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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim

0.7.4.1
Justin Clark-Casey (justincc) 2012-07-27 00:30:04 +01:00
parent 21b1fec32d ce812c88cc
commit 5f741143fd
7 changed files with 429 additions and 237 deletions
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9
OpenSim/Region/Framework/Scenes/Scene.cs
View File

@ -1222,6 +1222,15 @@ namespace OpenSim.Region.Framework.Scenes
m_sceneGraph.Close();
if (PhysicsScene != null)
{
PhysicsScene phys = PhysicsScene;
// remove the physics engine from both Scene and SceneGraph
PhysicsScene = null;
phys.Dispose();
phys = null;
}
if (!GridService.DeregisterRegion(RegionInfo.RegionID))
m_log.WarnFormat("[SCENE]: Deregister from grid failed for region {0}", Name);

308
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs Executable file
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@ -0,0 +1,308 @@
/*
* 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.BulletSPlugin
{
public class BSLinkset
{
private static string LogHeader = "[BULLETSIM LINKSET]";
private BSPrim m_linksetRoot;
public BSPrim Root { get { return m_linksetRoot; } }
private BSScene m_scene;
private List<BSPrim> 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.
private object m_linksetActivityLock = new Object();
// We keep the prim's mass in the linkset structure since it could be dependent on other prims
private float m_mass;
public float LinksetMass
{
get
{
m_mass = ComputeLinksetMass();
return m_mass;
}
}
public OMV.Vector3 CenterOfMass
{
get { return ComputeLinksetCenterOfMass(); }
}
public OMV.Vector3 GeometricCenter
{
get { return ComputeLinksetGeometricCenter(); }
}
public BSLinkset(BSScene scene, BSPrim parent)
{
// A simple linkset of one (no children)
m_scene = scene;
m_linksetRoot = parent;
m_children = new List<BSPrim>();
m_mass = parent.MassRaw;
}
// 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 it's membership.
public BSLinkset AddMeToLinkset(BSPrim child, BSPrim parent)
{
lock (m_linksetActivityLock)
{
parent.Linkset.AddChildToLinkset(child);
}
return parent.Linkset;
}
public BSLinkset RemoveMeFromLinkset(BSPrim child)
{
lock (m_linksetActivityLock)
{
if (IsRoot(child))
{
// if root of linkset, take the linkset apart
while (m_children.Count > 0)
{
// Note that we don't do a foreach because the remove routine
// takes it out of the list.
RemoveChildFromLinkset(m_children[0]);
}
m_children.Clear(); // just to make sure
}
else
{
// Just removing a child from an existing linkset
RemoveChildFromLinkset(child);
}
}
// The child is down to a linkset of just itself
return new BSLinkset(m_scene, child);
}
// An existing linkset had one of its members rebuilt or something.
// Undo all the physical linking and rebuild the physical linkset.
public bool RefreshLinkset(BSPrim requestor)
{
return true;
}
// Return 'true' if the passed object is the root object of this linkset
public bool IsRoot(BSPrim requestor)
{
return (requestor.LocalID == m_linksetRoot.LocalID);
}
// 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(BSPrim child)
{
bool ret = false;
foreach (BSPrim bp in m_children)
{
if (child.LocalID == bp.LocalID)
{
ret = true;
break;
}
}
return ret;
}
private float ComputeLinksetMass()
{
float mass = m_linksetRoot.MassRaw;
foreach (BSPrim bp in m_children)
{
mass += bp.MassRaw;
}
return mass;
}
private OMV.Vector3 ComputeLinksetCenterOfMass()
{
OMV.Vector3 com = m_linksetRoot.Position * m_linksetRoot.MassRaw;
float totalMass = m_linksetRoot.MassRaw;
foreach (BSPrim bp in m_children)
{
com += bp.Position * bp.MassRaw;
totalMass += bp.MassRaw;
}
com /= totalMass;
return com;
}
private OMV.Vector3 ComputeLinksetGeometricCenter()
{
OMV.Vector3 com = m_linksetRoot.Position;
foreach (BSPrim bp in m_children)
{
com += bp.Position * bp.MassRaw;
}
com /= m_children.Count + 1;
return com;
}
// I am the root of a linkset and a new child is being added
public void AddChildToLinkset(BSPrim pchild)
{
BSPrim child = pchild;
if (!HasChild(child))
{
m_children.Add(child);
m_scene.TaintedObject(delegate()
{
DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, m_linksetRoot.LocalID);
DetailLog("{0},AddChildToLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID);
PhysicallyLinkAChildToRoot(pchild); // build the physical binding between me and the child
});
}
return;
}
// 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.
public void RemoveChildFromLinkset(BSPrim pchild)
{
BSPrim child = pchild;
if (m_children.Remove(child))
{
m_scene.TaintedObject(delegate()
{
DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID);
DetailLog("{0},RemoveChildFromLinkset,child={1}", m_linksetRoot.LocalID, pchild.LocalID);
if (m_children.Count == 0)
{
// if the linkset is empty, make sure all linkages have been removed
PhysicallyUnlinkAllChildrenFromRoot();
}
else
{
PhysicallyUnlinkAChildFromRoot(pchild);
}
});
}
else
{
// This will happen if we remove the root of the linkset first. Non-fatal occurance.
// m_scene.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(BSPrim childPrim)
{
// Zero motion for children so they don't interpolate
childPrim.ZeroMotion();
// relative position normalized to the root prim
OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(m_linksetRoot.Orientation);
OMV.Vector3 childRelativePosition = (childPrim.Position - m_linksetRoot.Position) * invThisOrientation;
// relative rotation of the child to the parent
OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
// create a constraint that allows no freedom of movement between the two objects
// 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}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID);
BSConstraint constrain = m_scene.Constraints.CreateConstraint(
m_scene.World, m_linksetRoot.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(m_scene.BoolNumeric(m_scene.Params.linkConstraintUseFrameOffset));
constrain.TranslationalLimitMotor(m_scene.BoolNumeric(m_scene.Params.linkConstraintEnableTransMotor),
m_scene.Params.linkConstraintTransMotorMaxVel,
m_scene.Params.linkConstraintTransMotorMaxForce);
}
// Remove linkage between myself and a particular child
// Called at taint time!
private void PhysicallyUnlinkAChildFromRoot(BSPrim childPrim)
{
DebugLog("{0}: PhysicallyUnlinkAChildFromRoot: RemoveConstraint between root prim {1} and child prim {2}",
LogHeader, m_linksetRoot.LocalID, childPrim.LocalID);
DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID);
// BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID);
m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body, childPrim.Body);
}
// Remove linkage between myself and any possible children I might have
// Called at taint time!
private void PhysicallyUnlinkAllChildrenFromRoot()
{
// DebugLog("{0}: PhysicallyUnlinkAllChildren:", LogHeader);
DetailLog("{0},PhysicallyUnlinkAllChildren,taint", m_linksetRoot.LocalID);
m_scene.Constraints.RemoveAndDestroyConstraint(m_linksetRoot.Body);
// BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID);
}
// Invoke the detailed logger and output something if it's enabled.
private void DebugLog(string msg, params Object[] args)
{
m_scene.Logger.DebugFormat(msg, args);
}
// Invoke the detailed logger and output something if it's enabled.
private void DetailLog(string msg, params Object[] args)
{
m_scene.PhysicsLogging.Write(msg, args);
}
}
}

327
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -66,7 +66,7 @@ public sealed class BSPrim : PhysicsActor
private bool _isSelected;
private bool _isVolumeDetect;
private OMV.Vector3 _position;
private float _mass;
private float _mass; // the mass of this object
private float _density;
private OMV.Vector3 _force;
private OMV.Vector3 _velocity;
@ -89,8 +89,13 @@ public sealed class BSPrim : PhysicsActor
private bool _kinematic;
private float _buoyancy;
private BSPrim _parentPrim;
private List<BSPrim> _childrenPrims;
// Membership in a linkset is controlled by this class.
private BSLinkset _linkset;
public BSLinkset Linkset
{
get { return _linkset; }
set { _linkset = value; }
}
private int _subscribedEventsMs = 0;
private int _nextCollisionOkTime = 0;
@ -133,9 +138,8 @@ public sealed class BSPrim : PhysicsActor
_friction = _scene.Params.defaultFriction; // TODO: compute based on object material
_density = _scene.Params.defaultDensity; // TODO: compute based on object material
_restitution = _scene.Params.defaultRestitution;
_parentPrim = null; // not a child or a parent
_linkset = new BSLinkset(_scene, this); // a linkset of one
_vehicle = new BSDynamics(this); // add vehicleness
_childrenPrims = new List<BSPrim>();
_mass = CalculateMass();
// do the actual object creation at taint time
_scene.TaintedObject(delegate()
@ -161,16 +165,8 @@ public sealed class BSPrim : PhysicsActor
_scene.TaintedObject(delegate()
{
// undo any dependance with/on other objects
if (_parentPrim != null)
{
// If I'm someone's child, tell them to forget about me.
_parentPrim.RemoveChildFromLinkset(this);
_parentPrim = null;
}
// make sure there are no other prims linked to me
UnlinkAllChildren();
// Undo any links between me and any other object
_linkset = _linkset.RemoveMeFromLinkset(this);
// everything in the C# world will get garbage collected. Tell the C++ world to free stuff.
BulletSimAPI.DestroyObject(_scene.WorldID, LocalID);
@ -187,7 +183,7 @@ public sealed class BSPrim : PhysicsActor
_scene.TaintedObject(delegate()
{
_mass = CalculateMass(); // changing size changes the mass
BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, Mass, IsPhysical);
BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical);
RecreateGeomAndObject();
});
}
@ -226,32 +222,8 @@ public sealed class BSPrim : PhysicsActor
BSPrim parent = obj as BSPrim;
DebugLog("{0}: link {1}/{2} to {3}", LogHeader, _avName, _localID, obj.LocalID);
DetailLog("{0},link,parent={1}", LocalID, obj.LocalID);
// TODO: decide if this parent checking needs to happen at taint time
if (_parentPrim == null)
{
if (parent != null)
{
// I don't have a parent so I am joining a linkset
parent.AddChildToLinkset(this);
}
}
else
{
// I already have a parent, is parenting changing?
if (parent != _parentPrim)
{
if (parent == null)
{
// we are being removed from a linkset
_parentPrim.RemoveChildFromLinkset(this);
}
else
{
// asking to reparent a prim should not happen
m_log.ErrorFormat("{0}: link(): Reparenting a prim. ", LogHeader);
}
}
}
_linkset = _linkset.AddMeToLinkset(this, parent);
return;
}
@ -260,81 +232,18 @@ public sealed class BSPrim : PhysicsActor
// 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
DebugLog("{0}: delink {1}/{2}. Parent={3}", LogHeader, _avName, _localID,
(_parentPrim==null ? "NULL" : _parentPrim._avName+"/"+_parentPrim.LocalID.ToString()));
DetailLog("{0},delink,parent={1}", LocalID, (_parentPrim==null ? "NULL" : _parentPrim.LocalID.ToString()));
if (_parentPrim != null)
{
_parentPrim.RemoveChildFromLinkset(this);
}
_linkset.Root._avName+"/"+_linkset.Root.LocalID.ToString());
DetailLog("{0},delink,parent={1}", LocalID, _linkset.Root.LocalID.ToString());
_linkset.RemoveMeFromLinkset(this);
return;
}
// I am the root of a linkset and a new child is being added
public void AddChildToLinkset(BSPrim pchild)
{
BSPrim child = pchild;
_scene.TaintedObject(delegate()
{
if (!_childrenPrims.Contains(child))
{
DebugLog("{0}: AddChildToLinkset: adding child {1} to {2}", LogHeader, child.LocalID, this.LocalID);
DetailLog("{0},AddChildToLinkset,child={1}", LocalID, pchild.LocalID);
_childrenPrims.Add(child);
child._parentPrim = this; // the child has gained a parent
// RecreateGeomAndObject(); // rebuild my shape with the new child added
LinkAChildToMe(pchild); // build the physical binding between me and the child
_mass = CalculateMass();
}
});
return;
}
// 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.
public void RemoveChildFromLinkset(BSPrim pchild)
{
BSPrim child = pchild;
_scene.TaintedObject(delegate()
{
if (_childrenPrims.Contains(child))
{
DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID);
DetailLog("{0},RemoveChildFromLinkset,child={1}", LocalID, pchild.LocalID);
_childrenPrims.Remove(child);
child._parentPrim = null; // the child has lost its parent
if (_childrenPrims.Count == 0)
{
// if the linkset is empty, make sure all linkages have been removed
UnlinkAllChildren();
}
else
{
// RecreateGeomAndObject(); // rebuild my shape with the child removed
UnlinkAChildFromMe(pchild);
}
_mass = CalculateMass();
}
else
{
m_log.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset");
}
});
return;
}
// return true if we are the root of a linkset (there are children to manage)
public bool IsRootOfLinkset
{
get { return (_parentPrim == null && _childrenPrims.Count != 0); }
}
// 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!
private void ZeroMotion()
public void ZeroMotion()
{
_velocity = OMV.Vector3.Zero;
_acceleration = OMV.Vector3.Zero;
@ -355,9 +264,10 @@ public sealed class BSPrim : PhysicsActor
public override OMV.Vector3 Position {
get {
// child prims move around based on their parent. Need to get the latest location
if (_parentPrim != null)
if (!_linkset.IsRoot(this))
// child prims move around based on their parent. Need to get the latest location
_position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
// don't do the GetObjectPosition for root elements because this function is called a zillion times
// _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
return _position;
@ -373,16 +283,31 @@ public sealed class BSPrim : PhysicsActor
}
}
// Return the effective mass of the object. Non-physical objects do not have mass.
public override float Mass {
get {
if (IsPhysical)
return _mass;
else
return 0f;
// Return the effective mass of the object.
// If there are multiple items in the linkset, add them together for the root
public override float Mass
{
get
{
return _linkset.LinksetMass;
}
}
// used when we only want this prim's mass and not the linkset thing
public float MassRaw { get { return _mass; } }
// 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 {
@ -473,8 +398,6 @@ public sealed class BSPrim : PhysicsActor
return;
}
public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
public override OMV.Vector3 Velocity {
get { return _velocity; }
set {
@ -503,9 +426,9 @@ public sealed class BSPrim : PhysicsActor
}
public override OMV.Quaternion Orientation {
get {
if (_parentPrim != null)
if (!_linkset.IsRoot(this))
{
// children move around because tied to parent. Get a fresh value.
// Children move around because tied to parent. Get a fresh value.
_orientation = BulletSimAPI.GetObjectOrientation(_scene.WorldID, LocalID);
}
return _orientation;
@ -555,14 +478,16 @@ public sealed class BSPrim : PhysicsActor
private void SetObjectDynamic()
{
// m_log.DebugFormat("{0}: ID={1}, SetObjectDynamic: IsStatic={2}, IsSolid={3}", LogHeader, _localID, IsStatic, IsSolid);
// non-physical things work best with a mass of zero
if (!IsStatic)
{
_mass = CalculateMass();
RecreateGeomAndObject();
}
DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, Mass);
BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), Mass);
RecreateGeomAndObject();
float mass = _mass;
// Bullet wants static objects have a mass of zero
if (IsStatic)
mass = 0f;
DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, mass);
BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
}
// prims don't fly
@ -1004,6 +929,9 @@ public sealed class BSPrim : PhysicsActor
returnMass = _density * volume;
/*
* This change means each object keeps its own mass and the Mass property
* will return the sum if we're part of a linkset.
if (IsRootOfLinkset)
{
foreach (BSPrim prim in _childrenPrims)
@ -1011,6 +939,7 @@ public sealed class BSPrim : PhysicsActor
returnMass += prim.CalculateMass();
}
}
*/
if (returnMass <= 0)
returnMass = 0.0001f;
@ -1026,9 +955,11 @@ public sealed class BSPrim : PhysicsActor
// The objects needs a hull if it's physical otherwise a mesh is enough
// No locking here because this is done when we know physics is not simulating
// if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used
private void CreateGeom(bool forceRebuild)
// Returns 'true' if the geometry was rebuilt
private bool CreateGeom(bool forceRebuild)
{
// the mesher thought this was too simple to mesh. Use a native Bullet collision shape.
bool ret = false;
if (!_scene.NeedsMeshing(_pbs))
{
if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
@ -1036,18 +967,26 @@ public sealed class BSPrim : PhysicsActor
if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
{
// m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
DetailLog("{0},CreateGeom,sphere", LocalID);
// Bullet native objects are scaled by the Bullet engine so pass the size in
_scale = _size;
if (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)
{
DetailLog("{0},CreateGeom,sphere", LocalID);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
ret = true;
// Bullet native objects are scaled by the Bullet engine so pass the size in
_scale = _size;
}
}
}
else
{
// m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, size={2}", LogHeader, LocalID, _size);
DetailLog("{0},CreateGeom,box", LocalID);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
_scale = _size;
if (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX)
{
DetailLog("{0},CreateGeom,box", LocalID);
_shapeType = ShapeData.PhysicsShapeType.SHAPE_BOX;
ret = true;
_scale = _size;
}
}
}
else
@ -1059,6 +998,7 @@ public sealed class BSPrim : PhysicsActor
// physical objects require a hull for interaction.
// This will create the mesh if it doesn't already exist
CreateGeomHull();
ret = true;
}
}
else
@ -1067,9 +1007,11 @@ public sealed class BSPrim : PhysicsActor
{
// Static (non-physical) objects only need a mesh for bumping into
CreateGeomMesh();
ret = true;
}
}
}
return ret;
}
// No locking here because this is done when we know physics is not simulating
@ -1254,20 +1196,18 @@ public sealed class BSPrim : PhysicsActor
// No locking here because this is done when the physics engine is not simulating
private void CreateObject()
{
if (IsRootOfLinkset)
{
// Create a linkset around this object
CreateLinkset();
}
else
{
// simple object
// the mesh or hull must have already been created in Bullet
ShapeData shape;
FillShapeInfo(out shape);
// m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type);
BulletSimAPI.CreateObject(_scene.WorldID, shape);
}
// this routine is called when objects are rebuilt.
// the mesh or hull must have already been created in Bullet
ShapeData shape;
FillShapeInfo(out shape);
// m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type);
BulletSimAPI.CreateObject(_scene.WorldID, shape);
// the CreateObject() may have recreated the rigid body. Make sure we have the latest.
m_body.Ptr = BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID);
// The root object could have been recreated. Make sure everything linksety is up to date.
_linkset.RefreshLinkset(this);
}
// Copy prim's info into the BulletSim shape description structure
@ -1279,7 +1219,7 @@ public sealed class BSPrim : PhysicsActor
shape.Rotation = _orientation;
shape.Velocity = _velocity;
shape.Scale = _scale;
shape.Mass = Mass;
shape.Mass = _isPhysical ? _mass : 0f;
shape.Buoyancy = _buoyancy;
shape.HullKey = _hullKey;
shape.MeshKey = _meshKey;
@ -1289,83 +1229,6 @@ public sealed class BSPrim : PhysicsActor
shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
}
#region Linkset creation and destruction
// Create the linkset by putting constraints between the objects of the set so they cannot move
// relative to each other.
void CreateLinkset()
{
// DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1);
// remove any constraints that might be in place
UnlinkAllChildren();
// create constraints between the root prim and each of the children
foreach (BSPrim prim in _childrenPrims)
{
LinkAChildToMe(prim);
}
}
// Create a constraint between me (root of linkset) and the passed prim (the child).
// Called at taint time!
private void LinkAChildToMe(BSPrim childPrim)
{
// Zero motion for children so they don't interpolate
childPrim.ZeroMotion();
// relative position normalized to the root prim
OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(this._orientation);
OMV.Vector3 childRelativePosition = (childPrim._position - this._position) * invThisOrientation;
// relative rotation of the child to the parent
OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim._orientation;
// create a constraint that allows no freedom of movement between the two objects
// 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);
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(_scene.BoolNumeric(_scene.Params.linkConstraintUseFrameOffset));
if (_scene.BoolNumeric(_scene.Params.linkConstraintEnableTransMotor))
{
constrain.TranslationalLimitMotor(true,
_scene.Params.linkConstraintTransMotorMaxVel,
_scene.Params.linkConstraintTransMotorMaxForce);
}
}
// Remove linkage between myself and a particular child
// Called at taint time!
private void UnlinkAChildFromMe(BSPrim childPrim)
{
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);
_scene.Constraints.RemoveAndDestroyConstraint(this.Body, childPrim.Body);
}
// Remove linkage between myself and any possible children I might have
// Called at taint time!
private void UnlinkAllChildren()
{
DebugLog("{0}: UnlinkAllChildren:", LogHeader);
DetailLog("{0},UnlinkAllChildren,taint", LocalID);
_scene.Constraints.RemoveAndDestroyConstraint(this.Body);
// BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID);
}
#endregion // Linkset creation and destruction
// Rebuild the geometry and object.
// This is called when the shape changes so we need to recreate the mesh/hull.
@ -1443,7 +1306,7 @@ public sealed class BSPrim : PhysicsActor
// Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
// Updates only for individual prims and for the root object of a linkset.
if (_parentPrim == null)
if (_linkset.IsRoot(this))
{
// Assign to the local variables so the normal set action does not happen
_position = entprop.Position;

7
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -73,7 +73,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
private static readonly string LogHeader = "[BULLETS SCENE]";
private void DebugLog(string mm, params Object[] xx) { if (shouldDebugLog) m_log.DebugFormat(mm, xx); }
public void DebugLog(string mm, params Object[] xx) { if (shouldDebugLog) m_log.DebugFormat(mm, xx); }
public string BulletSimVersion = "?";
@ -87,6 +87,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
private uint m_worldID;
public uint WorldID { get { return m_worldID; } }
// let my minuions use my logger
public ILog Logger { get { return m_log; } }
private bool m_initialized = false;
private int m_detailedStatsStep = 0;
@ -1026,7 +1029,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
(s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ),
new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
ConfigurationParameters.numericTrue,
ConfigurationParameters.numericFalse,
(s,cf,p,v) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
(s) => { return s.m_params[0].linkConstraintUseFrameOffset; },
(s,p,l,v) => { s.m_params[0].linkConstraintUseFrameOffset = v; } ),

2
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
View File

@ -239,10 +239,10 @@ public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool CreateObject(uint worldID, ShapeData shapeData);
/* Remove old functionality
[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,

9
OpenSim/Region/Physics/OdePlugin/OdeScene.cs
View File

@ -489,6 +489,8 @@ namespace OpenSim.Region.Physics.OdePlugin
/// </summary>
internal Object OdeLock = new Object();
private bool _worldInitialized = false;
public IMesher mesher;
private IConfigSource m_config;
@ -875,6 +877,8 @@ namespace OpenSim.Region.Physics.OdePlugin
staticPrimspace[i, j] = IntPtr.Zero;
}
}
_worldInitialized = true;
}
// internal void waitForSpaceUnlock(IntPtr space)
@ -2896,6 +2900,8 @@ namespace OpenSim.Region.Physics.OdePlugin
/// <returns>The number of frames simulated over that period.</returns>
public override float Simulate(float timeStep)
{
if (!_worldInitialized) return 11f;
int startFrameTick = CollectStats ? Util.EnvironmentTickCount() : 0;
int tempTick = 0, tempTick2 = 0;
@ -4017,6 +4023,8 @@ namespace OpenSim.Region.Physics.OdePlugin
public override void Dispose()
{
_worldInitialized = false;
m_rayCastManager.Dispose();
m_rayCastManager = null;
@ -4037,6 +4045,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.WorldDestroy(world);
//d.CloseODE();
}
}
public override Dictionary<uint, float> GetTopColliders()

4
bin/OpenSimDefaults.ini
View File

@ -915,7 +915,7 @@
NumberOfSolverIterations = 0;
; Linkset constraint parameters
LinkConstraintUseFrameOffset = True;
LinkConstraintUseFrameOffset = False;
LinkConstraintEnableTransMotor = True;
LinkConstraintTransMotorMaxVel = 5.0;
LinkConstraintTransMotorMaxForce = 0.1;
@ -937,7 +937,7 @@
FixedTimeStep = .01667
MaxCollisionsPerFrame = 2048
MaxUpdatesPerFrame = 2048
MaxUpdatesPerFrame = 8192
[RemoteAdmin]
enabled = false