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BulletSim: improve linking to add each link individually rather than rebuilding the object each time. Makes it an O(n) operation rather than O(n\!).

0.7.4.1
Robert Adams 2012-07-23 09:30:28 -07:00
parent e126915bc1
commit 73f9e14b43
1 changed files with 76 additions and 60 deletions
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96
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -149,10 +149,13 @@ public sealed class BSPrim : PhysicsActor
{
// m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
// DetailLog("{0},Destroy", LocalID);
// Undo any vehicle properties
_vehicle.ProcessTypeChange(Vehicle.TYPE_NONE);
_scene.RemoveVehiclePrim(this); // just to make sure
_scene.TaintedObject(delegate()
{
// undo any dependance with/on other objects
if (_parentPrim != null)
{
@ -161,10 +164,11 @@ public sealed class BSPrim : PhysicsActor
_parentPrim = null;
}
_scene.TaintedObject(delegate()
{
// make sure there are no possible children depending on me
UnlinkAllChildren();
// everything in the C# world will get garbage collected. Tell the C++ world to free stuff.
BulletSimAPI.DestroyObject(_scene.WorldID, _localID);
BulletSimAPI.DestroyObject(_scene.WorldID, LocalID);
});
}
@ -272,7 +276,8 @@ public sealed class BSPrim : PhysicsActor
DetailLog("{0},AddChildToLinkset,child={1}", LocalID, pchild.LocalID);
_childrenPrims.Add(child);
child._parentPrim = this; // the child has gained a parent
RecreateGeomAndObject(); // rebuild my shape with the new child added
// RecreateGeomAndObject(); // rebuild my shape with the new child added
LinkAChildToMe(pchild); // build the physical binding between me and the child
}
});
return;
@ -289,13 +294,18 @@ public sealed class BSPrim : PhysicsActor
{
DebugLog("{0}: RemoveChildFromLinkset: Removing constraint to {1}", LogHeader, child.LocalID);
DetailLog("{0},RemoveChildToLinkset,child={1}", LocalID, pchild.LocalID);
if (!BulletSimAPI.RemoveConstraintByID(_scene.WorldID, child.LocalID))
{
m_log.ErrorFormat("{0}: RemoveChildFromLinkset: Failed remove constraint for {1}", LogHeader, child.LocalID);
}
_childrenPrims.Remove(child);
child._parentPrim = null; // the child has lost its parent
RecreateGeomAndObject(); // rebuild my shape with the child removed
if (_childrenPrims.Count == 0)
{
// if the linkset is empty, make sure all linkages have been removed
UnlinkAllChildren();
}
else
{
// RecreateGeomAndObject(); // rebuild my shape with the child removed
UnlinkAChildFromMe(pchild);
}
}
else
{
@ -1247,30 +1257,6 @@ public sealed class BSPrim : PhysicsActor
}
}
// Create a linkset by creating a compound hull at the root prim that consists of all
// the children.
// NOTE: This does not allow proper collisions with the children prims so it is not a workable solution
void CreateLinksetWithCompoundHull()
{
// If I am the root prim of a linkset, replace my physical shape with all the
// pieces of the children.
// All of the children should have called CreateGeom so they have a hull
// in the physics engine already. Here we pull together all of those hulls
// into one shape.
int totalPrimsInLinkset = _childrenPrims.Count + 1;
// m_log.DebugFormat("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, totalPrimsInLinkset);
ShapeData[] shapes = new ShapeData[totalPrimsInLinkset];
FillShapeInfo(out shapes[0]);
int ii = 1;
foreach (BSPrim prim in _childrenPrims)
{
// m_log.DebugFormat("{0}: CreateLinkset: adding prim {1}", LogHeader, prim.LocalID);
prim.FillShapeInfo(out shapes[ii]);
ii++;
}
BulletSimAPI.CreateLinkset(_scene.WorldID, totalPrimsInLinkset, shapes);
}
// Copy prim's info into the BulletSim shape description structure
public void FillShapeInfo(out ShapeData shape)
{
@ -1290,9 +1276,10 @@ public sealed class BSPrim : PhysicsActor
shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
}
#region Linkset creation and destruction
// Create the linkset by putting constraints between the objects of the set so they cannot move
// relative to each other.
// TODO: make this more effeicient: a large linkset gets rebuilt over and over and prims are added
void CreateLinksetWithConstraints()
{
DebugLog("{0}: CreateLinkset. Root prim={1}, prims={2}", LogHeader, LocalID, _childrenPrims.Count+1);
@ -1305,21 +1292,30 @@ public sealed class BSPrim : PhysicsActor
}
// create constraints between the root prim and each of the children
foreach (BSPrim prim in _childrenPrims)
{
LinkAChildToMe(prim);
}
}
// Create a constraint between me (root of linkset) and the passed prim (the child).
// Called at taint time!
private void LinkAChildToMe(BSPrim childPrim)
{
// Zero motion for children so they don't interpolate
prim.ZeroMotion();
childPrim.ZeroMotion();
// relative position normalized to the root prim
OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(this._orientation);
OMV.Vector3 childRelativePosition = (prim._position - this._position) * invThisOrientation;
OMV.Vector3 childRelativePosition = (childPrim._position - this._position) * invThisOrientation;
// relative rotation of the child to the parent
OMV.Quaternion childRelativeRotation = invThisOrientation * prim._orientation;
OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim._orientation;
// this is a constraint that allows no freedom of movement between the two objects
// create a constraint that allows no freedom of movement between the two objects
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, prim.LocalID);
BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, prim.LocalID,
DebugLog("{0}: CreateLinkset: Adding a constraint between root prim {1} and child prim {2}", LogHeader, LocalID, childPrim.LocalID);
DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID);
BulletSimAPI.AddConstraint(_scene.WorldID, LocalID, childPrim.LocalID,
childRelativePosition,
childRelativeRotation,
OMV.Vector3.Zero,
@ -1327,8 +1323,28 @@ public sealed class BSPrim : PhysicsActor
OMV.Vector3.Zero, OMV.Vector3.Zero,
OMV.Vector3.Zero, OMV.Vector3.Zero);
}
// Remove linkage between myself and a particular child
// Called at taint time!
private void UnlinkAChildFromMe(BSPrim childPrim)
{
DebugLog("{0}: UnlinkAChildFromMe: RemoveConstraint between root prim {1} and child prim {2}",
LogHeader, LocalID, childPrim.LocalID);
DetailLog("{0},UnlinkAChildFromMe,taint,root={1},child={2}", LocalID, LocalID, childPrim.LocalID);
BulletSimAPI.RemoveConstraint(_scene.WorldID, LocalID, childPrim.LocalID);
}
// Remove linkage between myself and any possible children I might have
// Called at taint time!
private void UnlinkAllChildren()
{
DebugLog("{0}: UnlinkAllChildren:", LogHeader);
DetailLog("{0},UnlinkAllChildren,taint", LocalID);
BulletSimAPI.RemoveConstraintByID(_scene.WorldID, LocalID);
}
#endregion // Linkset creation and destruction
// Rebuild the geometry and object.
// This is called when the shape changes so we need to recreate the mesh/hull.
// No locking here because this is done when the physics engine is not simulating