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BulletSim: Move constraint tracking from C++ code to C# code 

for more flexibility.
0.7.4.1
Robert Adams 2012-07-25 10:33:36 -07:00
parent 5aec0ff207
commit 5707e171f4
2 changed files with 83 additions and 18 deletions
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53
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -97,6 +97,9 @@ public sealed class BSPrim : PhysicsActor
long _collidingStep;
long _collidingGroundStep;
private BulletBody m_body;
public BulletBody Body { get { return m_body; } }
private BSDynamics _vehicle;
private OMV.Vector3 _PIDTarget;
@ -138,6 +141,11 @@ public sealed class BSPrim : PhysicsActor
_scene.TaintedObject(delegate()
{
RecreateGeomAndObject();
// Get the pointer to the physical body for this object.
// At the moment, we're still letting BulletSim manage the creation and destruction
// of the object. Someday we'll move that into the C# code.
m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
});
}
@ -161,7 +169,7 @@ public sealed class BSPrim : PhysicsActor
_parentPrim = null;
}
// make sure there are no possible children depending on me
// make sure there are no other prims are linked to me
UnlinkAllChildren();
// everything in the C# world will get garbage collected. Tell the C++ world to free stuff.
@ -333,11 +341,11 @@ public sealed class BSPrim : PhysicsActor
_rotationalVelocity = OMV.Vector3.Zero;
// Zero some other properties directly into the physics engine
IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID);
BulletSimAPI.SetVelocity2(obj, OMV.Vector3.Zero);
BulletSimAPI.SetAngularVelocity2(obj, OMV.Vector3.Zero);
BulletSimAPI.SetInterpolation2(obj, OMV.Vector3.Zero, OMV.Vector3.Zero);
BulletSimAPI.ClearForces2(obj);
BulletBody obj = new BulletBody(LocalID, BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID));
BulletSimAPI.SetVelocity2(obj.Ptr, OMV.Vector3.Zero);
BulletSimAPI.SetAngularVelocity2(obj.Ptr, OMV.Vector3.Zero);
BulletSimAPI.SetInterpolation2(obj.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
BulletSimAPI.ClearForces2(obj.Ptr);
}
public override void LockAngularMotion(OMV.Vector3 axis)
@ -383,7 +391,8 @@ public sealed class BSPrim : PhysicsActor
_scene.TaintedObject(delegate()
{
DetailLog("{0},SetForce,taint,force={1}", LocalID, _force);
BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
// BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
BulletSimAPI.SetObjectForce2(Body.Ptr, _force);
});
}
}
@ -407,8 +416,7 @@ public sealed class BSPrim : PhysicsActor
_scene.TaintedObject(delegate()
{
// Tell the physics engine to clear state
IntPtr obj = BulletSimAPI.GetBodyHandleWorldID2(_scene.WorldID, LocalID);
BulletSimAPI.ClearForces2(obj);
BulletSimAPI.ClearForces2(this.Body.Ptr);
});
// make it so the scene will call us each tick to do vehicle things
@ -420,7 +428,6 @@ public sealed class BSPrim : PhysicsActor
}
public override void VehicleFloatParam(int param, float value)
{
m_log.DebugFormat("{0} VehicleFloatParam. {1} <= {2}", LogHeader, param, value);
_scene.TaintedObject(delegate()
{
_vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
@ -428,7 +435,6 @@ public sealed class BSPrim : PhysicsActor
}
public override void VehicleVectorParam(int param, OMV.Vector3 value)
{
m_log.DebugFormat("{0} VehicleVectorParam. {1} <= {2}", LogHeader, param, value);
_scene.TaintedObject(delegate()
{
_vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
@ -436,7 +442,6 @@ public sealed class BSPrim : PhysicsActor
}
public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
{
m_log.DebugFormat("{0} VehicleRotationParam. {1} <= {2}", LogHeader, param, rotation);
_scene.TaintedObject(delegate()
{
_vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
@ -444,7 +449,6 @@ public sealed class BSPrim : PhysicsActor
}
public override void VehicleFlags(int param, bool remove)
{
m_log.DebugFormat("{0} VehicleFlags. {1}. Remove={2}", LogHeader, param, remove);
_scene.TaintedObject(delegate()
{
_vehicle.ProcessVehicleFlags(param, remove);
@ -1296,7 +1300,7 @@ public sealed class BSPrim : PhysicsActor
// remove any constraints that might be in place
DebugLog("{0}: CreateLinkset: RemoveConstraints between me and any children", LogHeader, LocalID);
BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID);
UnlinkAllChildren();
// create constraints between the root prim and each of the children
foreach (BSPrim prim in _childrenPrims)
@ -1323,6 +1327,7 @@ public sealed class BSPrim : PhysicsActor
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID);
DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID);
/*
BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, childPrim.LocalID,
childRelativePosition,
childRelativeRotation,
@ -1330,6 +1335,20 @@ public sealed class BSPrim : PhysicsActor
OMV.Quaternion.Identity,
OMV.Vector3.Zero, OMV.Vector3.Zero,
OMV.Vector3.Zero, OMV.Vector3.Zero);
*/
// BSConstraint constrain = new BSConstraint(_scene.World, this.Body, childPrim.Body,
BSConstraint constrain = _scene.Constraints.CreateConstraint(
_scene.World, this.Body, childPrim.Body,
childRelativePosition,
childRelativeRotation,
OMV.Vector3.Zero,
OMV.Quaternion.Identity);
constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
// tweek the constraint to increase stability
constrain.UseFrameOffset(true);
constrain.TranslationalLimitMotor(true, 5f, 0.1f);
}
// Remove linkage between myself and a particular child
@ -1339,7 +1358,8 @@ public sealed class BSPrim : PhysicsActor
DebugLog("{0}: UnlinkAChildFromMe: RemoveConstraint between root prim {1} and child prim {2}",
LogHeader, LocalID, childPrim.LocalID);
DetailLog("{0},UnlinkAChildFromMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID);
BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID);
// BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID);
_scene.Constraints.RemoveAndDestroyConstraint(this.Body, childPrim.Body);
}
// Remove linkage between myself and any possible children I might have
@ -1348,7 +1368,8 @@ public sealed class BSPrim : PhysicsActor
{
DebugLog("{0}: UnlinkAllChildren:", LogHeader);
DetailLog("{0},UnlinkAllChildren,taint", LocalID);
BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID);
_scene.Constraints.RemoveAndDestroyConstraint(this.Body);
// BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID);
}
#endregion // Linkset creation and destruction

48
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
View File

@ -32,6 +32,28 @@ using OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin {
// Classes to allow some type checking for the API
public struct BulletSim
{
public BulletSim(uint id, IntPtr xx) { ID = id; Ptr = xx; }
public IntPtr Ptr;
public uint ID;
}
public struct BulletBody
{
public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; }
public IntPtr Ptr;
public uint ID;
}
public struct BulletConstraint
{
public BulletConstraint(IntPtr xx) { Ptr = xx; }
public IntPtr Ptr;
}
// ===============================================================================
[StructLayout(LayoutKind.Sequential)]
public struct ConvexHull
{
@ -142,6 +164,11 @@ public struct ConfigurationParameters
public float shouldEnableFrictionCaching;
public float numberOfSolverIterations;
public float linkConstraintUseFrameOffset;
public float linkConstraintEnableTransMotor;
public float linkConstraintTransMotorMaxVel;
public float linkConstraintTransMotorMaxForce;
public const float numericTrue = 1f;
public const float numericFalse = 0f;
}
@ -162,6 +189,7 @@ public enum CollisionFlags : uint
PHYSICAL_OBJECT = 1 << 12,
};
// ===============================================================================
static class BulletSimAPI {
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
@ -214,6 +242,7 @@ public static extern bool CreateObject(uint worldID, ShapeData shapeData);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas);
/* Remove old functionality
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void AddConstraint(uint worldID, uint id1, uint id2,
Vector3 frame1, Quaternion frame1rot,
@ -225,6 +254,7 @@ public static extern bool RemoveConstraintByID(uint worldID, uint id1);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2);
*/
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
@ -350,8 +380,22 @@ public static extern IntPtr CreateObject2(IntPtr sim, ShapeData shapeData);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateConstraint2(IntPtr sim, IntPtr obj1, IntPtr obj2,
Vector3 frame1loc, Quaternion frame1rot,
Vector3 frame2loc, Quaternion frame2rot,
Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular);
Vector3 frame2loc, Quaternion frame2rot);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetLinearLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetAngularLimits2(IntPtr constrain, Vector3 low, Vector3 hi);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool UseFrameOffset2(IntPtr constrain, float enable);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool TranslationalLimitMotor2(IntPtr constrain, float enable, float targetVel, float maxMotorForce);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool CalculateTransforms2(IntPtr constrain);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool DestroyConstraint2(IntPtr sim, IntPtr constrain);