bytePointer;
+ for (int i = 0; i < arrayLength; i++)
+ {
+ *write++ = *read++;
+ }
+ }
+ }
+ return byteArray;
+ }
}
}
diff --git a/bin/BulletXNA.dll b/bin/BulletXNA.dll
index 1e3f04253f06eb6016cf3c3e51b4fd16f8d0581c..5e69b2e28b0c77f067815179810a3bba5dd859a4 100644
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diff --git a/bin/BulletXNA.pdb b/bin/BulletXNA.pdb
index 4b83b83f2881d90a004c352b1d48c7b980259962..3d4906f44dbc28b6d769b3291e381eebfb470a97 100644
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diff --git a/bin/OpenSimDefaults.ini b/bin/OpenSimDefaults.ini
index 54b88b4875..889865b618 100644
--- a/bin/OpenSimDefaults.ini
+++ b/bin/OpenSimDefaults.ini
@@ -908,6 +908,19 @@
[BulletSim]
; World parameters
+
+ ; There are two bullet physics libraries, bulletunmanaged is the default and is a native c++ dll
+ ; bulletxna is a managed C# dll. They have comparible functionality.. the c++ is much faster.
+
+ BulletEngine = "bulletunmanaged"
+ ; BulletEngine = "bulletxna"
+
+ ; Terrain Implementation {1|0} 0 for HeightField, 1 for Mesh terrain. If you're using the bulletxna engine,
+ ; you will want to switch to the heightfield option
+
+ TerrainImplementation = 1
+ ; TerrainImplementation = 0
+
DefaultFriction = 0.20
DefaultDensity = 10.000006836
DefaultRestitution = 0.0
@@ -959,6 +972,7 @@
PhysicsLoggingEnabled = False
PhysicsLoggingDir = "."
VehicleLoggingEnabled = False
+
[RemoteAdmin]
enabled = false
diff --git a/prebuild.xml b/prebuild.xml
index bb9b7d6de4..37b406cda7 100644
--- a/prebuild.xml
+++ b/prebuild.xml
@@ -1759,40 +1759,6 @@
</Files>
</Project>
- <Project frameworkVersion="v3_5" name="OpenSim.Region.Physics.BulletSNPlugin" path="OpenSim/Region/Physics/BulletSNPlugin" 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="BulletXNA.dll" path="../../../../bin/"/>
- <Reference name="log4net.dll" path="../../../../bin/"/>
-
- <Files>
- <Match pattern="*.cs" recurse="true">
- <Exclude name="Tests" pattern="Tests"/>
- </Match>
- </Files>
- </Project>
-
<!-- OpenSim app -->
<Project frameworkVersion="v3_5" name="OpenSim" path="OpenSim/Region/Application" type="Exe">
<Configuration name="Debug">
From 3b0df52d10c157cd2711d64ef9007d2afccbd468 Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Sun, 20 Jan 2013 09:33:13 -0800
Subject: [PATCH 20/36] BulletSim: modify motors to return correction rather
than current value to better use them for incremental updates. Modify prim
and character to use the new motors. Simplify the vehicle linear movement
code to just update the velocity directly or the basic movement.
---
.../Physics/BulletSPlugin/BSCharacter.cs | 3 +-
.../Physics/BulletSPlugin/BSDynamics.cs | 41 +++++++------------
.../Region/Physics/BulletSPlugin/BSMotors.cs | 25 +++++++----
.../Region/Physics/BulletSPlugin/BSPrim.cs | 2 +-
.../Physics/BulletSPlugin/BulletSimTODO.txt | 3 ++
5 files changed, 36 insertions(+), 38 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 478aeab799..696c4bde07 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -198,7 +198,8 @@ public sealed class BSCharacter : BSPhysObject
// TODO: Decide if the step parameters should be changed depending on the avatar's
// state (flying, colliding, ...). There is code in ODE to do this.
- OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep);
+ _velocityMotor.Step(timeStep);
+ OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue;
// If falling, we keep the world's downward vector no matter what the other axis specify.
if (!Flying && !IsColliding)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index f2c7cec0b3..7c9b83bc6b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -957,39 +957,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin
public void ComputeLinearVelocity(float pTimestep)
{
- Vector3 linearMotorStep = m_linearMotor.Step(pTimestep);
+ // Step the motor from the current value. Get the correction needed this step.
+ Vector3 currentVel = VehicleVelocity * Quaternion.Inverse(VehicleOrientation);
+ Vector3 linearMotorCorrection = m_linearMotor.Step(pTimestep, currentVel);
- // The movement computed in the linear motor is relative to the vehicle
- // coordinates. Rotate the movement to world coordinates.
- Vector3 linearMotorVelocity = linearMotorStep * VehicleOrientation;
+ // Motor is vehicle coordinates. Rotate it to world coordinates
+ Vector3 linearMotorVelocity = linearMotorCorrection * VehicleOrientation;
- // If we're a ground vehicle, don't loose any Z action (like gravity acceleration).
- float mixFactor = 1f; // 1 means use all linear motor Z value, 0 means use all existing Z
+ // If we're a ground vehicle, don't add any upward Z movement
if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
{
- if (!Prim.IsColliding)
- {
- // If a ground vehicle and not on the ground, I want gravity effect
- mixFactor = 0.2f;
- }
+ if (linearMotorVelocity.Z > 0f)
+ linearMotorVelocity.Z = 0f;
}
- else
- {
- // I'm not a ground vehicle but don't totally loose the effect of the environment
- mixFactor = 0.8f;
- }
- linearMotorVelocity.Z = mixFactor * linearMotorVelocity.Z + (1f - mixFactor) * VehicleVelocity.Z;
- // What we want to contribute to the vehicle's existing velocity
- Vector3 linearMotorForce = linearMotorVelocity - VehicleVelocity;
+ // Add this correction to the velocity to make it faster/slower.
+ VehicleVelocity += linearMotorVelocity;
- // Act against the inertia of the vehicle
- linearMotorForce *= m_vehicleMass;
-
- VehicleAddForceImpulse(linearMotorForce * pTimestep);
-
- VDetailLog("{0}, MoveLinear,velocity,vehVel={1},step={2},stepVel={3},mix={4},force={5}",
- Prim.LocalID, VehicleVelocity, linearMotorStep, linearMotorVelocity, mixFactor, linearMotorForce);
+ VDetailLog("{0}, MoveLinear,velocity,vehVel={1},correction={2},force={3}",
+ Prim.LocalID, VehicleVelocity, linearMotorCorrection, linearMotorVelocity);
}
public void ComputeLinearTerrainHeightCorrection(float pTimestep)
@@ -1204,6 +1190,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
// The user wants this many radians per second angular change?
Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
+ angularMotorContribution = m_angularMotor.CurrentValue;
// ==================================================================
// From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
@@ -1234,7 +1221,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
+ deflectionContribution
+ bankingContribution;
- // Add of the above computation are made relative to vehicle coordinates.
+ // All of the above computation are made relative to vehicle coordinates.
// Convert to world coordinates.
m_lastAngularVelocity *= VehicleOrientation;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index 6d0db2e4e4..82fd2d2018 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -138,7 +138,8 @@ public class BSVMotor : BSMotor
CurrentValue = TargetValue = Vector3.Zero;
}
- // Compute the next step and return the new current value
+ // Compute the next step and return the new current value.
+ // Returns the correction needed to move 'current' to 'target'.
public virtual Vector3 Step(float timeStep)
{
if (!Enabled) return TargetValue;
@@ -150,7 +151,7 @@ public class BSVMotor : BSMotor
Vector3 error = TargetValue - CurrentValue;
if (!ErrorIsZero(error))
{
- correction = Step(timeStep, error);
+ correction = StepError(timeStep, error);
CurrentValue += correction;
@@ -187,14 +188,20 @@ public class BSVMotor : BSMotor
else
{
// Difference between what we have and target is small. Motor is done.
- CurrentValue = TargetValue;
+ CurrentValue = TargetValue = Vector3.Zero;
MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
}
- return CurrentValue;
+ return correction;
}
- public virtual Vector3 Step(float timeStep, Vector3 error)
+ // version of step that sets the current value before doing the step
+ public virtual Vector3 Step(float timeStep, Vector3 current)
+ {
+ CurrentValue = current;
+ return Step(timeStep);
+ }
+ public virtual Vector3 StepError(float timeStep, Vector3 error)
{
if (!Enabled) return Vector3.Zero;
@@ -304,7 +311,7 @@ public class BSFMotor : BSMotor
float error = TargetValue - CurrentValue;
if (!ErrorIsZero(error))
{
- correction = Step(timeStep, error);
+ correction = StepError(timeStep, error);
CurrentValue += correction;
@@ -347,7 +354,7 @@ public class BSFMotor : BSMotor
return CurrentValue;
}
- public virtual float Step(float timeStep, float error)
+ public virtual float StepError(float timeStep, float error)
{
if (!Enabled) return 0f;
@@ -440,8 +447,8 @@ public class BSPIDVMotor : BSVMotor
}
}
- // Ignore Current and Target Values and just advance the PID computation on this error.
- public override Vector3 Step(float timeStep, Vector3 error)
+ // Advance the PID computation on this error.
+ public override Vector3 StepError(float timeStep, Vector3 error)
{
if (!Enabled) return Vector3.Zero;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index aaa6fe580d..22afdc9613 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1082,7 +1082,7 @@ public sealed class BSPrim : BSPhysObject
OMV.Vector3 origPosition = RawPosition; // DEBUG DEBUG (for printout below)
// 'movePosition' is where we'd like the prim to be at this moment.
- OMV.Vector3 movePosition = _targetMotor.Step(timeStep);
+ OMV.Vector3 movePosition = RawPosition + _targetMotor.Step(timeStep);
// If we are very close to our target, turn off the movement motor.
if (_targetMotor.ErrorIsZero())
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index 9bfec19e0e..23b7ca85d9 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -74,7 +74,10 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
GENERAL TODO LIST:
=================================================
Implement llSetPhysicalMaterial.
+ extend it with Center-of-mass, rolling friction, density
Implement llSetForceAndTorque.
+Change BSPrim.moveToTarget to used forces rather than changing position
+ Changing position allows one to move through walls
Implement an avatar mesh shape. The Bullet capsule is way too limited.
Consider just hand creating a vertex/index array in a new BSShapeAvatar.
Verify/fix phantom, volume-detect objects do not fall to infinity. Should stop at terrain.
From 2cb1d5240e41639b9c84aa6607aab0df49f353a7 Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Sun, 20 Jan 2013 13:11:00 -0800
Subject: [PATCH 21/36] BulletSim: small fix making sure terrain height is
calculated properly if the vehicle moves during vehicle actions.
---
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 7c9b83bc6b..388d4f9001 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -720,10 +720,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Since the computation of terrain height can be a little involved, this routine
// is used to fetch the height only once for each vehicle simulation step.
+ Vector3 lastRememberedHeightPos;
private float GetTerrainHeight(Vector3 pos)
{
- if ((m_knownHas & m_knownChangedTerrainHeight) == 0)
+ if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos)
{
+ lastRememberedHeightPos = pos;
m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
m_knownHas |= m_knownChangedTerrainHeight;
}
From 3c4868f61362c2c86cef9f98e197362f57ca627b Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Sun, 20 Jan 2013 19:13:18 -0800
Subject: [PATCH 22/36] BulletSim: fix problem of avatar sliding very slowly
occasionally after stopping walking. Consolidate movement tests into the one
prestep motion action
---
.../Physics/BulletSPlugin/BSCharacter.cs | 75 ++++++++++---------
1 file changed, 41 insertions(+), 34 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 696c4bde07..cd279e31c5 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -56,6 +56,7 @@ public sealed class BSCharacter : BSPhysObject
private int _physicsActorType;
private bool _isPhysical;
private bool _flying;
+ private bool _wasWalking; // 'true' if the avatar was walking/moving last frame
private bool _setAlwaysRun;
private bool _throttleUpdates;
private bool _floatOnWater;
@@ -83,6 +84,7 @@ public sealed class BSCharacter : BSPhysObject
_position = pos;
_flying = isFlying;
+ _wasWalking = true; // causes first step to initialize standing
_orientation = OMV.Quaternion.Identity;
_velocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
@@ -199,25 +201,51 @@ public sealed class BSCharacter : BSPhysObject
// state (flying, colliding, ...). There is code in ODE to do this.
_velocityMotor.Step(timeStep);
- OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue;
- // If falling, we keep the world's downward vector no matter what the other axis specify.
- if (!Flying && !IsColliding)
+ // If we're not supposed to be moving, make sure things are zero.
+ if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f))
{
- stepVelocity.Z = _velocity.Z;
- // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
+ if (_wasWalking)
+ {
+ _velocityMotor.Zero();
+ _velocity = OMV.Vector3.Zero;
+ PhysicsScene.PE.SetLinearVelocity(PhysBody, OMV.Vector3.Zero);
+ _currentFriction = BSParam.AvatarStandingFriction;
+ PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
+ // DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue);
+ }
+ _wasWalking = false;
}
+ else
+ {
+ OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue;
- // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force.
- OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass;
+ if (_currentFriction != BSParam.AvatarFriction)
+ {
+ // Probably starting up walking. Set friction to moving friction.
+ _currentFriction = BSParam.AvatarFriction;
+ PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
+ }
- // Should we check for move force being small and forcing velocity to zero?
+ // If falling, we keep the world's downward vector no matter what the other axis specify.
+ if (!Flying && !IsColliding)
+ {
+ stepVelocity.Z = _velocity.Z;
+ // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
+ }
- // Add special movement force to allow avatars to walk up stepped surfaces.
- moveForce += WalkUpStairs();
+ // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force.
+ OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass;
- // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
- PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce);
+ // Should we check for move force being small and forcing velocity to zero?
+
+ // Add special movement force to allow avatars to walk up stepped surfaces.
+ moveForce += WalkUpStairs();
+
+ // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
+ PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce);
+ _wasWalking = true;
+ }
});
}
@@ -560,27 +588,6 @@ public sealed class BSCharacter : BSPhysObject
PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
_velocity = value;
- // Depending on whether the avatar is moving or not, change the friction
- // to keep the avatar from slipping around
- if (_velocity.Length() == 0)
- {
- if (_currentFriction != BSParam.AvatarStandingFriction)
- {
- _currentFriction = BSParam.AvatarStandingFriction;
- if (PhysBody.HasPhysicalBody)
- PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
- }
- }
- else
- {
- if (_currentFriction != BSParam.AvatarFriction)
- {
- _currentFriction = BSParam.AvatarFriction;
- if (PhysBody.HasPhysicalBody)
- PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
- }
- }
-
PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
PhysicsScene.PE.Activate(PhysBody, true);
}
@@ -855,7 +862,7 @@ public sealed class BSCharacter : BSPhysObject
_position = entprop.Position;
_orientation = entprop.Rotation;
- // Smooth velocity. OpenSimulator is very sensitive to changes in velocity of the avatar
+ // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar
// and will send agent updates to the clients if velocity changes by more than
// 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many
// extra updates.
From 52b341e2e24384395fddc7d32fd66358f5062468 Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Sun, 20 Jan 2013 22:35:42 -0800
Subject: [PATCH 23/36] BulletSim: More aggressive as setting character
velocity to zero when should be standing. Modify angular force routines to be
the same pattern as linear force routines. BulletSim vehicle turning is
scaled like SL and is DIFFERENT THAN ODE!! Fix some bugs in BSMotor dealing
with the motor going to zero. Add a bunch of parameters: MaxLinearVelocity,
MaxAngularVelocity, MaxAddForceMagnitude, VehicleMaxLinearVelocity,
VehicleMaxAngularVelocity, and most of the values are defaulted to values
that are larger than in SL. Use the new parameters in BSPrim, BSCharacter and
BSDynamic.
---
.../Physics/BulletSPlugin/BSCharacter.cs | 30 +++-
.../Physics/BulletSPlugin/BSDynamics.cs | 151 +++++++++---------
.../Region/Physics/BulletSPlugin/BSMotors.cs | 26 ++-
.../Region/Physics/BulletSPlugin/BSParam.cs | 32 +++-
.../Region/Physics/BulletSPlugin/BSPrim.cs | 13 +-
5 files changed, 157 insertions(+), 95 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index cd279e31c5..a9e16e685d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -200,20 +200,36 @@ public sealed class BSCharacter : BSPhysObject
// TODO: Decide if the step parameters should be changed depending on the avatar's
// state (flying, colliding, ...). There is code in ODE to do this.
+ // COMMENTARY: when the user is making the avatar walk, except for falling, the velocity
+ // specified for the avatar is the one that should be used. For falling, if the avatar
+ // is not flying and is not colliding then it is presumed to be falling and the Z
+ // component is not fooled with (thus allowing gravity to do its thing).
+ // When the avatar is standing, though, the user has specified a velocity of zero and
+ // the avatar should be standing. But if the avatar is pushed by something in the world
+ // (raising elevator platform, moving vehicle, ...) the avatar should be allowed to
+ // move. Thus, the velocity cannot be forced to zero. The problem is that small velocity
+ // errors can creap in and the avatar will slowly float off in some direction.
+ // So, the problem is that, when an avatar is standing, we cannot tell creaping error
+ // from real pushing.OMV.Vector3.Zero;
+ // The code below keeps setting the velocity to zero hoping the world will keep pushing.
+
_velocityMotor.Step(timeStep);
// If we're not supposed to be moving, make sure things are zero.
- if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f))
+ if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero && IsColliding)
{
- if (_wasWalking)
+ // The avatar shouldn't be moving
+ _velocityMotor.Zero();
+ ZeroMotion(true /* inTaintTime */);
+
+ // Standing has more friction on the ground
+ if (_currentFriction != BSParam.AvatarStandingFriction)
{
- _velocityMotor.Zero();
- _velocity = OMV.Vector3.Zero;
- PhysicsScene.PE.SetLinearVelocity(PhysBody, OMV.Vector3.Zero);
_currentFriction = BSParam.AvatarStandingFriction;
PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
- // DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue);
}
+ DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue);
+
_wasWalking = false;
}
else
@@ -242,7 +258,7 @@ public sealed class BSCharacter : BSPhysObject
// Add special movement force to allow avatars to walk up stepped surfaces.
moveForce += WalkUpStairs();
- // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
+ DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce);
_wasWalking = true;
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 388d4f9001..f8fc3de446 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -231,6 +231,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
break;
case Vehicle.ANGULAR_MOTOR_DIRECTION:
m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
+ m_angularMotor.Zero();
m_angularMotor.SetTarget(m_angularMotorDirection);
break;
case Vehicle.LINEAR_FRICTION_TIMESCALE:
@@ -264,6 +265,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f);
pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f);
m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
+ m_angularMotor.Zero();
m_angularMotor.SetTarget(m_angularMotorDirection);
break;
case Vehicle.LINEAR_FRICTION_TIMESCALE:
@@ -945,10 +947,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// ==================================================================
// Clamp high or low velocities
float newVelocityLengthSq = VehicleVelocity.LengthSquared();
- if (newVelocityLengthSq > 1000f)
+ if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocity)
{
VehicleVelocity /= VehicleVelocity.Length();
- VehicleVelocity *= 1000f;
+ VehicleVelocity *= BSParam.VehicleMaxLinearVelocity;
}
else if (newVelocityLengthSq < 0.001f)
VehicleVelocity = Vector3.Zero;
@@ -1190,63 +1192,33 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// set directly on the vehicle.
private void MoveAngular(float pTimestep)
{
- // The user wants this many radians per second angular change?
- Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
- angularMotorContribution = m_angularMotor.CurrentValue;
+ VehicleRotationalVelocity = Vector3.Zero;
+
+ ComputeAngularTurning(pTimestep);
+
+ ComputeAngularVerticalAttraction();
+
+ ComputeAngularDeflection();
+
+ ComputeAngularBanking();
// ==================================================================
- // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
- // This flag prevents linear deflection parallel to world z-axis. This is useful
- // for preventing ground vehicles with large linear deflection, like bumper cars,
- // from climbing their linear deflection into the sky.
- // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
- // TODO: This is here because this is where ODE put it but documentation says it
- // is a linear effect. Where should this check go?
- if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
- {
- angularMotorContribution.X = 0f;
- angularMotorContribution.Y = 0f;
- VDetailLog("{0}, MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
- }
-
- Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction();
-
- Vector3 deflectionContribution = ComputeAngularDeflection();
-
- Vector3 bankingContribution = ComputeAngularBanking();
-
- // ==================================================================
- m_lastVertAttractor = verticalAttractionContribution;
-
- m_lastAngularVelocity = angularMotorContribution
- + verticalAttractionContribution
- + deflectionContribution
- + bankingContribution;
-
// All of the above computation are made relative to vehicle coordinates.
// Convert to world coordinates.
- m_lastAngularVelocity *= VehicleOrientation;
+ // TODO: Should this be applied as an angular force (torque)?
+ VehicleRotationalVelocity *= VehicleOrientation;
// ==================================================================
- // Apply the correction velocity.
- // TODO: Should this be applied as an angular force (torque)?
- if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
- {
- VehicleRotationalVelocity = m_lastAngularVelocity;
-
- VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}",
- Prim.LocalID,
- angularMotorContribution, verticalAttractionContribution,
- bankingContribution, deflectionContribution,
- m_lastAngularVelocity
- );
- }
- else
+ if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.01f))
{
// The vehicle is not adding anything angular wise.
VehicleRotationalVelocity = Vector3.Zero;
VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID);
}
+ else
+ {
+ VDetailLog("{0}, MoveAngular,done,nonZero,angVel={1}", Prim.LocalID, VehicleRotationalVelocity);
+ }
// ==================================================================
//Offset section
@@ -1280,6 +1252,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin
}
}
+
+ private void ComputeAngularTurning(float pTimestep)
+ {
+ // The user wants this many radians per second angular change?
+ Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
+
+ // ==================================================================
+ // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
+ // This flag prevents linear deflection parallel to world z-axis. This is useful
+ // for preventing ground vehicles with large linear deflection, like bumper cars,
+ // from climbing their linear deflection into the sky.
+ // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
+ // TODO: This is here because this is where ODE put it but documentation says it
+ // is a linear effect. Where should this check go?
+ if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
+ {
+ angularMotorContribution.X = 0f;
+ angularMotorContribution.Y = 0f;
+ }
+
+ VehicleRotationalVelocity += angularMotorContribution;
+ VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
+ }
+
// From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
// Some vehicles, like boats, should always keep their up-side up. This can be done by
// enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to
@@ -1288,13 +1284,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An
// efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an
// efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay.
- public Vector3 ComputeAngularVerticalAttraction()
+ public void ComputeAngularVerticalAttraction()
{
- Vector3 ret = Vector3.Zero;
-
// If vertical attaction timescale is reasonable
if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
{
+ Vector3 vertContribution = Vector3.Zero;
+
// Take a vector pointing up and convert it from world to vehicle relative coords.
Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
@@ -1308,37 +1304,36 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Y error means needed rotation around X axis and visa versa.
// Since the error goes from zero to one, the asin is the corresponding angle.
- ret.X = (float)Math.Asin(verticalError.Y);
+ vertContribution.X = (float)Math.Asin(verticalError.Y);
// (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
- ret.Y = -(float)Math.Asin(verticalError.X);
+ vertContribution.Y = -(float)Math.Asin(verticalError.X);
// If verticalError.Z is negative, the vehicle is upside down. Add additional push.
if (verticalError.Z < 0f)
{
- ret.X += PIOverFour;
- ret.Y += PIOverFour;
+ vertContribution.X += PIOverFour;
+ vertContribution.Y += PIOverFour;
}
- // 'ret' is now the necessary velocity to correct tilt in one second.
+ // 'vertContrbution' is now the necessary angular correction to correct tilt in one second.
// Correction happens over a number of seconds.
- Vector3 unscaledContrib = ret;
- ret /= m_verticalAttractionTimescale;
+ Vector3 unscaledContrib = vertContribution; // DEBUG DEBUG
+ vertContribution /= m_verticalAttractionTimescale;
+
+ VehicleRotationalVelocity += vertContribution;
VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}",
- Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, ret);
+ Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContribution);
}
- return ret;
}
- // Return the angular correction to correct the direction the vehicle is pointing to be
+ // Angular correction to correct the direction the vehicle is pointing to be
// the direction is should want to be pointing.
// The vehicle is moving in some direction and correct its orientation to it is pointing
// in that direction.
// TODO: implement reference frame.
- public Vector3 ComputeAngularDeflection()
+ public void ComputeAngularDeflection()
{
- Vector3 ret = Vector3.Zero;
-
// Since angularMotorUp and angularDeflection are computed independently, they will calculate
// approximately the same X or Y correction. When added together (when contributions are combined)
// this creates an over-correction and then wabbling as the target is overshot.
@@ -1346,6 +1341,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2)
{
+ Vector3 deflectContribution = Vector3.Zero;
+
// The direction the vehicle is moving
Vector3 movingDirection = VehicleVelocity;
movingDirection.Normalize();
@@ -1371,18 +1368,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);
// Scale the correction by recovery timescale and efficiency
- ret = (-deflectionError) * m_angularDeflectionEfficiency;
- ret /= m_angularDeflectionTimescale;
+ deflectContribution = (-deflectionError) * m_angularDeflectionEfficiency;
+ deflectContribution /= m_angularDeflectionTimescale;
+
+ VehicleRotationalVelocity += deflectContribution;
VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
- Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret);
+ Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContribution);
VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}",
Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale);
}
- return ret;
}
- // Return an angular change to rotate the vehicle around the Z axis when the vehicle
+ // Angular change to rotate the vehicle around the Z axis when the vehicle
// is tipped around the X axis.
// From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
// The vertical attractor feature must be enabled in order for the banking behavior to
@@ -1413,12 +1411,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to
// bank quickly then give it a banking timescale of about a second or less, otherwise you can
// make a sluggish vehicle by giving it a timescale of several seconds.
- public Vector3 ComputeAngularBanking()
+ public void ComputeAngularBanking()
{
- Vector3 ret = Vector3.Zero;
-
if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
{
+ Vector3 bankingContribution = Vector3.Zero;
+
// Rotate a UnitZ vector (pointing up) to how the vehicle is oriented.
// As the vehicle rolls to the right or left, the Y value will increase from
// zero (straight up) to 1 or -1 (full tilt right or left)
@@ -1435,15 +1433,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f);
// Build the force vector to change rotation from what it is to what it should be
- ret.Z = -mixedYawAngle;
+ bankingContribution.Z = -mixedYawAngle;
// Don't do it all at once.
- ret /= m_bankingTimescale;
+ bankingContribution /= m_bankingTimescale;
+
+ VehicleRotationalVelocity += bankingContribution;
VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}",
- Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, ret);
+ Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContribution);
}
- return ret;
}
// This is from previous instantiations of XXXDynamics.cs.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index 82fd2d2018..9501e2d4fe 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -149,6 +149,7 @@ public class BSVMotor : BSMotor
Vector3 correction = Vector3.Zero;
Vector3 error = TargetValue - CurrentValue;
+ LastError = error;
if (!ErrorIsZero(error))
{
correction = StepError(timeStep, error);
@@ -188,9 +189,15 @@ public class BSVMotor : BSMotor
else
{
// Difference between what we have and target is small. Motor is done.
- CurrentValue = TargetValue = Vector3.Zero;
- MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
- BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
+ if (TargetValue.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
+ {
+ // The target can step down to nearly zero but not get there. If close to zero
+ // it is really zero.
+ TargetValue = Vector3.Zero;
+ }
+ CurrentValue = TargetValue;
+ MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},currTgt={4},currCurr={5}",
+ BSScene.DetailLogZero, UseName, origCurrVal, origTarget, TargetValue, CurrentValue);
}
return correction;
@@ -205,9 +212,8 @@ public class BSVMotor : BSMotor
{
if (!Enabled) return Vector3.Zero;
- LastError = error;
Vector3 returnCorrection = Vector3.Zero;
- if (!ErrorIsZero())
+ if (!ErrorIsZero(error))
{
// correction = error / secondsItShouldTakeToCorrect
Vector3 correctionAmount;
@@ -309,6 +315,7 @@ public class BSFMotor : BSMotor
float correction = 0f;
float error = TargetValue - CurrentValue;
+ LastError = error;
if (!ErrorIsZero(error))
{
correction = StepError(timeStep, error);
@@ -346,6 +353,12 @@ public class BSFMotor : BSMotor
else
{
// Difference between what we have and target is small. Motor is done.
+ if (Util.InRange<float>(TargetValue, -ErrorZeroThreshold, ErrorZeroThreshold))
+ {
+ // The target can step down to nearly zero but not get there. If close to zero
+ // it is really zero.
+ TargetValue = 0f;
+ }
CurrentValue = TargetValue;
MDetailLog("{0}, BSFMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
@@ -358,9 +371,8 @@ public class BSFMotor : BSMotor
{
if (!Enabled) return 0f;
- LastError = error;
float returnCorrection = 0f;
- if (!ErrorIsZero())
+ if (!ErrorIsZero(error))
{
// correction = error / secondsItShouldTakeToCorrect
float correctionAmount;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 3e80aa4101..6a92365c50 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -45,6 +45,9 @@ public static class BSParam
public static float MinimumObjectMass { get; private set; }
public static float MaximumObjectMass { get; private set; }
+ public static float MaxLinearVelocity { get; private set; }
+ public static float MaxAngularVelocity { get; private set; }
+ public static float MaxAddForceMagnitude { get; private set; }
public static float LinearDamping { get; private set; }
public static float AngularDamping { get; private set; }
@@ -79,6 +82,8 @@ public static class BSParam
public static float AvatarStepApproachFactor { get; private set; }
public static float AvatarStepForceFactor { get; private set; }
+ public static float VehicleMaxLinearVelocity { get; private set; }
+ public static float VehicleMaxAngularVelocity { get; private set; }
public static float VehicleAngularDamping { get; private set; }
public static float VehicleDebuggingEnabled { get; private set; }
@@ -103,7 +108,6 @@ public static class BSParam
public const float MaxDensity = 22587f;
public const float MinRestitution = 0f;
public const float MaxRestitution = 1f;
- public const float MaxAddForceMagnitude = 20f;
// ===========================================================================
public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
@@ -247,6 +251,22 @@ public static class BSParam
(s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); },
(s) => { return (float)MaximumObjectMass; },
(s,p,l,v) => { MaximumObjectMass = v; } ),
+ new ParameterDefn("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object",
+ 1000.0f,
+ (s,cf,p,v) => { MaxLinearVelocity = cf.GetFloat(p, v); },
+ (s) => { return (float)MaxLinearVelocity; },
+ (s,p,l,v) => { MaxLinearVelocity = v; } ),
+ new ParameterDefn("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object",
+ 1000.0f,
+ (s,cf,p,v) => { MaxAngularVelocity = cf.GetFloat(p, v); },
+ (s) => { return (float)MaxAngularVelocity; },
+ (s,p,l,v) => { MaxAngularVelocity = v; } ),
+ // LL documentation says thie number should be 20f
+ new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)",
+ 200.0f,
+ (s,cf,p,v) => { MaxAddForceMagnitude = cf.GetFloat(p, v); },
+ (s) => { return (float)MaxAddForceMagnitude; },
+ (s,p,l,v) => { MaxAddForceMagnitude = v; } ),
new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
2200f,
@@ -423,6 +443,16 @@ public static class BSParam
(s) => { return AvatarStepForceFactor; },
(s,p,l,v) => { AvatarStepForceFactor = v; } ),
+ new ParameterDefn("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
+ 1000.0f,
+ (s,cf,p,v) => { VehicleMaxLinearVelocity = cf.GetFloat(p, v); },
+ (s) => { return (float)VehicleMaxLinearVelocity; },
+ (s,p,l,v) => { VehicleMaxLinearVelocity = v; } ),
+ new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle",
+ 12.0f,
+ (s,cf,p,v) => { VehicleMaxAngularVelocity = cf.GetFloat(p, v); },
+ (s) => { return (float)VehicleMaxAngularVelocity; },
+ (s,p,l,v) => { VehicleMaxAngularVelocity = v; } ),
new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
0.95f,
(s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 22afdc9613..b63523c305 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -989,10 +989,10 @@ public sealed class BSPrim : BSPhysObject
}
set {
_rotationalVelocity = value;
+ Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
// m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
{
- DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
ForceRotationalVelocity = _rotationalVelocity;
});
}
@@ -1005,6 +1005,7 @@ public sealed class BSPrim : BSPhysObject
_rotationalVelocity = value;
if (PhysBody.HasPhysicalBody)
{
+ DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
ActivateIfPhysical(false);
}
@@ -1193,10 +1194,14 @@ public sealed class BSPrim : BSPhysObject
public override float APIDDamping { set { return; } }
public override void AddForce(OMV.Vector3 force, bool pushforce) {
+ // Per documentation, max force is limited.
+ OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
+
// Since this force is being applied in only one step, make this a force per second.
- OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
- AddForce(addForce, pushforce, false);
+ addForce /= PhysicsScene.LastTimeStep;
+ AddForce(addForce, pushforce, false /* inTaintTime */);
}
+
// Applying a force just adds this to the total force on the object.
// This added force will only last the next simulation tick.
public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
@@ -1205,9 +1210,9 @@ public sealed class BSPrim : BSPhysObject
{
if (force.IsFinite())
{
- OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
// DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
+ OMV.Vector3 addForce = force;
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
{
// Bullet adds this central force to the total force for this tick
From 3f6698a595593edc4027ff58cbebf947a6b5ac1f Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Mon, 21 Jan 2013 09:19:09 -0800
Subject: [PATCH 24/36] BulletSim: remove unused MaxTaintsToProcessPerStep
parameter
---
OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 10 +++-------
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 1 -
OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 2 ++
3 files changed, 5 insertions(+), 8 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 6a92365c50..2b4488a728 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -236,11 +236,7 @@ public static class BSParam
(s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
(s) => { return (float)s.m_maxUpdatesPerFrame; },
(s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
- new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step",
- 500f,
- (s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); },
- (s) => { return (float)s.m_taintsToProcessPerStep; },
- (s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ),
+
new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)",
0.0001f,
(s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); },
@@ -261,9 +257,9 @@ public static class BSParam
(s,cf,p,v) => { MaxAngularVelocity = cf.GetFloat(p, v); },
(s) => { return (float)MaxAngularVelocity; },
(s,p,l,v) => { MaxAngularVelocity = v; } ),
- // LL documentation says thie number should be 20f
+ // LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject
new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)",
- 200.0f,
+ 20000.0f,
(s,cf,p,v) => { MaxAddForceMagnitude = cf.GetFloat(p, v); },
(s) => { return (float)MaxAddForceMagnitude; },
(s,p,l,v) => { MaxAddForceMagnitude = v; } ),
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index e0b4992e0d..12b1ef10f2 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -81,7 +81,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
internal long m_simulationStep = 0;
internal float NominalFrameRate { get; set; }
public long SimulationStep { get { return m_simulationStep; } }
- internal int m_taintsToProcessPerStep;
internal float LastTimeStep { get; private set; }
// Physical objects can register for prestep or poststep events
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index 23b7ca85d9..c1bf76690d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -2,6 +2,8 @@ CURRENT PRIORITIES
=================================================
Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040
Msg Kayaker on OSGrid when working
+when should angular and linear motor targets be zeroed? when selected?
+ Need a vehicle.clear()? Or an 'else' in prestep if not physical.
Teravus llMoveToTarget script debug
Mixing of hover, buoyancy/gravity, moveToTarget, into one force
Boats floating at proper level
From 95c53ecae708c8f915e02c4f872c931efdd6c29a Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Mon, 21 Jan 2013 15:55:54 -0800
Subject: [PATCH 25/36] Have SOP and LSL_Api call the proper GetCenterOfMass
and GetGeometricCenter routines on the physics engine. Won't make a
difference for any existing scripts since ODE always returned Vector3.Zero.
---
OpenSim/Region/Framework/Scenes/SceneObjectPart.cs | 10 ++++++++++
.../ScriptEngine/Shared/Api/Implementation/LSL_Api.cs | 2 +-
2 files changed, 11 insertions(+), 1 deletion(-)
diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
index 44e8fdf7c9..e0ea344d2e 100644
--- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
+++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
@@ -1951,6 +1951,16 @@ namespace OpenSim.Region.Framework.Scenes
{
PhysicsActor pa = PhysActor;
+ if (pa != null)
+ return new Vector3(pa.GeometricCenter.X, pa.GeometricCenter.Y, pa.GeometricCenter.Z);
+ else
+ return new Vector3(0, 0, 0);
+ }
+
+ public Vector3 GetCenterOfMass()
+ {
+ PhysicsActor pa = PhysActor;
+
if (pa != null)
return new Vector3(pa.CenterOfMass.X, pa.CenterOfMass.Y, pa.CenterOfMass.Z);
else
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index db5add19e6..507c3997f5 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -4923,7 +4923,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
public LSL_Vector llGetCenterOfMass()
{
m_host.AddScriptLPS(1);
- Vector3 center = m_host.GetGeometricCenter();
+ Vector3 center = m_host.GetCenterOfMass();
return new LSL_Vector(center.X,center.Y,center.Z);
}
From 471c4778639aec60078e6cee7c964682c959f033 Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Mon, 21 Jan 2013 15:58:22 -0800
Subject: [PATCH 26/36] BulletSim: allow changing position and rotation of a
child of a linkset without rebuilding the whole compound shape. Should make
vehicles move smoother.
---
.../Physics/BulletSPlugin/BSCharacter.cs | 2 +-
.../Region/Physics/BulletSPlugin/BSLinkset.cs | 2 +-
.../BulletSPlugin/BSLinksetCompound.cs | 94 +++++++++++++++----
.../BulletSPlugin/BSLinksetConstraints.cs | 2 +-
.../Physics/BulletSPlugin/BSPhysObject.cs | 10 ++
.../Region/Physics/BulletSPlugin/BSPrim.cs | 16 ++--
.../Region/Physics/BulletSPlugin/BSScene.cs | 4 -
.../Physics/BulletSPlugin/BulletSimTODO.txt | 28 +++---
8 files changed, 112 insertions(+), 46 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index a9e16e685d..76032541ef 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -899,7 +899,7 @@ public sealed class BSCharacter : BSPhysObject
CurrentEntityProperties = entprop;
// Tell the linkset about value changes
- Linkset.UpdateProperties(this, true);
+ Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index cbd160fb81..580ea4e689 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -252,7 +252,7 @@ public abstract class BSLinkset
// of the linkset is received.
// Passed flag is update came from physics engine (true) or the user (false).
// Called at taint-time!!
- public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate);
+ public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject physObject);
// Routine used when rebuilding the body of the root of the linkset
// Destroy all the constraints have have been made to root.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 8c9a7745f0..27d8ad0ef9 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -51,6 +51,21 @@ sealed class BSLinksetCompoundInfo : BSLinksetInfo
OffsetFromCenterOfMass = p;
OffsetRot = r;
}
+ // 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape)
+ public BSLinksetCompoundInfo(int indx, BSPhysObject root, BSPhysObject child, OMV.Vector3 centerDisplacement)
+ {
+ // Each child position and rotation is given relative to the center-of-mass.
+ OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation);
+ OMV.Vector3 displacementFromRoot = (child.RawPosition - root.RawPosition) * invRootOrientation;
+ OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement;
+ OMV.Quaternion displacementRot = child.RawOrientation * invRootOrientation;
+
+ // Save relative position for recomputing child's world position after moving linkset.
+ Index = indx;
+ OffsetFromRoot = displacementFromRoot;
+ OffsetFromCenterOfMass = displacementFromCOM;
+ OffsetRot = displacementRot;
+ }
public override void Clear()
{
Index = 0;
@@ -182,24 +197,71 @@ public sealed class BSLinksetCompound : BSLinkset
// 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then.
// Called at taint-time.
- public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate)
+ public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject updated)
{
// The user moving a child around requires the rebuilding of the linkset compound shape
// One problem is this happens when a border is crossed -- the simulator implementation
- // is to store the position into the group which causes the move of the object
+ // stores the position into the group which causes the move of the object
// but it also means all the child positions get updated.
// What would cause an unnecessary rebuild so we make sure the linkset is in a
// region before bothering to do a rebuild.
- if (!IsRoot(updated)
- && !physicalUpdate
- && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
+ if (!IsRoot(updated) && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
{
- // TODO: replace this with are calculation of the child prim's orientation and pos.
- // TODO: for the moment, don't rebuild the compound shape.
- // This is often just the car turning its wheels. When we can just reorient the one
- // member shape of the compound shape, the overhead of rebuilding won't be a problem.
- // updated.LinksetInfo = null;
- // ScheduleRebuild(updated);
+ // If a child of the linkset is updating only the position or rotation, that can be done
+ // without rebuilding the linkset.
+ // If a handle for the child can be fetch, we update the child here. If a rebuild was
+ // scheduled by someone else, the rebuild will just replace this setting.
+
+ bool updatedChild = false;
+ // Anything other than updating position or orientation usually means a physical update
+ // and that is caused by us updating the object.
+ if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0)
+ {
+ // Gather the child info. It might not be there if the linkset is in transition.
+ BSLinksetCompoundInfo lsi = updated.LinksetInfo as BSLinksetCompoundInfo;
+ if (LinksetRoot.PhysShape.HasPhysicalShape && lsi != null)
+ {
+ if (PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape))
+ {
+ BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index);
+ if (linksetChildShape.HasPhysicalShape)
+ {
+ // Compute the offset from the center-of-gravity
+ BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement);
+ PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index,
+ newLsi.OffsetFromCenterOfMass,
+ newLsi.OffsetRot,
+ true /* shouldRecalculateLocalAabb */);
+ DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1}newLsi={2}",
+ updated.LocalID, whichUpdated, newLsi);
+ updated.LinksetInfo = newLsi;
+ updatedChild = true;
+ }
+ else // DEBUG DEBUG
+ { // DEBUG DEBUG
+ DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}",
+ updated.LocalID, linksetChildShape);
+ } // DEBUG DEBUG
+ }
+ else // DEBUG DEBUG
+ { // DEBUG DEBUG
+ DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,notCompound", updated.LocalID);
+ } // DEBUG DEBUG
+ }
+ else // DEBUG DEBUG
+ { // DEBUG DEBUG
+ DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,rootPhysShape={1},lsi={2}",
+ updated.LocalID, LinksetRoot.PhysShape, lsi == null ? "NULL" : lsi.ToString());
+ } // DEBUG DEBUG
+ if (!updatedChild)
+ {
+ // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info.
+ DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}",
+ updated.LocalID, whichUpdated);
+ updated.LinksetInfo = null; // setting to 'null' causes relative position to be recomputed.
+ ScheduleRebuild(updated);
+ }
+ }
}
}
@@ -372,15 +434,7 @@ public sealed class BSLinksetCompound : BSLinkset
BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo;
if (lci == null)
{
- // Each child position and rotation is given relative to the center-of-mass.
- OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
- OMV.Vector3 displacementFromRoot = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
- OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement;
- OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
-
- // Save relative position for recomputing child's world position after moving linkset.
- lci = new BSLinksetCompoundInfo(memberIndex, displacementFromCOM, displacementRot);
- lci.OffsetFromRoot = displacementFromRoot;
+ lci = new BSLinksetCompoundInfo(memberIndex, LinksetRoot, cPrim, centerDisplacement);
cPrim.LinksetInfo = lci;
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci);
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index d0b2a567a4..89f186c206 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -83,7 +83,7 @@ public sealed class BSLinksetConstraints : BSLinkset
}
// Called at taint-time!!
- public override void UpdateProperties(BSPhysObject updated, bool inTaintTime)
+ public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject pObj)
{
// Nothing to do for constraints on property updates
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 5353c756cf..027c786ce7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -55,6 +55,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
* BS.ApplyCentralForce BS.ApplyTorque
*/
+// Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc.
+public enum UpdatedProperties : uint
+{
+ Position = 1 << 0,
+ Orientation = 1 << 1,
+ Velocity = 1 << 2,
+ Acceleration = 1 << 3,
+ RotationalVelocity = 1 << 4,
+ EntPropUpdates = Position | Orientation | Velocity | Acceleration | RotationalVelocity,
+}
public abstract class BSPhysObject : PhysicsActor
{
protected BSPhysObject()
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index b63523c305..468ff40dee 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -311,13 +311,14 @@ public sealed class BSPrim : BSPhysObject
_position = value;
PositionSanityCheck(false);
- // A linkset might need to know if a component information changed.
- Linkset.UpdateProperties(this, false);
-
PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
{
DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
ForcePosition = _position;
+
+ // A linkset might need to know if a component information changed.
+ Linkset.UpdateProperties(UpdatedProperties.Position, this);
+
});
}
}
@@ -682,12 +683,13 @@ public sealed class BSPrim : BSPhysObject
return;
_orientation = value;
- // A linkset might need to know if a component information changed.
- Linkset.UpdateProperties(this, false);
-
PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
{
ForceOrientation = _orientation;
+
+ // A linkset might need to know if a component information changed.
+ Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
+
});
}
}
@@ -1686,7 +1688,7 @@ public sealed class BSPrim : BSPhysObject
*/
// The linkset implimentation might want to know about this.
- Linkset.UpdateProperties(this, true);
+ Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
}
}
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 12b1ef10f2..8075b73b05 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -846,8 +846,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
#endregion // Taints
- #region INI and command line parameter processing
-
#region IPhysicsParameters
// Get the list of parameters this physics engine supports
public PhysParameterEntry[] GetParameterList()
@@ -944,8 +942,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
#endregion IPhysicsParameters
- #endregion Runtime settable parameters
-
// Invoke the detailed logger and output something if it's enabled.
public void DetailLog(string msg, params Object[] args)
{
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index c1bf76690d..41bab2601d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -1,25 +1,20 @@
CURRENT PRIORITIES
=================================================
-Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040
- Msg Kayaker on OSGrid when working
+Child movement in linkset (don't rebuild linkset)
+Vehicle angular vertical attraction
+vehicle angular banking
+Center-of-gravity
+Vehicle angular deflection
+ Preferred orientation angular correction fix
when should angular and linear motor targets be zeroed? when selected?
Need a vehicle.clear()? Or an 'else' in prestep if not physical.
Teravus llMoveToTarget script debug
Mixing of hover, buoyancy/gravity, moveToTarget, into one force
-Boats floating at proper level
Nebadon vehicles turning funny in arena
limitMotorUp calibration (more down?)
llRotLookAt
llLookAt
-Vehicle angular vertical attraction
-Vehicle angular deflection
- Preferred orientation angular correction fix
-vehicle angular banking
Avatars walking up stairs (HALF DONE)
- Radius of the capsule affects ability to climb edges.
-Vehicle movement on terrain smoothness
-When is force introduced by SetForce removed? The prestep action could go forever.
-Boats float low in the water (DONE)
Avatar movement
flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
walking up stairs is not calibrated correctly (stairs out of Kepler cabin)
@@ -75,6 +70,7 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
GENERAL TODO LIST:
=================================================
+llMoveToTarget objects are not effected by gravity until target is removed.
Implement llSetPhysicalMaterial.
extend it with Center-of-mass, rolling friction, density
Implement llSetForceAndTorque.
@@ -315,4 +311,12 @@ Remove HeightmapInfo from terrain specification (DONE)
Since C++ code does not need terrain height, this structure et al are not needed.
Surfboard go wonky when turning (DONE)
Angular motor direction is global coordinates rather than local coordinates?
- (Resolution: made angular motor direction correct coordinate system)
\ No newline at end of file
+ (Resolution: made angular motor direction correct coordinate system)
+Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 (DONE)
+ Msg Kayaker on OSGrid when working
+ (Resolution: LINEAR_DIRECTION is in vehicle coords. Test script does the
+ same in SL as in OS/BulletSim)
+Boats float low in the water (DONE)
+Boats floating at proper level (DONE)
+When is force introduced by SetForce removed? The prestep action could go forever. (DONE)
+ (Resolution: setForce registers a prestep action which keeps applying the force)
\ No newline at end of file
From 80b1e32bfa00a2d3354f0d7e0df83a5b0b3e2c49 Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Mon, 21 Jan 2013 23:43:24 -0800
Subject: [PATCH 27/36] BulletSim: Tweeks to vehicle motion. Pass through old
angular velocity making for smoother transitions. Remove some old kludges for
angular motion (damping and rotvel suppression).
---
.../Physics/BulletSPlugin/BSDynamics.cs | 21 +++++++------------
.../Region/Physics/BulletSPlugin/BSParam.cs | 2 +-
.../Region/Physics/BulletSPlugin/BSPrim.cs | 3 ++-
3 files changed, 11 insertions(+), 15 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index f8fc3de446..dbe44de5f4 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -1192,7 +1192,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// set directly on the vehicle.
private void MoveAngular(float pTimestep)
{
- VehicleRotationalVelocity = Vector3.Zero;
+ // VehicleRotationalVelocity = Vector3.Zero;
ComputeAngularTurning(pTimestep);
@@ -1202,12 +1202,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
ComputeAngularBanking();
- // ==================================================================
- // All of the above computation are made relative to vehicle coordinates.
- // Convert to world coordinates.
- // TODO: Should this be applied as an angular force (torque)?
- VehicleRotationalVelocity *= VehicleOrientation;
-
// ==================================================================
if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.01f))
{
@@ -1256,7 +1250,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private void ComputeAngularTurning(float pTimestep)
{
// The user wants this many radians per second angular change?
- Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
+ Vector3 currentAngular = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation);
+ Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep, currentAngular);
// ==================================================================
// From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
@@ -1272,7 +1267,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
angularMotorContribution.Y = 0f;
}
- VehicleRotationalVelocity += angularMotorContribution;
+ VehicleRotationalVelocity += angularMotorContribution * VehicleOrientation;
VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
}
@@ -1312,7 +1307,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
if (verticalError.Z < 0f)
{
vertContribution.X += PIOverFour;
- vertContribution.Y += PIOverFour;
+ // vertContribution.Y -= PIOverFour;
}
// 'vertContrbution' is now the necessary angular correction to correct tilt in one second.
@@ -1320,7 +1315,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Vector3 unscaledContrib = vertContribution; // DEBUG DEBUG
vertContribution /= m_verticalAttractionTimescale;
- VehicleRotationalVelocity += vertContribution;
+ VehicleRotationalVelocity += vertContribution * VehicleOrientation;
VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}",
Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContribution);
@@ -1371,7 +1366,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
deflectContribution = (-deflectionError) * m_angularDeflectionEfficiency;
deflectContribution /= m_angularDeflectionTimescale;
- VehicleRotationalVelocity += deflectContribution;
+ VehicleRotationalVelocity += deflectContribution * VehicleOrientation;
VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContribution);
@@ -1438,7 +1433,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Don't do it all at once.
bankingContribution /= m_bankingTimescale;
- VehicleRotationalVelocity += bankingContribution;
+ VehicleRotationalVelocity += bankingContribution * VehicleOrientation;
VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}",
Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContribution);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 2b4488a728..da7438a4ae 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -450,7 +450,7 @@ public static class BSParam
(s) => { return (float)VehicleMaxAngularVelocity; },
(s,p,l,v) => { VehicleMaxAngularVelocity = v; } ),
new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
- 0.95f,
+ 0.0f,
(s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
(s) => { return VehicleAngularDamping; },
(s,p,l,v) => { VehicleAngularDamping = v; } ),
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 468ff40dee..e6b8507337 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1009,6 +1009,7 @@ public sealed class BSPrim : BSPhysObject
{
DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
+ // PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
ActivateIfPhysical(false);
}
}
@@ -1649,7 +1650,7 @@ public sealed class BSPrim : BSPhysObject
// TODO: handle physics introduced by Bullet with computed vehicle physics.
if (_vehicle.IsActive)
{
- entprop.RotationalVelocity = OMV.Vector3.Zero;
+ // entprop.RotationalVelocity = OMV.Vector3.Zero;
}
// Assign directly to the local variables so the normal set actions do not happen
From 1776986dc30d0ed5629da797a3a5c0bcdf4e9f72 Mon Sep 17 00:00:00 2001
From: BlueWall <jamesh@bluewallgroup.com>
Date: Wed, 23 Jan 2013 08:14:21 -0500
Subject: [PATCH 28/36] Add additional return status
Adding additional return status for JsonRpcMethod. Now returns true/false
---
.../Servers/HttpServer/BaseHttpServer.cs | 25 ++++++++++++++++---
.../Servers/HttpServer/JsonRPCMethod.cs | 2 +-
2 files changed, 23 insertions(+), 4 deletions(-)
diff --git a/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs b/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
index 85b19c067e..cf1c753a33 100644
--- a/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
+++ b/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs
@@ -1025,7 +1025,8 @@ namespace OpenSim.Framework.Servers.HttpServer
return buffer;
}
- // JsonRpc (v2.0 only)
+ // JsonRpc (v2.0 only)
+ // Batch requests not yet supported
private byte[] HandleJsonRpcRequests(OSHttpRequest request, OSHttpResponse response)
{
Stream requestStream = request.InputStream;
@@ -1065,8 +1066,26 @@ namespace OpenSim.Framework.Servers.HttpServer
{
jsonRpcHandlers.TryGetValue(methodname, out method);
}
-
- method(jsonRpcRequest, ref jsonRpcResponse);
+ bool res = false;
+ try
+ {
+ res = method(jsonRpcRequest, ref jsonRpcResponse);
+ if(!res)
+ {
+ // The handler sent back an unspecified error
+ if(jsonRpcResponse.Error.Code == 0)
+ {
+ jsonRpcResponse.Error.Code = ErrorCode.InternalError;
+ }
+ }
+ }
+ catch (Exception e)
+ {
+ string ErrorMessage = string.Format("[BASE HTTP SERVER]: Json-Rpc Handler Error method {0} - {1}", methodname, e.Message);
+ m_log.Error(ErrorMessage);
+ jsonRpcResponse.Error.Code = ErrorCode.InternalError;
+ jsonRpcResponse.Error.Message = ErrorMessage;
+ }
}
else // Error no hanlder defined for requested method
{
diff --git a/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs b/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs
index 7334049ab4..5bab50871f 100644
--- a/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs
+++ b/OpenSim/Framework/Servers/HttpServer/JsonRPCMethod.cs
@@ -30,5 +30,5 @@ using OpenMetaverse.StructuredData;
namespace OpenSim.Framework.Servers.HttpServer
{
- public delegate void JsonRPCMethod(OSDMap jsonRpcRequest, ref JsonRpcResponse response);
+ public delegate bool JsonRPCMethod(OSDMap jsonRpcRequest, ref JsonRpcResponse response);
}
From 6a2b673fca6fcff4e358cf4ef6bd773f8a0488ba Mon Sep 17 00:00:00 2001
From: Melanie <melanie@t-data.com>
Date: Wed, 23 Jan 2013 18:58:29 +0100
Subject: [PATCH 29/36] Remove the return value from llGiveMoney and add
llTransferLindenDollars. Also make llGiveMoney async so the script thread is
not held up waiting for comms to an external server.
---
.../Shared/Api/Implementation/LSL_Api.cs | 135 ++++++++++++++----
.../Shared/Api/Interface/ILSL_Api.cs | 3 +-
.../Shared/Api/Runtime/LSL_Stub.cs | 9 +-
3 files changed, 114 insertions(+), 33 deletions(-)
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 507c3997f5..632b73f2bd 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -2738,42 +2738,40 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
return src.ToLower();
}
- public LSL_Integer llGiveMoney(string destination, int amount)
+ public void llGiveMoney(string destination, int amount)
{
- m_host.AddScriptLPS(1);
-
- if (m_item.PermsGranter == UUID.Zero)
- return 0;
-
- if ((m_item.PermsMask & ScriptBaseClass.PERMISSION_DEBIT) == 0)
+ Util.FireAndForget(x =>
{
- LSLError("No permissions to give money");
- return 0;
- }
+ m_host.AddScriptLPS(1);
- UUID toID = new UUID();
+ if (m_item.PermsGranter == UUID.Zero)
+ return;
- if (!UUID.TryParse(destination, out toID))
- {
- LSLError("Bad key in llGiveMoney");
- return 0;
- }
+ if ((m_item.PermsMask & ScriptBaseClass.PERMISSION_DEBIT) == 0)
+ {
+ LSLError("No permissions to give money");
+ return;
+ }
- IMoneyModule money = World.RequestModuleInterface<IMoneyModule>();
+ UUID toID = new UUID();
- if (money == null)
- {
- NotImplemented("llGiveMoney");
- return 0;
- }
+ if (!UUID.TryParse(destination, out toID))
+ {
+ LSLError("Bad key in llGiveMoney");
+ return;
+ }
- bool result = money.ObjectGiveMoney(
- m_host.ParentGroup.RootPart.UUID, m_host.ParentGroup.RootPart.OwnerID, toID, amount);
+ IMoneyModule money = World.RequestModuleInterface<IMoneyModule>();
- if (result)
- return 1;
+ if (money == null)
+ {
+ NotImplemented("llGiveMoney");
+ return;
+ }
- return 0;
+ money.ObjectGiveMoney(
+ m_host.ParentGroup.RootPart.UUID, m_host.ParentGroup.RootPart.OwnerID, toID, amount);
+ });
}
public void llMakeExplosion(int particles, double scale, double vel, double lifetime, double arc, string texture, LSL_Vector offset)
@@ -6839,7 +6837,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
{
m_host.AddScriptLPS(1);
IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>();
- if (xmlrpcMod.IsEnabled())
+ if (xmlrpcMod != null && xmlrpcMod.IsEnabled())
{
UUID channelID = xmlrpcMod.OpenXMLRPCChannel(m_host.LocalId, m_item.ItemID, UUID.Zero);
IXmlRpcRouter xmlRpcRouter = m_ScriptEngine.World.RequestModuleInterface<IXmlRpcRouter>();
@@ -6871,6 +6869,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
m_host.AddScriptLPS(1);
IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>();
ScriptSleep(3000);
+ if (xmlrpcMod == null)
+ return "";
return (xmlrpcMod.SendRemoteData(m_host.LocalId, m_item.ItemID, channel, dest, idata, sdata)).ToString();
}
@@ -6878,7 +6878,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
{
m_host.AddScriptLPS(1);
IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>();
- xmlrpcMod.RemoteDataReply(channel, message_id, sdata, idata);
+ if (xmlrpcMod != null)
+ xmlrpcMod.RemoteDataReply(channel, message_id, sdata, idata);
ScriptSleep(3000);
}
@@ -6893,7 +6894,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
}
IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface<IXMLRPC>();
- xmlrpcMod.CloseXMLRPCChannel((UUID)channel);
+ if (xmlrpcMod != null)
+ xmlrpcMod.CloseXMLRPCChannel((UUID)channel);
ScriptSleep(1000);
}
@@ -11554,6 +11556,79 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
NotImplemented("llGodLikeRezObject");
}
+ public LSL_String llTransferLindenDollars(string destination, int amount)
+ {
+ UUID txn = UUID.Random();
+
+ Util.FireAndForget(delegate(object x)
+ {
+ int replycode = 0;
+ string replydata = destination + "," + amount.ToString();
+
+ try
+ {
+ TaskInventoryItem item = m_item;
+ if (item == null)
+ {
+ replydata = "SERVICE_ERROR";
+ return;
+ }
+
+ m_host.AddScriptLPS(1);
+
+ if (item.PermsGranter == UUID.Zero)
+ {
+ replydata = "MISSING_PERMISSION_DEBIT";
+ return;
+ }
+
+ if ((item.PermsMask & ScriptBaseClass.PERMISSION_DEBIT) == 0)
+ {
+ replydata = "MISSING_PERMISSION_DEBIT";
+ return;
+ }
+
+ UUID toID = new UUID();
+
+ if (!UUID.TryParse(destination, out toID))
+ {
+ replydata = "INVALID_AGENT";
+ return;
+ }
+
+ IMoneyModule money = World.RequestModuleInterface<IMoneyModule>();
+
+ if (money == null)
+ {
+ replydata = "TRANSFERS_DISABLED";
+ return;
+ }
+
+ bool result = money.ObjectGiveMoney(
+ m_host.ParentGroup.RootPart.UUID, m_host.ParentGroup.RootPart.OwnerID, toID, amount);
+
+ if (result)
+ {
+ replycode = 1;
+ return;
+ }
+
+ replydata = "LINDENDOLLAR_INSUFFICIENTFUNDS";
+ }
+ finally
+ {
+ m_ScriptEngine.PostScriptEvent(m_item.ItemID, new EventParams(
+ "transaction_result", new Object[] {
+ new LSL_String(txn.ToString()),
+ new LSL_Integer(replycode),
+ new LSL_String(replydata) },
+ new DetectParams[0]));
+ }
+ });
+
+ return txn.ToString();
+ }
+
#endregion
}
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs
index 98f8be7175..4ac179af05 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs
@@ -207,7 +207,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces
LSL_Float llGetWallclock();
void llGiveInventory(string destination, string inventory);
void llGiveInventoryList(string destination, string category, LSL_List inventory);
- LSL_Integer llGiveMoney(string destination, int amount);
+ void llGiveMoney(string destination, int amount);
+ LSL_String llTransferLindenDollars(string destination, int amount);
void llGodLikeRezObject(string inventory, LSL_Vector pos);
LSL_Float llGround(LSL_Vector offset);
LSL_Vector llGroundContour(LSL_Vector offset);
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs
index 36803a4ae2..c7a7cf663e 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs
@@ -869,9 +869,14 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
m_LSL_Functions.llGiveInventoryList(destination, category, inventory);
}
- public LSL_Integer llGiveMoney(string destination, int amount)
+ public void llGiveMoney(string destination, int amount)
{
- return m_LSL_Functions.llGiveMoney(destination, amount);
+ m_LSL_Functions.llGiveMoney(destination, amount);
+ }
+
+ public LSL_String llTransferLindenDollars(string destination, int amount)
+ {
+ return m_LSL_Functions.llTransferLindenDollars(destination, amount);
}
public void llGodLikeRezObject(string inventory, LSL_Vector pos)
From c1795ed399c187ba739bc271c6837e26b9bfdf3d Mon Sep 17 00:00:00 2001
From: Melanie <melanie@t-data.com>
Date: Wed, 23 Jan 2013 21:03:24 +0000
Subject: [PATCH 30/36] Add the Avination physics raycast glue so Core Physics
can implement raycast
---
OpenSim/Region/Framework/Scenes/Scene.cs | 13 +++
.../Region/Physics/Manager/PhysicsScene.cs | 39 ++++++++
.../Shared/Api/Implementation/LSL_Api.cs | 92 ++++++++++++++++---
3 files changed, 130 insertions(+), 14 deletions(-)
diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs
index 5778176e44..f2cb117683 100644
--- a/OpenSim/Region/Framework/Scenes/Scene.cs
+++ b/OpenSim/Region/Framework/Scenes/Scene.cs
@@ -1983,6 +1983,19 @@ namespace OpenSim.Region.Framework.Scenes
EventManager.TriggerPrimsLoaded(this);
}
+ public bool SupportsRayCastFiltered()
+ {
+ if (PhysicsScene == null)
+ return false;
+ return PhysicsScene.SupportsRaycastWorldFiltered();
+ }
+
+ public object RayCastFiltered(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter)
+ {
+ if (PhysicsScene == null)
+ return null;
+ return PhysicsScene.RaycastWorld(position, direction, length, Count,filter);
+ }
/// <summary>
/// Gets a new rez location based on the raycast and the size of the object that is being rezzed.
diff --git a/OpenSim/Region/Physics/Manager/PhysicsScene.cs b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
index 201007bdec..96a9ff7ea0 100644
--- a/OpenSim/Region/Physics/Manager/PhysicsScene.cs
+++ b/OpenSim/Region/Physics/Manager/PhysicsScene.cs
@@ -43,6 +43,35 @@ namespace OpenSim.Region.Physics.Manager
public delegate void JointDeactivated(PhysicsJoint joint);
public delegate void JointErrorMessage(PhysicsJoint joint, string message); // this refers to an "error message due to a problem", not "amount of joint constraint violation"
+ public enum RayFilterFlags:ushort
+ {
+ // the flags
+ water = 0x01,
+ land = 0x02,
+ agent = 0x04,
+ nonphysical = 0x08,
+ physical = 0x10,
+ phantom = 0x20,
+ volumedtc = 0x40,
+
+ // ray cast colision control (may only work for meshs)
+ ContactsUnImportant = 0x2000,
+ BackFaceCull = 0x4000,
+ ClosestHit = 0x8000,
+
+ // some combinations
+ LSLPhanton = phantom | volumedtc,
+ PrimsNonPhantom = nonphysical | physical,
+ PrimsNonPhantomAgents = nonphysical | physical | agent,
+
+ AllPrims = nonphysical | phantom | volumedtc | physical,
+ AllButLand = agent | nonphysical | physical | phantom | volumedtc,
+
+ ClosestAndBackCull = ClosestHit | BackFaceCull,
+
+ All = 0x3f
+ }
+
public delegate void RequestAssetDelegate(UUID assetID, AssetReceivedDelegate callback);
public delegate void AssetReceivedDelegate(AssetBase asset);
@@ -286,5 +315,15 @@ namespace OpenSim.Region.Physics.Manager
{
return new List<ContactResult>();
}
+
+ public virtual object RaycastWorld(Vector3 position, Vector3 direction, float length, int Count, RayFilterFlags filter)
+ {
+ return null;
+ }
+
+ public virtual bool SupportsRaycastWorldFiltered()
+ {
+ return false;
+ }
}
}
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
index 632b73f2bd..3a7e1c7dc8 100644
--- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
+++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs
@@ -11340,6 +11340,84 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
bool checkPhysical = !((rejectTypes & ScriptBaseClass.RC_REJECT_PHYSICAL) == ScriptBaseClass.RC_REJECT_PHYSICAL);
+ if (World.SupportsRayCastFiltered())
+ {
+ if (dist == 0)
+ return list;
+
+ RayFilterFlags rayfilter = RayFilterFlags.ClosestAndBackCull;
+ if (checkTerrain)
+ rayfilter |= RayFilterFlags.land;
+// if (checkAgents)
+// rayfilter |= RayFilterFlags.agent;
+ if (checkPhysical)
+ rayfilter |= RayFilterFlags.physical;
+ if (checkNonPhysical)
+ rayfilter |= RayFilterFlags.nonphysical;
+ if (detectPhantom)
+ rayfilter |= RayFilterFlags.LSLPhanton;
+
+ Vector3 direction = dir * ( 1/dist);
+
+ if(rayfilter == 0)
+ {
+ list.Add(new LSL_Integer(0));
+ return list;
+ }
+
+ // get some more contacts to sort ???
+ int physcount = 4 * count;
+ if (physcount > 20)
+ physcount = 20;
+
+ object physresults;
+ physresults = World.RayCastFiltered(rayStart, direction, dist, physcount, rayfilter);
+
+ if (physresults == null)
+ {
+ list.Add(new LSL_Integer(-3)); // timeout error
+ return list;
+ }
+
+ results = (List<ContactResult>)physresults;
+
+ // for now physics doesn't detect sitted avatars so do it outside physics
+ if (checkAgents)
+ {
+ ContactResult[] agentHits = AvatarIntersection(rayStart, rayEnd);
+ foreach (ContactResult r in agentHits)
+ results.Add(r);
+ }
+
+ // TODO: Replace this with a better solution. ObjectIntersection can only
+ // detect nonphysical phantoms. They are detected by virtue of being
+ // nonphysical (e.g. no PhysActor) so will not conflict with detecting
+ // physicsl phantoms as done by the physics scene
+ // We don't want anything else but phantoms here.
+ if (detectPhantom)
+ {
+ ContactResult[] objectHits = ObjectIntersection(rayStart, rayEnd, false, false, true);
+ foreach (ContactResult r in objectHits)
+ results.Add(r);
+ }
+ }
+ else
+ {
+ if (checkAgents)
+ {
+ ContactResult[] agentHits = AvatarIntersection(rayStart, rayEnd);
+ foreach (ContactResult r in agentHits)
+ results.Add(r);
+ }
+
+ if (checkPhysical || checkNonPhysical || detectPhantom)
+ {
+ ContactResult[] objectHits = ObjectIntersection(rayStart, rayEnd, checkPhysical, checkNonPhysical, detectPhantom);
+ foreach (ContactResult r in objectHits)
+ results.Add(r);
+ }
+ }
+
if (checkTerrain)
{
ContactResult? groundContact = GroundIntersection(rayStart, rayEnd);
@@ -11347,20 +11425,6 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
results.Add((ContactResult)groundContact);
}
- if (checkAgents)
- {
- ContactResult[] agentHits = AvatarIntersection(rayStart, rayEnd);
- foreach (ContactResult r in agentHits)
- results.Add(r);
- }
-
- if (checkPhysical || checkNonPhysical || detectPhantom)
- {
- ContactResult[] objectHits = ObjectIntersection(rayStart, rayEnd, checkPhysical, checkNonPhysical, detectPhantom);
- foreach (ContactResult r in objectHits)
- results.Add(r);
- }
-
results.Sort(delegate(ContactResult a, ContactResult b)
{
return a.Depth.CompareTo(b.Depth);
From a0d460e6bfa64a6c43ff327dcf19b696cc380fbb Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Fri, 18 Jan 2013 12:10:03 -0800
Subject: [PATCH 31/36] BulletSim: remove the unused RestoreBodyDependencies
used by linksets and vehicles and clean up code by removing their kludgyness.
---
.../BulletSPlugin/BSLinksetCompound.cs | 7 -------
.../BulletSPlugin/BSLinksetConstraints.cs | 8 --------
.../Region/Physics/BulletSPlugin/BSPrim.cs | 20 ++-----------------
3 files changed, 2 insertions(+), 33 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 27d8ad0ef9..0077da766a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -290,13 +290,6 @@ public sealed class BSLinksetCompound : BSLinkset
return ret;
}
- // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
- // this routine will restore the removed constraints.
- // Called at taint-time!!
- public override void RestoreBodyDependencies(BSPrim child)
- {
- }
-
// When the linkset is built, the child shape is added to the compound shape relative to the
// root shape. The linkset then moves around but this does not move the actual child
// prim. The child prim's location must be recomputed based on the location of the root shape.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index 89f186c206..3011465dec 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -110,14 +110,6 @@ public sealed class BSLinksetConstraints : BSLinkset
return ret;
}
- // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
- // this routine will restore the removed constraints.
- // Called at taint-time!!
- public override void RestoreBodyDependencies(BSPrim child)
- {
- // The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
- }
-
// ================================================================
// Add a new child to the linkset.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index e6b8507337..b37a1f8522 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1606,11 +1606,6 @@ public sealed class BSPrim : BSPhysObject
// Called at taint-time!!!
public void CreateGeomAndObject(bool forceRebuild)
{
- // If this prim is part of a linkset, we must remove and restore the physical
- // links if the body is rebuilt.
- bool needToRestoreLinkset = false;
- bool needToRestoreVehicle = false;
-
// Create the correct physical representation for this type of object.
// Updates PhysBody and PhysShape with the new information.
// Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
@@ -1619,21 +1614,10 @@ public sealed class BSPrim : BSPhysObject
// Called if the current prim body is about to be destroyed.
// Remove all the physical dependencies on the old body.
// (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
- needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
- needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this);
+ Linkset.RemoveBodyDependencies(this);
+ _vehicle.RemoveBodyDependencies(this);
});
- if (needToRestoreLinkset)
- {
- // If physical body dependencies were removed, restore them
- Linkset.RestoreBodyDependencies(this);
- }
- if (needToRestoreVehicle)
- {
- // If physical body dependencies were removed, restore them
- _vehicle.RestoreBodyDependencies(this);
- }
-
// Make sure the properties are set on the new object
UpdatePhysicalParameters();
return;
From 775fd6f8cc27c80974b59a79be477a99950a7095 Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Fri, 18 Jan 2013 12:12:45 -0800
Subject: [PATCH 32/36] BulletSim: fix build break introduced by previous
commit
---
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 5 -----
1 file changed, 5 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 580ea4e689..1e3e5d8f9f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -261,11 +261,6 @@ public abstract class BSLinkset
// Called at taint-time!!
public abstract bool RemoveBodyDependencies(BSPrim child);
- // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
- // this routine will restore the removed constraints.
- // Called at taint-time!!
- public abstract void RestoreBodyDependencies(BSPrim child);
-
// ================================================================
protected virtual float ComputeLinksetMass()
{
From c1371ab786a699ce91693e6e575bb81144a79c57 Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Wed, 23 Jan 2013 08:28:36 -0800
Subject: [PATCH 33/36] BulletSim: working on COM
---
.../Physics/BulletSPlugin/BSApiTemplate.cs | 19 +++++++++++++++++++
.../BulletSPlugin/BSLinksetCompound.cs | 7 ++++---
.../Region/Physics/BulletSPlugin/BSPrim.cs | 15 +++++++++++----
.../Physics/BulletSPlugin/BulletSimTODO.txt | 2 ++
4 files changed, 36 insertions(+), 7 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
index bc163eb946..2828cab23d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
@@ -140,6 +140,25 @@ public struct EntityProperties
public Vector3 Velocity;
public Vector3 Acceleration;
public Vector3 RotationalVelocity;
+
+ public override string ToString()
+ {
+ StringBuilder buff = new StringBuilder();
+ buff.Append("<i=");
+ buff.Append(ID.ToString());
+ buff.Append(",p=");
+ buff.Append(Position.ToString());
+ buff.Append(",r=");
+ buff.Append(Rotation.ToString());
+ buff.Append(",v=");
+ buff.Append(Velocity.ToString());
+ buff.Append(",a=");
+ buff.Append(Acceleration.ToString());
+ buff.Append(",rv=");
+ buff.Append(RotationalVelocity.ToString());
+ buff.Append(">");
+ return buff.ToString();
+ }
}
// Format of this structure must match the definition in the C++ code
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 0077da766a..d8e4028506 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -377,7 +377,7 @@ public sealed class BSLinksetCompound : BSLinkset
// Constraint linksets are rebuilt every time.
// Note that this works for rebuilding just the root after a linkset is taken apart.
// Called at taint time!!
- private bool disableCOM = true; // disable until we get this debugged
+ private bool disableCOM = false; // disable until we get this debugged
private void RecomputeLinksetCompound()
{
try
@@ -400,8 +400,9 @@ public sealed class BSLinksetCompound : BSLinkset
} // DEBUG DEBUG
else
{
- centerOfMass = ComputeLinksetGeometricCenter();
- centerDisplacement = centerOfMass - LinksetRoot.RawPosition;
+ centerOfMass = ComputeLinksetCenterOfMass();
+ // 'centerDisplacement' is the value to *add* to all the shape offsets
+ centerDisplacement = LinksetRoot.RawPosition - centerOfMass;
// Since we're displacing the center of the shape, we need to move the body in the world
LinksetRoot.PositionDisplacement = centerDisplacement;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index b37a1f8522..dad7250960 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -336,6 +336,7 @@ public sealed class BSPrim : BSPhysObject
}
}
}
+ /* Disable. Presume whoever is setting displacement is already adjusting position, etc.
// Override to have position displacement immediately update the physical position.
// A feeble attempt to keep the sim and physical positions in sync
// Must be called at taint time.
@@ -355,6 +356,7 @@ public sealed class BSPrim : BSPhysObject
});
}
}
+ */
// Check that the current position is sane and, if not, modify the position to make it so.
// Check for being below terrain and being out of bounds.
@@ -371,11 +373,11 @@ public sealed class BSPrim : BSPhysObject
return ret;
}
- float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
+ float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
OMV.Vector3 upForce = OMV.Vector3.Zero;
if (RawPosition.Z < terrainHeight)
{
- DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
+ DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
float targetHeight = terrainHeight + (Size.Z / 2f);
// If the object is below ground it just has to be moved up because pushing will
// not get it through the terrain
@@ -1637,7 +1639,11 @@ public sealed class BSPrim : BSPhysObject
// entprop.RotationalVelocity = OMV.Vector3.Zero;
}
+ DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
+
// Assign directly to the local variables so the normal set actions do not happen
+
+ // Undo any center-of-mass displacement that might have been done.
entprop.Position -= PositionDisplacement;
_position = entprop.Position;
_orientation = entprop.Rotation;
@@ -1645,6 +1651,8 @@ public sealed class BSPrim : BSPhysObject
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
+ DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG
+
// The sanity check can change the velocity and/or position.
if (IsPhysical && PositionSanityCheck(true))
{
@@ -1653,8 +1661,7 @@ public sealed class BSPrim : BSPhysObject
}
OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
- DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
- LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
+ DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index 41bab2601d..801f6908ee 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -1,5 +1,7 @@
CURRENT PRIORITIES
=================================================
+Deleting a linkset while standing on the root will leave the physical shape of the root behind.
+ Not sure if it is because standing on it. Done with large prim linksets.
Child movement in linkset (don't rebuild linkset)
Vehicle angular vertical attraction
vehicle angular banking
From a5e9c665f08059fef16d0b0875697cb08e16351e Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Wed, 23 Jan 2013 09:09:17 -0800
Subject: [PATCH 34/36] BulletSim: center-of-gravity linkset changes. Not
working yet.
Conflicts:
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
---
.../BulletSPlugin/BSLinksetCompound.cs | 5 ++++-
.../Region/Physics/BulletSPlugin/BSParam.cs | 7 ++----
.../Region/Physics/BulletSPlugin/BSPrim.cs | 22 +------------------
.../Region/Physics/BulletSPlugin/BSScene.cs | 4 ++--
4 files changed, 9 insertions(+), 29 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index d8e4028506..2c8dd233d6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -407,6 +407,9 @@ public sealed class BSLinksetCompound : BSLinkset
// Since we're displacing the center of the shape, we need to move the body in the world
LinksetRoot.PositionDisplacement = centerDisplacement;
+ // This causes the root prim position to be set properly based on the new PositionDisplacement
+ LinksetRoot.ForcePosition = LinksetRoot.RawPosition;
+ // Update the local transform for the root child shape so it is offset from the <0,0,0> which is COM
PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0, -centerDisplacement, OMV.Quaternion.Identity, false);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}",
LinksetRoot.LocalID, centerOfMass, LinksetRoot.RawPosition, centerDisplacement);
@@ -438,7 +441,7 @@ public sealed class BSLinksetCompound : BSLinkset
if (cPrim.PhysShape.isNativeShape)
{
- // A native shape is turning into a hull collision shape because native
+ // A native shape is turned into a hull collision shape because native
// shapes are not shared so we have to hullify it so it will be tracked
// and freed at the correct time. This also solves the scaling problem
// (native shapes scaled but hull/meshes are assumed to not be).
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index da7438a4ae..9460daff70 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -645,11 +645,8 @@ public static class BSParam
entries.Add(new PhysParameterEntry(pd.name, pd.desc));
}
- // make the list in alphabetical order for estetic reasons
- entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2)
- {
- return ppe1.name.CompareTo(ppe2.name);
- });
+ // make the list alphabetical for estetic reasons
+ entries.Sort((ppe1, ppe2) => { return ppe1.name.CompareTo(ppe2.name); });
SettableParameters = entries.ToArray();
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index dad7250960..ee2bfa093a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -322,6 +322,7 @@ public sealed class BSPrim : BSPhysObject
});
}
}
+
public override OMV.Vector3 ForcePosition {
get {
_position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement;
@@ -336,27 +337,6 @@ public sealed class BSPrim : BSPhysObject
}
}
}
- /* Disable. Presume whoever is setting displacement is already adjusting position, etc.
- // Override to have position displacement immediately update the physical position.
- // A feeble attempt to keep the sim and physical positions in sync
- // Must be called at taint time.
- public override OMV.Vector3 PositionDisplacement
- {
- get
- {
- return base.PositionDisplacement;
- }
- set
- {
- base.PositionDisplacement = value;
- PhysicsScene.TaintedObject(PhysicsScene.InTaintTime, "BSPrim.setPosition", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- PhysicsScene.PE.SetTranslation(PhysBody, _position + base.PositionDisplacement, _orientation);
- });
- }
- }
- */
// Check that the current position is sane and, if not, modify the position to make it so.
// Check for being below terrain and being out of bounds.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 8075b73b05..34fd2a0531 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -708,8 +708,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
// TriggerPreStepEvent
// DoOneTimeTaints
// Step()
- // ProcessAndForwardCollisions
- // ProcessAndForwardPropertyUpdates
+ // ProcessAndSendToSimulatorCollisions
+ // ProcessAndSendToSimulatorPropertyUpdates
// TriggerPostStepEvent
// Calls to the PhysicsActors can't directly call into the physics engine
From 13182904da897be1dad0bb86d8099bd0956ffac4 Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Wed, 23 Jan 2013 09:11:01 -0800
Subject: [PATCH 35/36] BulletSim: small change to center-of-mass computation
left out last commit
---
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 11 ++++++++---
1 file changed, 8 insertions(+), 3 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index ee2bfa093a..731ab7ba52 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1621,10 +1621,15 @@ public sealed class BSPrim : BSPhysObject
DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
- // Assign directly to the local variables so the normal set actions do not happen
-
// Undo any center-of-mass displacement that might have been done.
- entprop.Position -= PositionDisplacement;
+ if (PositionDisplacement != OMV.Vector3.Zero)
+ {
+ // Correct for any rotation around the center-of-mass
+ // TODO!!!
+ entprop.Position -= PositionDisplacement;
+ }
+
+ // Assign directly to the local variables so the normal set actions do not happen
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
From a7b810ddeebda8b13af3ab9fbeb24bef1a8094c6 Mon Sep 17 00:00:00 2001
From: Robert Adams <Robert.Adams@intel.com>
Date: Wed, 23 Jan 2013 14:21:52 -0800
Subject: [PATCH 36/36] BulletSim: remove setting of vehicle
InterpolationRotationalVelocity. This doesn't seem to help the vehicle
stability. Rename vehicle internal variables adding a "V" or "W" so it is
clear when coordinates are vehicle or world relative.
---
.../Physics/BulletSPlugin/BSDynamics.cs | 66 +++++++++----------
.../Region/Physics/BulletSPlugin/BSPrim.cs | 4 +-
2 files changed, 34 insertions(+), 36 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index dbe44de5f4..fe7891e866 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -690,7 +690,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Bullet does a bunch of smoothing for changing parameters.
// Since the vehicle is demanding this setting, we override Bullet's smoothing
// by telling Bullet the value was the same last time.
- PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, m_knownVelocity);
+ // PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, m_knownVelocity);
}
if ((m_knownChanged & m_knownChangedForce) != 0)
@@ -702,7 +702,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0)
{
Prim.ForceRotationalVelocity = m_knownRotationalVelocity;
- PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
+ // PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
}
if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0)
@@ -963,23 +963,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
// Step the motor from the current value. Get the correction needed this step.
Vector3 currentVel = VehicleVelocity * Quaternion.Inverse(VehicleOrientation);
- Vector3 linearMotorCorrection = m_linearMotor.Step(pTimestep, currentVel);
+ Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVel);
// Motor is vehicle coordinates. Rotate it to world coordinates
- Vector3 linearMotorVelocity = linearMotorCorrection * VehicleOrientation;
+ Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation;
// If we're a ground vehicle, don't add any upward Z movement
if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
{
- if (linearMotorVelocity.Z > 0f)
- linearMotorVelocity.Z = 0f;
+ if (linearMotorVelocityW.Z > 0f)
+ linearMotorVelocityW.Z = 0f;
}
// Add this correction to the velocity to make it faster/slower.
- VehicleVelocity += linearMotorVelocity;
+ VehicleVelocity += linearMotorVelocityW;
VDetailLog("{0}, MoveLinear,velocity,vehVel={1},correction={2},force={3}",
- Prim.LocalID, VehicleVelocity, linearMotorCorrection, linearMotorVelocity);
+ Prim.LocalID, VehicleVelocity, linearMotorCorrectionV, linearMotorVelocityW);
}
public void ComputeLinearTerrainHeightCorrection(float pTimestep)
@@ -1123,8 +1123,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// a downward raycast to find what is below.
public void ComputeLinearMotorUp(float pTimestep)
{
- Vector3 ret = Vector3.Zero;
-
if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
{
// This code tries to decide if the object is not on the ground and then pushing down
@@ -1250,8 +1248,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private void ComputeAngularTurning(float pTimestep)
{
// The user wants this many radians per second angular change?
- Vector3 currentAngular = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation);
- Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep, currentAngular);
+ Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation);
+ Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV);
// ==================================================================
// From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
@@ -1263,12 +1261,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// is a linear effect. Where should this check go?
if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
{
- angularMotorContribution.X = 0f;
- angularMotorContribution.Y = 0f;
+ angularMotorContributionV.X = 0f;
+ angularMotorContributionV.Y = 0f;
}
- VehicleRotationalVelocity += angularMotorContribution * VehicleOrientation;
- VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
+ VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation;
+ VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContributionV);
}
// From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
@@ -1284,7 +1282,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// If vertical attaction timescale is reasonable
if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
{
- Vector3 vertContribution = Vector3.Zero;
+ Vector3 vertContributionV = Vector3.Zero;
// Take a vector pointing up and convert it from world to vehicle relative coords.
Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
@@ -1299,26 +1297,26 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Y error means needed rotation around X axis and visa versa.
// Since the error goes from zero to one, the asin is the corresponding angle.
- vertContribution.X = (float)Math.Asin(verticalError.Y);
+ vertContributionV.X = (float)Math.Asin(verticalError.Y);
// (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
- vertContribution.Y = -(float)Math.Asin(verticalError.X);
+ vertContributionV.Y = -(float)Math.Asin(verticalError.X);
// If verticalError.Z is negative, the vehicle is upside down. Add additional push.
if (verticalError.Z < 0f)
{
- vertContribution.X += PIOverFour;
+ vertContributionV.X += PIOverFour;
// vertContribution.Y -= PIOverFour;
}
// 'vertContrbution' is now the necessary angular correction to correct tilt in one second.
// Correction happens over a number of seconds.
- Vector3 unscaledContrib = vertContribution; // DEBUG DEBUG
- vertContribution /= m_verticalAttractionTimescale;
+ Vector3 unscaledContrib = vertContributionV; // DEBUG DEBUG
+ vertContributionV /= m_verticalAttractionTimescale;
- VehicleRotationalVelocity += vertContribution * VehicleOrientation;
+ VehicleRotationalVelocity += vertContributionV * VehicleOrientation;
VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}",
- Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContribution);
+ Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV);
}
}
@@ -1336,7 +1334,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2)
{
- Vector3 deflectContribution = Vector3.Zero;
+ Vector3 deflectContributionV = Vector3.Zero;
// The direction the vehicle is moving
Vector3 movingDirection = VehicleVelocity;
@@ -1363,13 +1361,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);
// Scale the correction by recovery timescale and efficiency
- deflectContribution = (-deflectionError) * m_angularDeflectionEfficiency;
- deflectContribution /= m_angularDeflectionTimescale;
+ deflectContributionV = (-deflectionError) * m_angularDeflectionEfficiency;
+ deflectContributionV /= m_angularDeflectionTimescale;
- VehicleRotationalVelocity += deflectContribution * VehicleOrientation;
+ VehicleRotationalVelocity += deflectContributionV * VehicleOrientation;
VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
- Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContribution);
+ Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV);
VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}",
Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale);
}
@@ -1410,7 +1408,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
{
- Vector3 bankingContribution = Vector3.Zero;
+ Vector3 bankingContributionV = Vector3.Zero;
// Rotate a UnitZ vector (pointing up) to how the vehicle is oriented.
// As the vehicle rolls to the right or left, the Y value will increase from
@@ -1428,15 +1426,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f);
// Build the force vector to change rotation from what it is to what it should be
- bankingContribution.Z = -mixedYawAngle;
+ bankingContributionV.Z = -mixedYawAngle;
// Don't do it all at once.
- bankingContribution /= m_bankingTimescale;
+ bankingContributionV /= m_bankingTimescale;
- VehicleRotationalVelocity += bankingContribution * VehicleOrientation;
+ VehicleRotationalVelocity += bankingContributionV * VehicleOrientation;
VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}",
- Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContribution);
+ Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV);
}
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 731ab7ba52..f80084a7fd 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1619,7 +1619,7 @@ public sealed class BSPrim : BSPhysObject
// entprop.RotationalVelocity = OMV.Vector3.Zero;
}
- DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
+ // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
// Undo any center-of-mass displacement that might have been done.
if (PositionDisplacement != OMV.Vector3.Zero)
@@ -1636,7 +1636,7 @@ public sealed class BSPrim : BSPhysObject
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
- DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG
+ // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG
// The sanity check can change the velocity and/or position.
if (IsPhysical && PositionSanityCheck(true))