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BulletSim: Add Force* operations to objects to allow direct push to engine. 

Update BSDynamics to use same (don't want to delay updates til next taint-time.
Suppress queuing a taint update for position and orientation calls if value
    does not change.
Move Bullet timing statistics call from C# back to C++ code.
Throttle taints per simulation step and add parameter to set.
By default, don't create hulls for physical objects. Add a
    parameter to turn on and off.
connector_plugin
Robert Adams 2012-10-09 12:58:06 -07:00
parent 87825b0abe
commit 68698975f1
7 changed files with 100 additions and 29 deletions
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11
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -332,6 +332,13 @@ public class BSCharacter : BSPhysObject
});
}
}
public override OMV.Vector3 ForceVelocity {
get { return _velocity; }
set {
_velocity = value;
BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity);
}
}
public override OMV.Vector3 Torque {
get { return _torque; }
set { _torque = value;
@ -432,6 +439,10 @@ public class BSCharacter : BSPhysObject
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; }

12
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
View File

@ -481,7 +481,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_lastPositionVector = Prim.ForcePosition;
VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
Prim.LocalID, Prim.Position, Prim.Force, Prim.Velocity, Prim.RotationalVelocity);
Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity);
}// end Step
// Apply the effect of the linear motor.
@ -540,7 +540,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// add Gravity and Buoyancy
// There is some gravity, make a gravity force vector that is applied after object velocity.
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Mass * (1f - m_VehicleBuoyancy));
Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.MassRaw * (1f - m_VehicleBuoyancy));
/*
* RA: Not sure why one would do this
@ -678,10 +678,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_newVelocity.Z = 0;
// Apply velocity
Prim.Velocity = m_newVelocity;
Prim.ForceVelocity = m_newVelocity;
// apply gravity force
// Why is this set here? The physics engine already does gravity.
// m_prim.AddForce(grav, false);
Prim.AddForce(grav, false);
// Apply friction
Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep));
@ -704,7 +704,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// m_lastAngularVelocity // what was last applied to body
// Get what the body is doing, this includes 'external' influences
Vector3 angularVelocity = Prim.RotationalVelocity;
Vector3 angularVelocity = Prim.ForceRotationalVelocity;
if (m_angularMotorApply > 0)
{
@ -810,7 +810,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
// Apply to the body
Prim.RotationalVelocity = m_lastAngularVelocity;
Prim.ForceRotationalVelocity = m_lastAngularVelocity;
VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity);
} //end MoveAngular

4
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
View File

@ -85,6 +85,10 @@ public abstract class BSPhysObject : PhysicsActor
public abstract OMV.Quaternion ForceOrientation { get; set; }
public abstract OMV.Vector3 ForceVelocity { get; set; }
public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
#region Collisions
// Requested number of milliseconds between collision events. Zero means disabled.

33
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -265,6 +265,11 @@ public sealed class BSPrim : BSPhysObject
return _position;
}
set {
// If you must push the position into the physics engine, use ForcePosition.
if (_position == value)
{
return;
}
_position = value;
// TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
PositionSanityCheck();
@ -453,7 +458,6 @@ public sealed class BSPrim : BSPhysObject
}
return;
}
public override OMV.Vector3 Velocity {
get { return _velocity; }
set {
@ -465,6 +469,13 @@ public sealed class BSPrim : BSPhysObject
});
}
}
public override OMV.Vector3 ForceVelocity {
get { return _velocity; }
set {
_velocity = value;
BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
}
}
public override OMV.Vector3 Torque {
get { return _torque; }
set { _torque = value;
@ -490,6 +501,8 @@ public sealed class BSPrim : BSPhysObject
return _orientation;
}
set {
if (_orientation == value)
return;
_orientation = value;
// TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
@ -621,9 +634,9 @@ public sealed class BSPrim : BSPhysObject
// There can be special things needed for implementing linksets
Linkset.MakeStatic(this);
// The activation state is 'disabled' so Bullet will not try to act on it.
// BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
// Start it out sleeping and physical actions could wake it up.
BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
// BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
@ -640,6 +653,9 @@ public sealed class BSPrim : BSPhysObject
// per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
BulletSimAPI.ClearAllForces2(BSBody.ptr);
// For good measure, make sure the transform is set through to the motion state
BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
// A dynamic object has mass
IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass);
@ -776,6 +792,15 @@ public sealed class BSPrim : BSPhysObject
});
}
}
public override OMV.Vector3 ForceRotationalVelocity {
get {
return _rotationalVelocity;
}
set {
_rotationalVelocity = value;
BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
}
}
public override bool Kinematic {
get { return _kinematic; }
set { _kinematic = value;
@ -1307,7 +1332,7 @@ public sealed class BSPrim : BSPhysObject
/*
else
{
// For debugging, we can also report the movement of children
// 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);

65
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@ -90,10 +90,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// let my minuions use my logger
public ILog Logger { get { return m_log; } }
// If non-zero, the number of simulation steps between calls to the physics
// engine to output detailed physics stats. Debug logging level must be on also.
private int m_detailedStatsStep = 0;
public IMesher mesher;
// Level of Detail values kept as float because that's what the Meshmerizer wants
public float MeshLOD { get; private set; }
@ -112,6 +108,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
private float m_fixedTimeStep;
private long m_simulationStep = 0;
public long SimulationStep { get { return m_simulationStep; } }
private int m_taintsToProcessPerStep;
// 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
@ -131,6 +128,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
public bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed
public bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes
public bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects
public float PID_D { get; private set; } // derivative
public float PID_P { get; private set; } // proportional
@ -582,15 +580,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
}
}
// If enabled, call into the physics engine to dump statistics
if (m_detailedStatsStep > 0)
{
if ((m_simulationStep % m_detailedStatsStep) == 0)
{
BulletSimAPI.DumpBulletStatistics();
}
}
// 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.
// Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS.
@ -617,7 +606,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
BSPhysObject collidee = null;
PhysObjects.TryGetValue(collidingWith, out collidee);
DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
// DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
{
@ -703,6 +692,35 @@ public class BSScene : PhysicsScene, IPhysicsParameters
{
if (_taintedObjects.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
int taintCount = m_taintsToProcessPerStep;
TaintCallbackEntry oneCallback = new TaintCallbackEntry();
while (_taintedObjects.Count > 0 && taintCount-- > 0)
{
bool gotOne = false;
lock (_taintLock)
{
if (_taintedObjects.Count > 0)
{
oneCallback = _taintedObjects[0];
_taintedObjects.RemoveAt(0);
gotOne = true;
}
}
if (gotOne)
{
try
{
DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG
oneCallback.callback();
}
catch (Exception e)
{
m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, oneCallback.ident, e);
}
}
}
/*
// swizzle a new list into the list location so we can process what's there
List<TaintCallbackEntry> oldList;
lock (_taintLock)
@ -724,6 +742,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
}
}
oldList.Clear();
*/
}
}
@ -835,6 +854,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
(s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); },
(s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); },
(s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ),
new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
ConfigurationParameters.numericFalse,
(s,cf,p,v) => { s.ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, s.BoolNumeric(v)); },
(s) => { return s.NumericBool(s.ShouldUseHullsForPhysicalObjects); },
(s,p,l,v) => { s.ShouldUseHullsForPhysicalObjects = s.BoolNumeric(v); } ),
new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
8f,
@ -877,6 +901,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
(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",
100f,
(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("MaxObjectMass", "Maximum object mass (10000.01)",
10000.01f,
(s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); },
@ -1086,11 +1115,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
(s) => { return s.m_params[0].linkConstraintSolverIterations; },
(s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ),
new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)",
new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)",
0f,
(s,cf,p,v) => { s.m_detailedStatsStep = cf.GetInt(p, (int)v); },
(s) => { return (float)s.m_detailedStatsStep; },
(s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ),
(s,cf,p,v) => { s.m_params[0].physicsLoggingFrames = cf.GetInt(p, (int)v); },
(s) => { return (float)s.m_params[0].physicsLoggingFrames; },
(s,p,l,v) => { s.m_params[0].physicsLoggingFrames = (int)v; } ),
};
// Convert a boolean to our numeric true and false values

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

@ -407,7 +407,7 @@ public class BSShapeCollection : IDisposable
// made. Native shapes are best used in either case.
if (!haveShape)
{
if (prim.IsPhysical)
if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects)
{
// Update prim.BSShape to reference a hull of this shape.
ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback);

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

@ -306,6 +306,8 @@ public struct ConfigurationParameters
public float linkConstraintCFM;
public float linkConstraintSolverIterations;
public float physicsLoggingFrames;
public const float numericTrue = 1f;
public const float numericFalse = 0f;
}