diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 2a52e0145b..c23ccd5834 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -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; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 3fb2253909..76230a19da 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -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 diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 0665292618..cae599c96f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -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. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 98a18a1eb6..d408be0b5b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -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); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index eed915d5fd..33ac1160e3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -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 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 diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 283b601579..e619b48fe2 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -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); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index bb4d39962b..7a60afbf21 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -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; }