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BulletSim: Remove calculation and passing of unused collied object type. 

Fix collision code to properly sense mega-region children regions as terrain.
When setting an object physical, reset all the physical properties (friction, ...).
connector_plugin
Robert Adams 2012-09-13 13:51:42 -07:00
parent f0a098924e
commit 6632eb7c05
4 changed files with 37 additions and 29 deletions
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8
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -529,22 +529,20 @@ public class BSCharacter : BSPhysObject
// The collision, if it should be reported to the character, is placed in a collection
// that will later be sent to the simulator when SendCollisions() is called.
CollisionEventUpdate collisionCollection = null;
public override bool Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth)
public override bool Collide(uint collidingWith, BSPhysObject collidee, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth)
{
// m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
bool ret = false;
// The following makes IsColliding() and IsCollidingGround() work
_collidingStep = Scene.SimulationStep;
if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID)
if (collidingWith <= Scene.TerrainManager.HighestTerrainID)
{
_collidingGroundStep = Scene.SimulationStep;
}
// DetailLog("{0},BSCharacter.Collison,call,with={1}", LocalID, collidingWith);
// throttle collisions to the rate specified in the subscription
if (_subscribedEventsMs != 0) {
if (SubscribedEvents()) {
int nowTime = Scene.SimulationNowTime;
if (nowTime >= _nextCollisionOkTime) {
_nextCollisionOkTime = nowTime + _subscribedEventsMs;

2
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
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@ -41,7 +41,7 @@ public abstract class BSPhysObject : PhysicsActor
{
public abstract BSLinkset Linkset { get; set; }
public abstract bool Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type,
public abstract bool Collide(uint collidingWith, BSPhysObject collidee,
OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
public abstract void SendCollisions();

28
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -545,14 +545,31 @@ public sealed class BSPrim : BSPhysObject
{
// Not a Bullet static object
m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
// Set various physical properties so internal things will get computed correctly as they are set
BulletSimAPI.SetFriction2(BSBody.Ptr, Scene.Params.defaultFriction);
BulletSimAPI.SetRestitution2(BSBody.Ptr, Scene.Params.defaultRestitution);
// per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
BulletSimAPI.SetInterpolationLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
BulletSimAPI.SetInterpolationAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
// A dynamic object has mass
IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr);
OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass);
BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, inertia);
// Inertia is based on our new mass
BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
// Various values for simulation limits
BulletSimAPI.SetDamping2(BSBody.Ptr, Scene.Params.linearDamping, Scene.Params.angularDamping);
BulletSimAPI.SetDeactivationTime2(BSBody.Ptr, Scene.Params.deactivationTime);
BulletSimAPI.SetSleepingThresholds2(BSBody.Ptr, Scene.Params.linearSleepingThreshold, Scene.Params.angularSleepingThreshold);
BulletSimAPI.SetContactProcessingThreshold2(BSBody.Ptr, Scene.Params.contactProcessingThreshold);
// There can be special things needed for implementing linksets
Linkset.MakeDynamic(this);
// Force activation of the object so Bullet will act on it.
BulletSimAPI.Activate2(BSBody.Ptr, true);
}
@ -1475,16 +1492,15 @@ public sealed class BSPrim : BSPhysObject
// I've collided with something
// Called at taint time from within the Step() function
CollisionEventUpdate collisionCollection;
public override bool Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
public override bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
{
// m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith);
bool ret = false;
// The following lines make IsColliding() and IsCollidingGround() work
_collidingStep = _scene.SimulationStep;
if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID)
_collidingStep = Scene.SimulationStep;
if (collidingWith <= Scene.TerrainManager.HighestTerrainID)
{
_collidingGroundStep = _scene.SimulationStep;
_collidingGroundStep = Scene.SimulationStep;
}
// DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith);
@ -1498,7 +1514,7 @@ public sealed class BSPrim : BSPhysObject
// if someone has subscribed for collision events....
if (SubscribedEvents()) {
// throttle the collisions to the number of milliseconds specified in the subscription
int nowTime = _scene.SimulationNowTime;
int nowTime = Scene.SimulationNowTime;
if (nowTime >= _nextCollisionOkTime) {
_nextCollisionOkTime = nowTime + _subscribedEventsMs;

28
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -583,27 +583,21 @@ public class BSScene : PhysicsScene, IPhysicsParameters
return; // don't send collisions to the terrain
}
BSPhysObject collider = PhysObjects[localID];
// TODO: as of this code, terrain was not in the physical object list.
// When BSTerrain is created and it will be in the list, we can remove
// the possibility that it's not there and just fetch the collidee.
BSPhysObject collidee = null;
BSPhysObject collider;
if (!PhysObjects.TryGetValue(localID, out collider))
{
// If the object that is colliding cannot be found, just ignore the collision.
return;
}
ActorTypes type = ActorTypes.Prim;
if (collidingWith <= TerrainManager.HighestTerrainID)
{
type = ActorTypes.Ground;
}
else
{
collidee = PhysObjects[collidingWith];
if (collidee is BSCharacter)
type = ActorTypes.Agent;
}
// 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, type, collidePoint, collideNormal, penetration))
if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
{
// If a collision was posted, remember to send it to the simulator
m_objectsWithCollisions.Add(collider);