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

user_profiles
Justin Clark-Casey (justincc) 2013-02-09 01:11:41 +00:00
parent a8bc08ebe6 4808b8ee38
commit 6935bec0ab
20 changed files with 722 additions and 265 deletions
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171
OpenSim/Region/OptionalModules/Scripting/ExtendedPhysics/ExtendedPhysics.cs Executable file
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@ -0,0 +1,171 @@
/*
* 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.Linq;
using System.Reflection;
using System.Text;
using OpenSim.Framework;
using OpenSim.Region.Framework;
using OpenSim.Region.Framework.Interfaces;
using OpenSim.Region.Framework.Scenes;
using OpenSim.Region.CoreModules;
using Mono.Addins;
using Nini.Config;
using log4net;
using OpenMetaverse;
namespace OpenSim.Region.OptionalModules.Scripting
{
[Extension(Path = "/OpenSim/RegionModules", NodeName = "RegionModule")]
public class ExtendedPhysics : INonSharedRegionModule
{
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private static string LogHeader = "[EXTENDED PHYSICS]";
private IConfig Configuration { get; set; }
private bool Enabled { get; set; }
private Scene BaseScene { get; set; }
private IScriptModuleComms Comms { get; set; }
#region INonSharedRegionModule
public string Name { get { return this.GetType().Name; } }
public void Initialise(IConfigSource config)
{
BaseScene = null;
Enabled = false;
Configuration = null;
Comms = null;
try
{
if ((Configuration = config.Configs["ExtendedPhysics"]) != null)
{
Enabled = Configuration.GetBoolean("Enabled", Enabled);
}
}
catch (Exception e)
{
m_log.ErrorFormat("{0} Initialization error: {0}", LogHeader, e);
}
m_log.InfoFormat("{0} module {1} enabled", LogHeader, (Enabled ? "is" : "is not"));
}
public void Close()
{
if (BaseScene != null)
{
BaseScene.EventManager.OnObjectAddedToScene -= EventManager_OnObjectAddedToScene;
BaseScene.EventManager.OnSceneObjectPartUpdated -= EventManager_OnSceneObjectPartUpdated;
BaseScene = null;
}
}
public void AddRegion(Scene scene)
{
}
public void RemoveRegion(Scene scene)
{
if (BaseScene != null && BaseScene == scene)
{
Close();
}
}
public void RegionLoaded(Scene scene)
{
if (!Enabled) return;
BaseScene = scene;
Comms = BaseScene.RequestModuleInterface<IScriptModuleComms>();
if (Comms == null)
{
m_log.WarnFormat("{0} ScriptModuleComms interface not defined", LogHeader);
Enabled = false;
return;
}
// Register as LSL functions all the [ScriptInvocation] marked methods.
Comms.RegisterScriptInvocations(this);
// When an object is modified, we might need to update its extended physics parameters
BaseScene.EventManager.OnObjectAddedToScene += EventManager_OnObjectAddedToScene;
BaseScene.EventManager.OnSceneObjectPartUpdated += EventManager_OnSceneObjectPartUpdated;
}
public Type ReplaceableInterface { get { return null; } }
#endregion // INonSharedRegionModule
private void EventManager_OnObjectAddedToScene(SceneObjectGroup obj)
{
throw new NotImplementedException();
}
// Event generated when some property of a prim changes.
private void EventManager_OnSceneObjectPartUpdated(SceneObjectPart sop, bool isFullUpdate)
{
}
[ScriptConstant]
public static int PHYS_CENTER_OF_MASS = 1 << 0;
[ScriptConstant]
public static int PHYS_LINKSET_TYPE_CONSTRAINT = 1;
[ScriptConstant]
public static int PHYS_LINKSET_TYPE_COMPOUND = 2;
[ScriptConstant]
public static int PHYS_LINKSET_TYPE_MANUAL = 3;
[ScriptInvocation]
public string physGetEngineType(UUID hostID, UUID scriptID)
{
string ret = string.Empty;
if (BaseScene.PhysicsScene != null)
{
ret = BaseScene.PhysicsScene.EngineType;
}
return ret;
}
[ScriptInvocation]
public void physSetLinksetType(UUID hostID, UUID scriptID, int linksetType)
{
}
}
}

82
OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStore.cs
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@ -93,6 +93,15 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
// extract the internals of a has reference
protected static Regex m_HashPattern = new Regex("{([^}]+)}");
// -----------------------------------------------------------------
/// <summary>
/// This is a simple estimator for the size of the stored data, it
/// is not precise, but should be close enough to implement reasonable
/// limits on the storage space used
/// </summary>
// -----------------------------------------------------------------
public int StringSpace { get; set; }
// -----------------------------------------------------------------
/// <summary>
///
@ -110,6 +119,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
// -----------------------------------------------------------------
public JsonStore()
{
StringSpace = 0;
m_TakeStore = new List<TakeValueCallbackClass>();
m_ReadStore = new List<TakeValueCallbackClass>();
}
@ -135,7 +145,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
if (result == null)
return false;
if (useJson || result.Type == OSDType.String)
if (useJson || OSDBaseType(result.Type))
return true;
return false;
@ -247,6 +257,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
if (path.Count == 0)
{
ValueStore = ovalue;
StringSpace = 0;
return true;
}
@ -278,8 +289,13 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
{
string npkey = String.Format("[{0}]",amap.Count);
amap.Add(ovalue);
InvokeNextCallback(pexpr + npkey);
if (ovalue != null)
{
StringSpace += ComputeSizeOf(ovalue);
amap.Add(ovalue);
InvokeNextCallback(pexpr + npkey);
}
return true;
}
@ -287,9 +303,14 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
if (0 <= aval && aval < amap.Count)
{
if (ovalue == null)
{
StringSpace -= ComputeSizeOf(amap[aval]);
amap.RemoveAt(aval);
}
else
{
StringSpace -= ComputeSizeOf(amap[aval]);
StringSpace += ComputeSizeOf(ovalue);
amap[aval] = ovalue;
InvokeNextCallback(pexpr + pkey);
}
@ -313,6 +334,9 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
OSDMap hmap = result as OSDMap;
if (ovalue != null)
{
StringSpace -= ComputeSizeOf(hmap[hkey]);
StringSpace += ComputeSizeOf(ovalue);
hmap[hkey] = ovalue;
InvokeNextCallback(pexpr + pkey);
return true;
@ -321,6 +345,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
// this is the remove case
if (hmap.ContainsKey(hkey))
{
StringSpace -= ComputeSizeOf(hmap[hkey]);
hmap.Remove(hkey);
return true;
}
@ -506,7 +531,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
return true;
}
if (result.Type == OSDType.String)
if (OSDBaseType(result.Type))
{
value = result.AsString();
return true;
@ -531,8 +556,54 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
return pkey;
}
// -----------------------------------------------------------------
/// <summary>
///
/// </summary>
// -----------------------------------------------------------------
protected static bool OSDBaseType(OSDType type)
{
// Should be the list of base types for which AsString() returns
// something useful
if (type == OSDType.Boolean)
return true;
if (type == OSDType.Integer)
return true;
if (type == OSDType.Real)
return true;
if (type == OSDType.String)
return true;
if (type == OSDType.UUID)
return true;
if (type == OSDType.Date)
return true;
if (type == OSDType.URI)
return true;
return false;
}
// -----------------------------------------------------------------
/// <summary>
///
/// </summary>
// -----------------------------------------------------------------
protected static int ComputeSizeOf(OSD value)
{
string sval;
if (ConvertOutputValue(value,out sval,true))
return sval.Length;
return 0;
}
}
// -----------------------------------------------------------------
/// <summary>
/// </summary>
// -----------------------------------------------------------------
public class JsonObjectStore : JsonStore
{
private static readonly ILog m_log =
@ -566,6 +637,9 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
{
m_scene = scene;
m_objectID = oid;
// the size limit is imposed on whatever is already in the store
StringSpace = ComputeSizeOf(ValueStore);
}
}

17
OpenSim/Region/OptionalModules/Scripting/JsonStore/JsonStoreModule.cs
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@ -54,6 +54,9 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
private IConfig m_config = null;
private bool m_enabled = false;
private bool m_enableObjectStore = false;
private int m_maxStringSpace = Int32.MaxValue;
private Scene m_scene = null;
private Dictionary<UUID,JsonStore> m_JsonValueStore;
@ -90,6 +93,10 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
}
m_enabled = m_config.GetBoolean("Enabled", m_enabled);
m_enableObjectStore = m_config.GetBoolean("EnableObjectStore", m_enableObjectStore);
m_maxStringSpace = m_config.GetInt("MaxStringSpace", m_maxStringSpace);
if (m_maxStringSpace == 0)
m_maxStringSpace = Int32.MaxValue;
}
catch (Exception e)
{
@ -178,6 +185,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
public bool AttachObjectStore(UUID objectID)
{
if (! m_enabled) return false;
if (! m_enableObjectStore) return false;
SceneObjectPart sop = m_scene.GetSceneObjectPart(objectID);
if (sop == null)
@ -311,7 +319,16 @@ namespace OpenSim.Region.OptionalModules.Scripting.JsonStore
try
{
lock (map)
{
if (map.StringSpace > m_maxStringSpace)
{
m_log.WarnFormat("[JsonStore] {0} exceeded string size; {1} bytes used of {2} limit",
storeID,map.StringSpace,m_maxStringSpace);
return false;
}
return map.SetValue(path,value,useJson);
}
}
catch (Exception e)
{

1
OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs
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@ -183,6 +183,7 @@ public struct ConfigurationParameters
public float shouldEnableFrictionCaching;
public float numberOfSolverIterations;
public float useSingleSidedMeshes;
public float globalContactBreakingThreshold;
public float physicsLoggingFrames;

51
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -45,7 +45,6 @@ public sealed class BSCharacter : BSPhysObject
private bool _selected;
private OMV.Vector3 _position;
private float _mass;
private float _avatarDensity;
private float _avatarVolume;
private OMV.Vector3 _force;
private OMV.Vector3 _velocity;
@ -63,9 +62,6 @@ public sealed class BSCharacter : BSPhysObject
private bool _kinematic;
private float _buoyancy;
// The friction and velocity of the avatar is modified depending on whether walking or not.
private float _currentFriction; // the friction currently being used (changed by setVelocity).
private BSVMotor _velocityMotor;
private OMV.Vector3 _PIDTarget;
@ -86,8 +82,8 @@ public sealed class BSCharacter : BSPhysObject
_orientation = OMV.Quaternion.Identity;
_velocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
_currentFriction = BSParam.AvatarStandingFriction;
_avatarDensity = BSParam.AvatarDensity;
Friction = BSParam.AvatarStandingFriction;
Density = BSParam.AvatarDensity;
// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
// replace with the default values.
@ -104,7 +100,7 @@ public sealed class BSCharacter : BSPhysObject
SetupMovementMotor();
DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
LocalID, _size, Scale, Density, _avatarVolume, RawMass);
// do actual creation in taint time
PhysicsScene.TaintedObject("BSCharacter.create", delegate()
@ -140,7 +136,7 @@ public sealed class BSCharacter : BSPhysObject
ZeroMotion(true);
ForcePosition = _position;
// Set the velocity and compute the proper friction
// Set the velocity
_velocityMotor.Reset();
_velocityMotor.SetTarget(_velocity);
_velocityMotor.SetCurrent(_velocity);
@ -214,35 +210,38 @@ public sealed class BSCharacter : BSPhysObject
_velocityMotor.Step(timeStep);
// If we're not supposed to be moving, make sure things are zero.
if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero && IsColliding)
if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero)
{
// The avatar shouldn't be moving
_velocityMotor.Zero();
// If we are colliding with a stationary object, presume we're standing and don't move around
if (!ColliderIsMoving)
if (IsColliding)
{
DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID);
ZeroMotion(true /* inTaintTime */);
}
// If we are colliding with a stationary object, presume we're standing and don't move around
if (!ColliderIsMoving)
{
DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID);
ZeroMotion(true /* inTaintTime */);
}
// Standing has more friction on the ground
if (_currentFriction != BSParam.AvatarStandingFriction)
{
_currentFriction = BSParam.AvatarStandingFriction;
PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
// Standing has more friction on the ground
if (Friction != BSParam.AvatarStandingFriction)
{
Friction = BSParam.AvatarStandingFriction;
PhysicsScene.PE.SetFriction(PhysBody, Friction);
}
}
DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1}", LocalID, _velocityMotor.TargetValue);
DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", LocalID, _velocityMotor.TargetValue, IsColliding);
}
else
{
OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue;
if (_currentFriction != BSParam.AvatarFriction)
if (Friction != BSParam.AvatarFriction)
{
// Probably starting up walking. Set friction to moving friction.
_currentFriction = BSParam.AvatarFriction;
PhysicsScene.PE.SetFriction(PhysBody, _currentFriction);
Friction = BSParam.AvatarFriction;
PhysicsScene.PE.SetFriction(PhysBody, Friction);
}
// If falling, we keep the world's downward vector no matter what the other axis specify.
@ -342,7 +341,7 @@ public sealed class BSCharacter : BSPhysObject
Scale = ComputeAvatarScale(_size);
ComputeAvatarVolumeAndMass();
DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
LocalID, _size, Scale, Density, _avatarVolume, RawMass);
PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
{
@ -870,7 +869,7 @@ public sealed class BSCharacter : BSPhysObject
* Math.Min(Size.X, Size.Y) / 2
* Size.Y / 2f // plus the volume of the capsule end caps
);
_mass = _avatarDensity * _avatarVolume;
_mass = Density * _avatarVolume;
}
// The physics engine says that properties have updated. Update same and inform
@ -901,7 +900,7 @@ public sealed class BSCharacter : BSPhysObject
CurrentEntityProperties = entprop;
// Tell the linkset about value changes
Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
// Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();

2
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -597,7 +597,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
if (IsActive)
{
// Remember the mass so we don't have to fetch it every step
m_vehicleMass = Prim.Linkset.LinksetMass;
m_vehicleMass = Prim.TotalMass;
// Friction affects are handled by this vehicle code
PhysicsScene.PE.SetFriction(Prim.PhysBody, BSParam.VehicleFriction);

52
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
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@ -52,7 +52,7 @@ public abstract class BSLinkset
Manual = 2 // linkset tied together manually (code moves all the pieces)
}
// Create the correct type of linkset for this child
public static BSLinkset Factory(BSScene physScene, BSPhysObject parent)
public static BSLinkset Factory(BSScene physScene, BSPrimLinkable parent)
{
BSLinkset ret = null;
@ -71,10 +71,14 @@ public abstract class BSLinkset
ret = new BSLinksetCompound(physScene, parent);
break;
}
if (ret == null)
{
physScene.Logger.ErrorFormat("[BULLETSIM LINKSET] Factory could not create linkset. Parent name={1}, ID={2}", parent.Name, parent.LocalID);
}
return ret;
}
public BSPhysObject LinksetRoot { get; protected set; }
public BSPrimLinkable LinksetRoot { get; protected set; }
public BSScene PhysicsScene { get; private set; }
@ -82,7 +86,7 @@ public abstract class BSLinkset
public int LinksetID { get; private set; }
// The children under the root in this linkset.
protected HashSet<BSPhysObject> m_children;
protected HashSet<BSPrimLinkable> m_children;
// We lock the diddling of linkset classes to prevent any badness.
// This locks the modification of the instances of this class. Changes
@ -91,7 +95,7 @@ public abstract class BSLinkset
// Some linksets have a preferred physical shape.
// Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected.
public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor)
{
return BSPhysicsShapeType.SHAPE_UNKNOWN;
}
@ -111,7 +115,7 @@ public abstract class BSLinkset
get { return ComputeLinksetGeometricCenter(); }
}
protected BSLinkset(BSScene scene, BSPhysObject parent)
protected BSLinkset(BSScene scene, BSPrimLinkable parent)
{
// A simple linkset of one (no children)
LinksetID = m_nextLinksetID++;
@ -120,7 +124,7 @@ public abstract class BSLinkset
m_nextLinksetID = 1;
PhysicsScene = scene;
LinksetRoot = parent;
m_children = new HashSet<BSPhysObject>();
m_children = new HashSet<BSPrimLinkable>();
LinksetMass = parent.RawMass;
Rebuilding = false;
}
@ -129,7 +133,7 @@ public abstract class BSLinkset
// Parent changing should not happen so do some sanity checking.
// We return the parent's linkset so the child can track its membership.
// Called at runtime.
public BSLinkset AddMeToLinkset(BSPhysObject child)
public BSLinkset AddMeToLinkset(BSPrimLinkable child)
{
lock (m_linksetActivityLock)
{
@ -145,14 +149,13 @@ public abstract class BSLinkset
// Returns a new linkset for the child which is a linkset of one (just the
// orphened child).
// Called at runtime.
public BSLinkset RemoveMeFromLinkset(BSPhysObject child)
public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child)
{
lock (m_linksetActivityLock)
{
if (IsRoot(child))
{
// Cannot remove the root from a linkset.
child.PositionDisplacement = OMV.Vector3.Zero;
return this;
}
RemoveChildFromLinkset(child);
@ -160,12 +163,11 @@ public abstract class BSLinkset
}
// The child is down to a linkset of just itself
child.PositionDisplacement = OMV.Vector3.Zero;
return BSLinkset.Factory(PhysicsScene, child);
}
// Return 'true' if the passed object is the root object of this linkset
public bool IsRoot(BSPhysObject requestor)
public bool IsRoot(BSPrimLinkable requestor)
{
return (requestor.LocalID == LinksetRoot.LocalID);
}
@ -176,14 +178,14 @@ public abstract class BSLinkset
public bool HasAnyChildren { get { return (m_children.Count > 0); } }
// Return 'true' if this child is in this linkset
public bool HasChild(BSPhysObject child)
public bool HasChild(BSPrimLinkable child)
{
bool ret = false;
lock (m_linksetActivityLock)
{
ret = m_children.Contains(child);
/* Safer version but the above should work
foreach (BSPhysObject bp in m_children)
foreach (BSPrimLinkable bp in m_children)
{
if (child.LocalID == bp.LocalID)
{
@ -198,14 +200,14 @@ public abstract class BSLinkset
// Perform an action on each member of the linkset including root prim.
// Depends on the action on whether this should be done at taint time.
public delegate bool ForEachMemberAction(BSPhysObject obj);
public delegate bool ForEachMemberAction(BSPrimLinkable obj);
public virtual bool ForEachMember(ForEachMemberAction action)
{
bool ret = false;
lock (m_linksetActivityLock)
{
action(LinksetRoot);
foreach (BSPhysObject po in m_children)
foreach (BSPrimLinkable po in m_children)
{
if (action(po))
break;
@ -216,16 +218,16 @@ public abstract class BSLinkset
// I am the root of a linkset and a new child is being added
// Called while LinkActivity is locked.
protected abstract void AddChildToLinkset(BSPhysObject child);
protected abstract void AddChildToLinkset(BSPrimLinkable child);
// 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.
protected abstract void RemoveChildFromLinkset(BSPhysObject child);
protected abstract void RemoveChildFromLinkset(BSPrimLinkable child);
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
// May be called at runtime or taint-time.
public virtual void Refresh(BSPhysObject requestor)
public virtual void Refresh(BSPrimLinkable requestor)
{
LinksetMass = ComputeLinksetMass();
}
@ -240,26 +242,26 @@ public abstract class BSLinkset
// has not yet been fully constructed.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public abstract bool MakeDynamic(BSPhysObject child);
public abstract bool MakeDynamic(BSPrimLinkable child);
// The object is going static (non-physical). Do any setup necessary
// for a static linkset.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public abstract bool MakeStatic(BSPhysObject child);
public abstract bool MakeStatic(BSPrimLinkable child);
// Called when a parameter update comes from the physics engine for any object
// of the linkset is received.
// Passed flag is update came from physics engine (true) or the user (false).
// Called at taint-time!!
public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject physObject);
public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable physObject);
// Routine used when rebuilding the body of the root of the linkset
// Destroy all the constraints have have been made to root.
// This is called when the root body is changing.
// Returns 'true' of something was actually removed and would need restoring
// Called at taint-time!!
public abstract bool RemoveBodyDependencies(BSPrim child);
public abstract bool RemoveBodyDependencies(BSPrimLinkable child);
// ================================================================
protected virtual float ComputeLinksetMass()
@ -269,7 +271,7 @@ public abstract class BSLinkset
{
lock (m_linksetActivityLock)
{
foreach (BSPhysObject bp in m_children)
foreach (BSPrimLinkable bp in m_children)
{
mass += bp.RawMass;
}
@ -286,7 +288,7 @@ public abstract class BSLinkset
com = LinksetRoot.Position * LinksetRoot.RawMass;
float totalMass = LinksetRoot.RawMass;
foreach (BSPhysObject bp in m_children)
foreach (BSPrimLinkable bp in m_children)
{
com += bp.Position * bp.RawMass;
totalMass += bp.RawMass;
@ -305,7 +307,7 @@ public abstract class BSLinkset
{
com = LinksetRoot.Position;
foreach (BSPhysObject bp in m_children)
foreach (BSPrimLinkable bp in m_children)
{
com += bp.Position;
}

32
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
View File

@ -52,7 +52,7 @@ sealed class BSLinksetCompoundInfo : BSLinksetInfo
OffsetRot = r;
}
// 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape)
public BSLinksetCompoundInfo(int indx, BSPhysObject root, BSPhysObject child, OMV.Vector3 centerDisplacement)
public BSLinksetCompoundInfo(int indx, BSPrimLinkable root, BSPrimLinkable child, OMV.Vector3 centerDisplacement)
{
// Each child position and rotation is given relative to the center-of-mass.
OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation);
@ -93,12 +93,12 @@ public sealed class BSLinksetCompound : BSLinkset
{
private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent)
public BSLinksetCompound(BSScene scene, BSPrimLinkable parent) : base(scene, parent)
{
}
// For compound implimented linksets, if there are children, use compound shape for the root.
public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
public override BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor)
{
// Returning 'unknown' means we don't have a preference.
BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
@ -112,7 +112,7 @@ public sealed class BSLinksetCompound : BSLinkset
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
public override void Refresh(BSPhysObject requestor)
public override void Refresh(BSPrimLinkable requestor)
{
base.Refresh(requestor);
@ -121,7 +121,7 @@ public sealed class BSLinksetCompound : BSLinkset
}
// Schedule a refresh to happen after all the other taint processing.
private void ScheduleRebuild(BSPhysObject requestor)
private void ScheduleRebuild(BSPrimLinkable requestor)
{
DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
@ -143,7 +143,7 @@ public sealed class BSLinksetCompound : BSLinkset
// has not yet been fully constructed.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public override bool MakeDynamic(BSPhysObject child)
public override bool MakeDynamic(BSPrimLinkable child)
{
bool ret = false;
DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
@ -173,7 +173,7 @@ public sealed class BSLinksetCompound : BSLinkset
// This doesn't normally happen -- OpenSim removes the objects from the physical
// world if it is a static linkset.
// Called at taint-time!
public override bool MakeStatic(BSPhysObject child)
public override bool MakeStatic(BSPrimLinkable child)
{
bool ret = false;
DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
@ -197,7 +197,7 @@ public sealed class BSLinksetCompound : BSLinkset
// 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then.
// Called at taint-time.
public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject updated)
public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable updated)
{
// The user moving a child around requires the rebuilding of the linkset compound shape
// One problem is this happens when a border is crossed -- the simulator implementation
@ -222,7 +222,7 @@ public sealed class BSLinksetCompound : BSLinkset
if (lsi != null)
{
// Since the child moved or rotationed, it needs a new relative position within the linkset
BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement);
BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, OMV.Vector3.Zero);
updated.LinksetInfo = newLsi;
// Find the physical instance of the child
@ -291,7 +291,7 @@ public sealed class BSLinksetCompound : BSLinkset
// Since we don't keep in world relationships, do nothing unless it's a child changing.
// Returns 'true' of something was actually removed and would need restoring
// Called at taint-time!!
public override bool RemoveBodyDependencies(BSPrim child)
public override bool RemoveBodyDependencies(BSPrimLinkable child)
{
bool ret = false;
@ -316,7 +316,7 @@ public sealed class BSLinksetCompound : BSLinkset
// When the linkset is built, the child shape is added to the compound shape relative to the
// root shape. The linkset then moves around but this does not move the actual child
// prim. The child prim's location must be recomputed based on the location of the root shape.
private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime)
private void RecomputeChildWorldPosition(BSPrimLinkable child, bool inTaintTime)
{
// For the moment (20130201), disable this computation (converting the child physical addr back to
// a region address) until we have a good handle on center-of-mass offsets and what the physics
@ -361,7 +361,7 @@ public sealed class BSLinksetCompound : BSLinkset
// Add a new child to the linkset.
// Called while LinkActivity is locked.
protected override void AddChildToLinkset(BSPhysObject child)
protected override void AddChildToLinkset(BSPrimLinkable child)
{
if (!HasChild(child))
{
@ -377,7 +377,7 @@ public sealed class BSLinksetCompound : BSLinkset
// Remove the specified child from the linkset.
// Safe to call even if the child is not really in the linkset.
protected override void RemoveChildFromLinkset(BSPhysObject child)
protected override void RemoveChildFromLinkset(BSPrimLinkable child)
{
if (m_children.Remove(child))
{
@ -429,7 +429,7 @@ public sealed class BSLinksetCompound : BSLinkset
if (disableCOM) // DEBUG DEBUG
{ // DEBUG DEBUG
centerOfMass = LinksetRoot.RawPosition; // DEBUG DEBUG
LinksetRoot.PositionDisplacement = OMV.Vector3.Zero;
// LinksetRoot.PositionDisplacement = OMV.Vector3.Zero;
} // DEBUG DEBUG
else
{
@ -438,7 +438,7 @@ public sealed class BSLinksetCompound : BSLinkset
centerDisplacement = LinksetRoot.RawPosition - centerOfMass;
// Since we're displacing the center of the shape, we need to move the body in the world
LinksetRoot.PositionDisplacement = centerDisplacement;
// LinksetRoot.PositionDisplacement = centerDisplacement;
// This causes the root prim position to be set properly based on the new PositionDisplacement
LinksetRoot.ForcePosition = LinksetRoot.RawPosition;
@ -453,7 +453,7 @@ public sealed class BSLinksetCompound : BSLinkset
// Add a shape for each of the other children in the linkset
int memberIndex = 1;
ForEachMember(delegate(BSPhysObject cPrim)
ForEachMember(delegate(BSPrimLinkable cPrim)
{
if (!IsRoot(cPrim))
{

30
OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
View File

@ -36,7 +36,7 @@ public sealed class BSLinksetConstraints : BSLinkset
{
// private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent)
public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent)
{
}
@ -44,7 +44,7 @@ public sealed class BSLinksetConstraints : BSLinkset
// its internal properties.
// This is queued in the 'post taint' queue so the
// refresh will happen once after all the other taints are applied.
public override void Refresh(BSPhysObject requestor)
public override void Refresh(BSPrimLinkable requestor)
{
base.Refresh(requestor);
@ -65,7 +65,7 @@ public sealed class BSLinksetConstraints : BSLinkset
// has not yet been fully constructed.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public override bool MakeDynamic(BSPhysObject child)
public override bool MakeDynamic(BSPrimLinkable child)
{
// What is done for each object in BSPrim is what we want.
return false;
@ -76,14 +76,14 @@ public sealed class BSLinksetConstraints : BSLinkset
// This doesn't normally happen -- OpenSim removes the objects from the physical
// world if it is a static linkset.
// Called at taint-time!
public override bool MakeStatic(BSPhysObject child)
public override bool MakeStatic(BSPrimLinkable child)
{
// What is done for each object in BSPrim is what we want.
return false;
}
// Called at taint-time!!
public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject pObj)
public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable pObj)
{
// Nothing to do for constraints on property updates
}
@ -93,7 +93,7 @@ public sealed class BSLinksetConstraints : BSLinkset
// up to rebuild the constraints before the next simulation step.
// Returns 'true' of something was actually removed and would need restoring
// Called at taint-time!!
public override bool RemoveBodyDependencies(BSPrim child)
public override bool RemoveBodyDependencies(BSPrimLinkable child)
{
bool ret = false;
@ -114,7 +114,7 @@ public sealed class BSLinksetConstraints : BSLinkset
// Add a new child to the linkset.
// Called while LinkActivity is locked.
protected override void AddChildToLinkset(BSPhysObject child)
protected override void AddChildToLinkset(BSPrimLinkable child)
{
if (!HasChild(child))
{
@ -130,12 +130,12 @@ public sealed class BSLinksetConstraints : BSLinkset
// Remove the specified child from the linkset.
// Safe to call even if the child is not really in my linkset.
protected override void RemoveChildFromLinkset(BSPhysObject child)
protected override void RemoveChildFromLinkset(BSPrimLinkable child)
{
if (m_children.Remove(child))
{
BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
BSPhysObject childx = child;
BSPrimLinkable rootx = LinksetRoot; // capture the root and body as of now
BSPrimLinkable childx = child;
DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
childx.LocalID,
@ -159,13 +159,13 @@ public sealed class BSLinksetConstraints : BSLinkset
// Create a constraint between me (root of linkset) and the passed prim (the child).
// Called at taint time!
private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
private void PhysicallyLinkAChildToRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
{
// Don't build the constraint when asked. Put it off until just before the simulation step.
Refresh(rootPrim);
}
private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim)
private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
{
// Zero motion for children so they don't interpolate
childPrim.ZeroMotion(true);
@ -239,7 +239,7 @@ public sealed class BSLinksetConstraints : BSLinkset
// The root and child bodies are passed in because we need to remove the constraint between
// the bodies that were present at unlink time.
// Called at taint time!
private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
private bool PhysicallyUnlinkAChildFromRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
{
bool ret = false;
DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
@ -261,7 +261,7 @@ public sealed class BSLinksetConstraints : BSLinkset
// Remove linkage between myself and any possible children I might have.
// Returns 'true' of any constraints were destroyed.
// Called at taint time!
private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
private bool PhysicallyUnlinkAllChildrenFromRoot(BSPrimLinkable rootPrim)
{
DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
@ -281,7 +281,7 @@ public sealed class BSLinksetConstraints : BSLinkset
DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass);
foreach (BSPhysObject child in m_children)
foreach (BSPrimLinkable child in m_children)
{
// A child in the linkset physically shows the mass of the whole linkset.
// This allows Bullet to apply enough force on the child to move the whole linkset.

8
OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
View File

@ -87,6 +87,7 @@ public static class BSParam
public static float NumberOfSolverIterations;
public static bool UseSingleSidedMeshes { get { return UseSingleSidedMeshesF != ConfigurationParameters.numericFalse; } }
public static float UseSingleSidedMeshesF;
public static float GlobalContactBreakingThreshold;
// Avatar parameters
public static float AvatarFriction { get; private set; }
@ -424,7 +425,7 @@ public static class BSParam
(s) => { return AvatarFriction; },
(s,p,l,v) => { AvatarFriction = v; } ),
new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
10.0f,
0.95f,
(s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); },
(s) => { return AvatarStandingFriction; },
(s,p,l,v) => { AvatarStandingFriction = v; } ),
@ -570,6 +571,11 @@ public static class BSParam
(s,cf,p,v) => { UseSingleSidedMeshesF = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
(s) => { return UseSingleSidedMeshesF; },
(s,p,l,v) => { UseSingleSidedMeshesF = v; s.UnmanagedParams[0].useSingleSidedMeshes = v; } ),
new ParameterDefn("GlobalContactBreakingThreshold", "Amount of shape radius before breaking a collision contact (0 says Bullet default (0.2))",
0f,
(s,cf,p,v) => { GlobalContactBreakingThreshold = cf.GetFloat(p, v); },
(s) => { return GlobalContactBreakingThreshold; },
(s,p,l,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ),
new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
(float)BSLinkset.LinksetImplementation.Compound,

27
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
View File

@ -86,10 +86,6 @@ public abstract class BSPhysObject : PhysicsActor
PhysBody = new BulletBody(localID);
PhysShape = new BulletShape();
// A linkset of just me
Linkset = BSLinkset.Factory(PhysicsScene, this);
PositionDisplacement = OMV.Vector3.Zero;
LastAssetBuildFailed = false;
// Default material type. Also sets Friction, Restitution and Density.
@ -117,8 +113,6 @@ public abstract class BSPhysObject : PhysicsActor
public string PhysObjectName { get; protected set; }
public string TypeName { get; protected set; }
public BSLinkset Linkset { get; set; }
public BSLinksetInfo LinksetInfo { get; set; }
// Return the object mass without calculating it or having side effects
public abstract float RawMass { get; }
@ -188,15 +182,6 @@ public abstract class BSPhysObject : PhysicsActor
public abstract OMV.Vector3 RawPosition { get; set; }
public abstract OMV.Vector3 ForcePosition { get; set; }
// 'Position' and 'Orientation' is what the simulator thinks the positions of the prim is.
// Because Bullet needs the zero coordinate to be the center of mass of the linkset,
// sometimes it is necessary to displace the position the physics engine thinks
// the position is. PositionDisplacement must be added and removed from the
// position as the simulator position is stored and fetched from the physics
// engine. Similar to OrientationDisplacement.
public virtual OMV.Vector3 PositionDisplacement { get; set; }
public virtual OMV.Quaternion OrientationDisplacement { get; set; }
public abstract OMV.Quaternion RawOrientation { get; set; }
public abstract OMV.Quaternion ForceOrientation { get; set; }
@ -302,22 +287,16 @@ public abstract class BSPhysObject : PhysicsActor
CollidingObjectStep = PhysicsScene.SimulationStep;
}
// prims in the same linkset cannot collide with each other
if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
{
return ret;
}
CollisionAccumulation++;
// For movement tests, remember if we are colliding with an object that is moving.
ColliderIsMoving = collidee != null ? collidee.RawVelocity != OMV.Vector3.Zero : false;
ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false;
// If someone has subscribed for collision events log the collision so it will be reported up
if (SubscribedEvents()) {
CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}",
LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth, ColliderIsMoving);
ret = true;
}

207
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -39,7 +39,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
[Serializable]
public sealed class BSPrim : BSPhysObject
public class BSPrim : BSPhysObject
{
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private static readonly string LogHeader = "[BULLETS PRIM]";
@ -102,9 +102,6 @@ public sealed class BSPrim : BSPhysObject
_mass = CalculateMass();
// Cause linkset variables to be initialized (like mass)
Linkset.Refresh(this);
DetailLog("{0},BSPrim.constructor,call", LocalID);
// do the actual object creation at taint time
PhysicsScene.TaintedObject("BSPrim.create", delegate()
@ -121,15 +118,6 @@ public sealed class BSPrim : BSPhysObject
// m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
base.Destroy();
// Undo any links between me and any other object
BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG DEBUG
int childrenBefore = Linkset.NumberOfChildren; // DEBUG DEBUG
Linkset = Linkset.RemoveMeFromLinkset(this);
DetailLog("{0},BSPrim.Destroy,call,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}",
LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
// Undo any vehicle properties
this.VehicleType = (int)Vehicle.TYPE_NONE;
@ -166,9 +154,9 @@ public sealed class BSPrim : BSPhysObject
ForceBodyShapeRebuild(false);
}
}
// Whatever the linkset wants is what I want.
// 'unknown' says to choose the best type
public override BSPhysicsShapeType PreferredPhysicalShape
{ get { return Linkset.PreferredPhysicalShape(this); } }
{ get { return BSPhysicsShapeType.SHAPE_UNKNOWN; } }
public override bool ForceBodyShapeRebuild(bool inTaintTime)
{
@ -213,33 +201,10 @@ public sealed class BSPrim : BSPhysObject
// link me to the specified parent
public override void link(PhysicsActor obj) {
BSPrim parent = obj as BSPrim;
if (parent != null)
{
BSPhysObject parentBefore = Linkset.LinksetRoot;
int childrenBefore = Linkset.NumberOfChildren;
Linkset = parent.Linkset.AddMeToLinkset(this);
DetailLog("{0},BSPrim.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
}
return;
}
// delink me from my linkset
public override void delink() {
// 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
BSPhysObject parentBefore = Linkset.LinksetRoot;
int childrenBefore = Linkset.NumberOfChildren;
Linkset = Linkset.RemoveMeFromLinkset(this);
DetailLog("{0},BSPrim.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
return;
}
// Set motion values to zero.
@ -287,15 +252,8 @@ public sealed class BSPrim : BSPhysObject
}
public override OMV.Vector3 Position {
get {
/* NOTE: this refetch is not necessary. The simulator knows about linkset children
* and does not fetch this position info for children. Thus this is commented out.
// child prims move around based on their parent. Need to get the latest location
if (!Linkset.IsRoot(this))
_position = Linkset.PositionGet(this);
*/
// don't do the GetObjectPosition for root elements because this function is called a zillion times.
// _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody) - PositionDisplacement;
// _position = ForcePosition;
return _position;
}
set {
@ -313,24 +271,20 @@ public sealed class BSPrim : BSPhysObject
{
DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
ForcePosition = _position;
// A linkset might need to know if a component information changed.
Linkset.UpdateProperties(UpdatedProperties.Position, this);
});
}
}
public override OMV.Vector3 ForcePosition {
get {
_position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement;
_position = PhysicsScene.PE.GetPosition(PhysBody);
return _position;
}
set {
_position = value;
if (PhysBody.HasPhysicalBody)
{
PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation);
PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
ActivateIfPhysical(false);
}
}
@ -398,12 +352,13 @@ public sealed class BSPrim : BSPhysObject
// If the simulator cares about the mass of the linkset, it will sum it itself.
public override float Mass
{
get
{
return _mass;
}
get { return _mass; }
}
// TotalMass returns the mass of the large object the prim may be in (overridden by linkset code)
public virtual float TotalMass
{
get { return _mass; }
}
// used when we only want this prim's mass and not the linkset thing
public override float RawMass {
get { return _mass; }
@ -467,13 +422,13 @@ public sealed class BSPrim : BSPhysObject
// Is this used?
public override OMV.Vector3 CenterOfMass
{
get { return Linkset.CenterOfMass; }
get { return RawPosition; }
}
// Is this used?
public override OMV.Vector3 GeometricCenter
{
get { return Linkset.GeometricCenter; }
get { return RawPosition; }
}
public override OMV.Vector3 Force {
@ -721,14 +676,6 @@ public sealed class BSPrim : BSPhysObject
}
public override OMV.Quaternion Orientation {
get {
/* NOTE: this refetch is not necessary. The simulator knows about linkset children
* and does not fetch this position info for children. Thus this is commented out.
// Children move around because tied to parent. Get a fresh value.
if (!Linkset.IsRoot(this))
{
_orientation = Linkset.OrientationGet(this);
}
*/
return _orientation;
}
set {
@ -739,10 +686,6 @@ public sealed class BSPrim : BSPhysObject
PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
{
ForceOrientation = _orientation;
// A linkset might need to know if a component information changed.
Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
});
}
}
@ -758,7 +701,7 @@ public sealed class BSPrim : BSPhysObject
{
_orientation = value;
if (PhysBody.HasPhysicalBody)
PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation);
PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
}
}
public override int PhysicsActorType {
@ -814,7 +757,7 @@ public sealed class BSPrim : BSPhysObject
// isSolid: other objects bounce off of this object
// isVolumeDetect: other objects pass through but can generate collisions
// collisionEvents: whether this object returns collision events
public void UpdatePhysicalParameters()
public virtual void UpdatePhysicalParameters()
{
if (!PhysBody.HasPhysicalBody)
{
@ -844,12 +787,6 @@ public sealed class BSPrim : BSPhysObject
// Rebuild its shape
PhysicsScene.PE.UpdateSingleAabb(PhysicsScene.World, PhysBody);
// Recompute any linkset parameters.
// When going from non-physical to physical, this re-enables the constraints that
// had been automatically disabled when the mass was set to zero.
// For compound based linksets, this enables and disables interactions of the children.
Linkset.Refresh(this);
DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}",
LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape);
}
@ -859,7 +796,7 @@ public sealed class BSPrim : BSPhysObject
// When dynamic, the object can fall and be pushed by others.
// This is independent of its 'solidness' which controls what passes through
// this object and what interacts with it.
private void MakeDynamic(bool makeStatic)
protected virtual void MakeDynamic(bool makeStatic)
{
if (makeStatic)
{
@ -889,9 +826,6 @@ public sealed class BSPrim : BSPhysObject
// This collides like a static object
PhysBody.collisionType = CollisionType.Static;
// There can be special things needed for implementing linksets
Linkset.MakeStatic(this);
}
else
{
@ -908,10 +842,7 @@ public sealed class BSPrim : BSPhysObject
// PhysicsScene.PE.ClearAllForces(BSBody);
// For good measure, make sure the transform is set through to the motion state
PhysicsScene.PE.SetTranslation(PhysBody, _position + PositionDisplacement, _orientation);
// Center of mass is at the center of the object
// DEBUG DEBUG PhysicsScene.PE.SetCenterOfMassByPosRot(Linkset.LinksetRoot.PhysBody, _position, _orientation);
ForcePosition = _position;
// A dynamic object has mass
UpdatePhysicalMassProperties(RawMass, false);
@ -935,9 +866,6 @@ public sealed class BSPrim : BSPhysObject
// Force activation of the object so Bullet will act on it.
// Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
PhysicsScene.PE.ForceActivationState(PhysBody, ActivationState.ACTIVE_TAG);
// There might be special things needed for implementing linksets.
Linkset.MakeDynamic(this);
}
}
@ -1643,16 +1571,6 @@ public sealed class BSPrim : BSPhysObject
returnMass = Density * volume;
/* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
if (IsRootOfLinkset)
{
foreach (BSPrim prim in _childrenPrims)
{
returnMass += prim.CalculateMass();
}
}
*/
returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
return returnMass;
@ -1672,8 +1590,7 @@ public sealed class BSPrim : BSPhysObject
// Called if the current prim body is about to be destroyed.
// Remove all the physical dependencies on the old body.
// (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...)
Linkset.RemoveBodyDependencies(this);
VehicleController.RemoveBodyDependencies(this);
RemoveBodyDependencies();
});
// Make sure the properties are set on the new object
@ -1681,57 +1598,50 @@ public sealed class BSPrim : BSPhysObject
return;
}
protected virtual void RemoveBodyDependencies()
{
VehicleController.RemoveBodyDependencies(this);
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
// Updates only for individual prims and for the root object of a linkset.
if (Linkset.IsRoot(this))
// A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
// TODO: handle physics introduced by Bullet with computed vehicle physics.
if (VehicleController.IsActive)
{
// A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
// TODO: handle physics introduced by Bullet with computed vehicle physics.
if (VehicleController.IsActive)
{
entprop.RotationalVelocity = OMV.Vector3.Zero;
}
// DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
// Undo any center-of-mass displacement that might have been done.
if (PositionDisplacement != OMV.Vector3.Zero)
{
// Correct for any rotation around the center-of-mass
// TODO!!!
entprop.Position -= PositionDisplacement;
}
// Assign directly to the local variables so the normal set actions do not happen
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG
// The sanity check can change the velocity and/or position.
if (PositionSanityCheck(true /* inTaintTime */ ))
{
entprop.Position = _position;
entprop.Velocity = _velocity;
entprop.RotationalVelocity = _rotationalVelocity;
entprop.Acceleration = _acceleration;
}
OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
base.RequestPhysicsterseUpdate();
entprop.RotationalVelocity = OMV.Vector3.Zero;
}
// DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
// Assign directly to the local variables so the normal set actions do not happen
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG
// The sanity check can change the velocity and/or position.
if (PositionSanityCheck(true /* inTaintTime */ ))
{
entprop.Position = _position;
entprop.Velocity = _velocity;
entprop.RotationalVelocity = _rotationalVelocity;
entprop.Acceleration = _acceleration;
}
OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
base.RequestPhysicsterseUpdate();
/*
else
{
@ -1741,9 +1651,6 @@ public sealed class BSPrim : BSPhysObject
entprop.Acceleration, entprop.RotationalVelocity);
}
*/
// The linkset implimentation might want to know about this.
Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
}
}
}

118
OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs Executable file
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@ -0,0 +1,118 @@
/*
* 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 copyright
* 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.
*
* The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
* are Copyright (c) 2009 Linden Research, Inc and are used under their license
* of Creative Commons Attribution-Share Alike 3.0
* (http://creativecommons.org/licenses/by-sa/3.0/).
*/
using System;
using System.Collections.Generic;
using System.Reflection;
using System.Runtime.InteropServices;
using OpenMetaverse;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
public class BSPrimDisplaced : BSPrim
{
// 'Position' and 'Orientation' is what the simulator thinks the positions of the prim is.
// Because Bullet needs the zero coordinate to be the center of mass of the linkset,
// sometimes it is necessary to displace the position the physics engine thinks
// the position is. PositionDisplacement must be added and removed from the
// position as the simulator position is stored and fetched from the physics
// engine. Similar to OrientationDisplacement.
public virtual OMV.Vector3 PositionDisplacement { get; set; }
public virtual OMV.Quaternion OrientationDisplacement { get; set; }
public virtual OMV.Vector3 CenterOfMassLocation { get; set; }
public virtual OMV.Vector3 GeometricCenterLocation { get; set; }
public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
{
CenterOfMassLocation = RawPosition;
GeometricCenterLocation = RawPosition;
}
public override Vector3 ForcePosition
{
get
{
return base.ForcePosition;
}
set
{
base.ForcePosition = value;
CenterOfMassLocation = RawPosition;
GeometricCenterLocation = RawPosition;
}
}
public override Quaternion ForceOrientation
{
get
{
return base.ForceOrientation;
}
set
{
base.ForceOrientation = value;
}
}
// Is this used?
public override OMV.Vector3 CenterOfMass
{
get { return CenterOfMassLocation; }
}
// Is this used?
public override OMV.Vector3 GeometricCenter
{
get { return GeometricCenterLocation; }
}
public override void UpdateProperties(EntityProperties entprop)
{
// Undo any center-of-mass displacement that might have been done.
if (PositionDisplacement != OMV.Vector3.Zero)
{
// Correct for any rotation around the center-of-mass
// TODO!!!
entprop.Position -= PositionDisplacement;
}
base.UpdateProperties(entprop);
}
}
}

179
OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs Executable file
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@ -0,0 +1,179 @@
/*
* 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.Linq;
using System.Text;
using OpenSim.Framework;
using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
public class BSPrimLinkable : BSPrimDisplaced
{
public BSLinkset Linkset { get; set; }
public BSLinksetInfo LinksetInfo { get; set; }
public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
{
Linkset = BSLinkset.Factory(PhysicsScene, this);
PhysicsScene.TaintedObject("BSPrimLinksetCompound.Refresh", delegate()
{
Linkset.Refresh(this);
});
}
public override void Destroy()
{
Linkset = Linkset.RemoveMeFromLinkset(this);
base.Destroy();
}
public override BSPhysicsShapeType PreferredPhysicalShape
{ get { return Linkset.PreferredPhysicalShape(this); } }
public override void link(Manager.PhysicsActor obj)
{
BSPrimLinkable parent = obj as BSPrimLinkable;
if (parent != null)
{
BSPhysObject parentBefore = Linkset.LinksetRoot;
int childrenBefore = Linkset.NumberOfChildren;
Linkset = parent.Linkset.AddMeToLinkset(this);
DetailLog("{0},BSPrimLinkset.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
}
return;
}
public override void delink()
{
// 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
BSPhysObject parentBefore = Linkset.LinksetRoot;
int childrenBefore = Linkset.NumberOfChildren;
Linkset = Linkset.RemoveMeFromLinkset(this);
DetailLog("{0},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
return;
base.delink();
}
// When simulator changes position, this might be moving a child of the linkset.
public override OMV.Vector3 Position
{
get { return base.Position; }
set
{
base.Position = value;
PhysicsScene.TaintedObject("BSPrimLinkset.setPosition", delegate()
{
Linkset.UpdateProperties(UpdatedProperties.Position, this);
});
}
}
// When simulator changes orientation, this might be moving a child of the linkset.
public override OMV.Quaternion Orientation
{
get { return base.Orientation; }
set
{
base.Orientation = value;
PhysicsScene.TaintedObject("BSPrimLinkset.setOrientation", delegate()
{
Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
});
}
}
public override float TotalMass
{
get { return Linkset.LinksetMass; }
}
public override void UpdatePhysicalParameters()
{
base.UpdatePhysicalParameters();
// Recompute any linkset parameters.
// When going from non-physical to physical, this re-enables the constraints that
// had been automatically disabled when the mass was set to zero.
// For compound based linksets, this enables and disables interactions of the children.
Linkset.Refresh(this);
}
protected override void MakeDynamic(bool makeStatic)
{
base.MakeDynamic(makeStatic);
if (makeStatic)
Linkset.MakeStatic(this);
else
Linkset.MakeDynamic(this);
}
// Body is being taken apart. Remove physical dependencies and schedule a rebuild.
protected override void RemoveBodyDependencies()
{
Linkset.RemoveBodyDependencies(this);
base.RemoveBodyDependencies();
}
public override void UpdateProperties(EntityProperties entprop)
{
if (Linkset.IsRoot(this))
{
// Properties are only updated for the roots of a linkset.
// TODO: this will have to change when linksets are articulated.
base.UpdateProperties(entprop);
}
// The linkset might like to know about changing locations
Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
}
public override bool Collide(uint collidingWith, BSPhysObject collidee,
OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
{
// prims in the same linkset cannot collide with each other
BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
if (convCollidee != null && (this.Linkset.LinksetID == convCollidee.Linkset.LinksetID))
{
return false;
}
return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
}
}
}

6
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@ -434,7 +434,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
{
if (!m_initialized) return;
BSPrim bsprim = prim as BSPrim;
BSPhysObject bsprim = prim as BSPhysObject;
if (bsprim != null)
{
DetailLog("{0},RemovePrim,call", bsprim.LocalID);
@ -463,9 +463,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
if (!m_initialized) return null;
DetailLog("{0},AddPrimShape,call", localID);
DetailLog("{0},BSScene.AddPrimShape,call", localID);
BSPrim prim = new BSPrim(localID, primName, this, position, size, rotation, pbs, isPhysical);
BSPhysObject prim = new BSPrimLinkable(localID, primName, this, position, size, rotation, pbs, isPhysical);
lock (PhysObjects) PhysObjects.Add(localID, prim);
return prim;
}

4
bin/OpenSimDefaults.ini
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@ -1652,6 +1652,10 @@
[JsonStore]
Enabled = False
;; Enable direct access to the SOP dynamic attributes
EnableObjectStore = False
MaxStringSpace = 0
;;
;; These are defaults that are overwritten below in [Architecture].
;; These defaults allow OpenSim to work out of the box with

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bin/lib32/BulletSim.dll
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bin/lib32/libBulletSim.so
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bin/lib64/BulletSim.dll
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bin/lib64/libBulletSim.so
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