OpenSim
/
OpenSimMirror
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

BulletSim: rename some constraint variables to be consistant with other name use. 

Added callbacks for shape and body changes in GetBodyAndShape() so the linkset
    constraints can be picked up and restored. A better design might be to have
    a "prim shape changed" event. Think about that.
Added constraint types to general constraint class.
connector_plugin
Robert Adams 2012-09-27 19:57:35 -07:00
parent 7b65985047
commit 74dea4cfd5
7 changed files with 232 additions and 117 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

44
OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
View File

@ -34,6 +34,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
public class BS6DofConstraint : BSConstraint
{
private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]";
public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }
// Create a btGeneric6DofConstraint
public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
Vector3 frame1, Quaternion frame1rot,
@ -49,6 +53,9 @@ public class BS6DofConstraint : BSConstraint
frame2, frame2rot,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
m_enabled = true;
world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID,
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
}
public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
@ -60,12 +67,13 @@ public class BS6DofConstraint : BSConstraint
m_body2 = obj2;
if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero)
{
world.scene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
"[BULLETSIM 6DOF CONSTRAINT]", world.worldID,
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
world.scene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID,
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
"[BULLETSIM 6DOF CONSTRAINT]", world.worldID,
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
m_enabled = false;
}
else
{
@ -73,8 +81,20 @@ public class BS6DofConstraint : BSConstraint
BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
joinPoint,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"),
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
if (m_constraint.ptr == IntPtr.Zero)
{
world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
LogHeader, obj1.ID, obj2.ID);
m_enabled = false;
}
else
{
m_enabled = true;
}
}
m_enabled = true;
}
public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
@ -82,7 +102,7 @@ public class BS6DofConstraint : BSConstraint
bool ret = false;
if (m_enabled)
{
BulletSimAPI.SetFrames2(m_constraint.Ptr, frameA, frameArot, frameB, frameBrot);
BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
ret = true;
}
return ret;
@ -93,9 +113,9 @@ public class BS6DofConstraint : BSConstraint
bool ret = false;
if (m_enabled)
{
BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
ret = true;
}
return ret;
@ -106,7 +126,7 @@ public class BS6DofConstraint : BSConstraint
bool ret = false;
float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
if (m_enabled)
ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff);
ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff);
return ret;
}
@ -115,7 +135,7 @@ public class BS6DofConstraint : BSConstraint
bool ret = false;
float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
if (m_enabled)
ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce);
return ret;
}
@ -123,7 +143,7 @@ public class BS6DofConstraint : BSConstraint
{
bool ret = false;
if (m_enabled)
ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.Ptr, threshold);
ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
return ret;
}
}

21
OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
View File

@ -49,20 +49,23 @@ public abstract class BSConstraint : IDisposable
if (m_enabled)
{
m_enabled = false;
bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.Ptr);
m_world.scene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success);
m_constraint.Ptr = System.IntPtr.Zero;
bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success);
m_constraint.ptr = System.IntPtr.Zero;
}
}
public BulletBody Body1 { get { return m_body1; } }
public BulletBody Body2 { get { return m_body2; } }
public BulletConstraint Constraint { get { return m_constraint; } }
public abstract ConstraintType Type { get; }
public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
{
bool ret = false;
if (m_enabled)
ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high);
ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high);
return ret;
}
@ -70,7 +73,7 @@ public abstract class BSConstraint : IDisposable
{
bool ret = false;
if (m_enabled)
ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high);
ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high);
return ret;
}
@ -79,7 +82,7 @@ public abstract class BSConstraint : IDisposable
bool ret = false;
if (m_enabled)
{
BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.Ptr, cnt);
BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt);
ret = true;
}
return ret;
@ -91,7 +94,7 @@ public abstract class BSConstraint : IDisposable
if (m_enabled)
{
// Recompute the internal transforms
BulletSimAPI.CalculateTransforms2(m_constraint.Ptr);
BulletSimAPI.CalculateTransforms2(m_constraint.ptr);
ret = true;
}
return ret;
@ -110,11 +113,11 @@ public abstract class BSConstraint : IDisposable
// Setting an object's mass to zero (making it static like when it's selected)
// automatically disables the constraints.
// If the link is enabled, be sure to set the constraint itself to enabled.
BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true));
BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, m_world.physicsScene.NumericBool(true));
}
else
{
m_world.scene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID);
m_world.physicsScene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID);
}
}
return ret;

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

@ -34,6 +34,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
class BSHingeConstraint : BSConstraint
{
public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } }
public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
Vector3 pivotInA, Vector3 pivotInB,
Vector3 axisInA, Vector3 axisInB,

182
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
View File

@ -88,6 +88,7 @@ public class BSLinkset
// Link to a linkset where the child knows the parent.
// 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)
{
lock (m_linksetActivityLock)
@ -102,6 +103,7 @@ public class BSLinkset
// Remove a child from a linkset.
// 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)
{
lock (m_linksetActivityLock)
@ -113,27 +115,6 @@ public class BSLinkset
}
RemoveChildFromLinkset(child);
/* Alternate implementation that destroys the linkset of the root is removed.
* This fails because items are added and removed from linksets to build shapes.
* Code left for reference.
if (IsRoot(child))
{
// if root of linkset, take the linkset apart
while (m_children.Count > 0)
{
// Note that we don't do a foreach because the remove routine
// takes it out of the list.
RemoveChildFromOtherLinkset(m_children[0]);
}
m_children.Clear(); // just to make sure
}
else
{
// Just removing a child from an existing linkset
RemoveChildFromLinkset(child);
}
*/
}
// The child is down to a linkset of just itself
@ -169,6 +150,106 @@ public class BSLinkset
return ret;
}
// The object is going dynamic (physical). Do any setup necessary
// for a dynamic linkset.
// Only the state of the passed object can be modified. The rest of the linkset
// has not yet been fully constructed.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public bool MakeDynamic(BSPhysObject child)
{
// What is done for each object in BSPrim is what we want.
return false;
}
// 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 bool MakeStatic(BSPhysObject child)
{
// What is done for each object in BSPrim is what we want.
return false;
}
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
// Called at runtime.
public void Refresh(BSPhysObject requestor)
{
// If there are no children, there can't be any constraints to recompute
if (!HasAnyChildren)
return;
// Only the root does the recomputation
if (IsRoot(requestor))
{
PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate()
{
RecomputeLinksetConstraintVariables();
});
}
}
// 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.
// Called at taint-time!!
public void RemoveBodyDependencies(BSPrim child)
{
lock (m_linksetActivityLock)
{
if (IsRoot(child))
{
// If the one with the dependency is root, must undo all children
DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},numChild={2}",
LinksetRoot.LocalID, m_children.Count);
foreach (BSPhysObject bpo in m_children)
{
PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody);
}
}
else
{
DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
child.LocalID, child.BSBody.ptr.ToString("X"));
// Remove the dependency on the body of this one
PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody);
}
}
}
// Routine used when rebuilding the body of the root of the linkset
// This is called after RemoveAllLinksToRoot() to restore all the constraints.
// This is called when the root body has been changed.
// Called at taint-time!!
public void RestoreBodyDependencies(BSPrim child)
{
lock (m_linksetActivityLock)
{
if (IsRoot(child))
{
DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}",
LinksetRoot.LocalID, m_children.Count);
foreach (BSPhysObject bpo in m_children)
{
PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody);
}
}
else
{
DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
child.LocalID, child.BSBody.ptr.ToString("X"));
PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody);
}
}
}
// ================================================================
// Below this point is internal magic
private float ComputeLinksetMass()
{
float mass;
@ -220,46 +301,6 @@ public class BSLinkset
return com;
}
// The object is going dynamic (physical). Do any setup necessary
// for a dynamic linkset.
// Only the state of the passed object can be modified. The rest of the linkset
// has not yet been fully constructed.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public bool MakeDynamic(BSPhysObject child)
{
// What is done for each object in BSPrim is what we want.
return false;
}
// 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 bool MakeStatic(BSPhysObject child)
{
// What is done for each object in BSPrim is what we want.
return false;
}
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
public void Refresh(BSPhysObject requestor)
{
// If there are no children, there can't be any constraints to recompute
if (!HasAnyChildren)
return;
// Only the root does the recomputation
if (IsRoot(requestor))
{
PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate()
{
RecomputeLinksetConstraintVariables();
});
}
}
// Call each of the constraints that make up this linkset and recompute the
// various transforms and variables. Used when objects are added or removed
// from a linkset to make sure the constraints know about the new mass and
@ -327,6 +368,11 @@ public class BSLinkset
BSPhysObject childx = child;
BulletBody childBodyx = child.BSBody;
DetailLog("{0},AddChildToLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
rootx.LocalID,
rootx.LocalID, rootBodyx.ptr.ToString("X"),
childx.LocalID, childBodyx.ptr.ToString("X"));
PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
{
DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID);
@ -358,10 +404,14 @@ public class BSLinkset
BulletBody rootBodyx = LinksetRoot.BSBody;
BSPhysObject childx = child;
BulletBody childBodyx = child.BSBody;
DetailLog("{0},RemoveChildFromLinkset,call,child={1}",
rootx.LocalID,
rootx.LocalID, rootBodyx.ptr.ToString("X"),
childx.LocalID, childBodyx.ptr.ToString("X"));
PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
{
DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID);
PhysicallyUnlinkAChildFromRoot(rootx, rootBodyx, childx, childBodyx);
RecomputeLinksetConstraintVariables();
});
@ -390,14 +440,15 @@ public class BSLinkset
// real world coordinate of midpoint between the two objects
OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
// create a constraint that allows no freedom of movement between the two objects
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
rootPrim.LocalID,
rootPrim.LocalID, rootBody.ptr.ToString("X"),
childPrim.LocalID, childBody.ptr.ToString("X"),
rootPrim.Position, childPrim.Position, midPoint);
// create a constraint that allows no freedom of movement between the two objects
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
// There is great subtlty in these paramters. Notice the check for a ptr of zero.
// We pass the BulletBody structure into the taint in order to capture the pointer
// of the body at the time of constraint creation. This doesn't work for the very first
@ -416,6 +467,7 @@ public class BSLinkset
true,
true
);
/* NOTE: below is an attempt to build constraint with full frame computation, etc.
* Using the midpoint is easier since it lets the Bullet code manipulate the transforms
* of the objects.

14
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -1111,13 +1111,21 @@ public sealed class BSPrim : BSPhysObject
// Undo me from any possible linkset so, if body is rebuilt, the link will get restored.
// NOTE that the new linkset is not set. This saves the handle to the linkset
// so we can add ourselves back when shape mangling is complete.
Linkset.RemoveMeFromLinkset(this);
bool needToRestoreLinkset = false;
// Create the correct physical representation for this type of object.
// Updates BSBody and BSShape with the new information.
PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs);
PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs,
null, delegate(BulletBody dBody)
{
// Called if the current prim body is about to be destroyed.
// The problem is the constraints for Linksets which need to be updated for the new body.
Linkset.RemoveBodyDependencies(this);
needToRestoreLinkset = true;
});
Linkset = Linkset.AddMeToLinkset(this);
if (needToRestoreLinkset)
Linkset.RestoreBodyDependencies(this);
// Make sure the properties are set on the new object
UpdatePhysicalParameters();

65
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
View File

@ -81,12 +81,21 @@ public class BSShapeCollection : IDisposable
// TODO!!!!!!!!!
}
// Callbacks called just before either the body or shape is destroyed.
// Mostly used for changing bodies out from under Linksets.
// Useful for other cases where parameters need saving.
// Passing 'null' says no callback.
public delegate void ShapeDestructionCallback(BulletShape shape);
public delegate void BodyDestructionCallback(BulletBody body);
// Called to update/change the body and shape for an object.
// First checks the shape and updates that if necessary then makes
// sure the body is of the right type.
// Return 'true' if either the body or the shape changed.
// Called at taint-time!!
public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs)
public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPrim prim,
ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
{
bool ret = false;
@ -95,11 +104,11 @@ public class BSShapeCollection : IDisposable
{
// Do we have the correct geometry for this type of object?
// Updates prim.BSShape with information/pointers to requested shape
bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs);
bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, shapeCallback);
// If we had to select a new shape geometry for the object,
// rebuild the body around it.
// Updates prim.BSBody with information/pointers to requested body
bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData);
bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData, bodyCallback);
ret = newGeom || newBody;
}
DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}",
@ -135,7 +144,7 @@ public class BSShapeCollection : IDisposable
// Release the usage of a body.
// Called when releasing use of a BSBody. BSShape is handled separately.
public void DereferenceBody(BulletBody shape, bool inTaintTime)
public void DereferenceBody(BulletBody shape, bool inTaintTime, BodyDestructionCallback bodyCallback )
{
if (shape.ptr == IntPtr.Zero)
return;
@ -244,7 +253,7 @@ public class BSShapeCollection : IDisposable
// Release the usage of a shape.
// The collisionObject is released since it is a copy of the real collision shape.
private void DereferenceShape(BulletShape shape, bool atTaintTime)
private void DereferenceShape(BulletShape shape, bool atTaintTime, ShapeDestructionCallback shapeCallback)
{
if (shape.ptr == IntPtr.Zero)
return;
@ -254,10 +263,10 @@ public class BSShapeCollection : IDisposable
switch (shape.type)
{
case ShapeData.PhysicsShapeType.SHAPE_HULL:
DereferenceHull(shape);
DereferenceHull(shape, shapeCallback);
break;
case ShapeData.PhysicsShapeType.SHAPE_MESH:
DereferenceMesh(shape);
DereferenceMesh(shape, shapeCallback);
break;
case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
break;
@ -267,6 +276,7 @@ public class BSShapeCollection : IDisposable
{
DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
BSScene.DetailLogZero, shape.ptr.ToString("X"), atTaintTime);
if (shapeCallback != null) shapeCallback(shape);
BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
}
break;
@ -287,13 +297,14 @@ public class BSShapeCollection : IDisposable
// Count down the reference count for a mesh shape
// Called at taint-time.
private void DereferenceMesh(BulletShape shape)
private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback)
{
MeshDesc meshDesc;
if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
{
meshDesc.referenceCount--;
// TODO: release the Bullet storage
if (shapeCallback != null) shapeCallback(shape);
meshDesc.lastReferenced = System.DateTime.Now;
Meshes[shape.shapeKey] = meshDesc;
DetailLog("{0},BSShapeCollection.DereferenceMesh,key={1},refCnt={2}",
@ -304,13 +315,14 @@ public class BSShapeCollection : IDisposable
// Count down the reference count for a hull shape
// Called at taint-time.
private void DereferenceHull(BulletShape shape)
private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback)
{
HullDesc hullDesc;
if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
{
hullDesc.referenceCount--;
// TODO: release the Bullet storage (aging old entries?)
if (shapeCallback != null) shapeCallback(shape);
hullDesc.lastReferenced = System.DateTime.Now;
Hulls[shape.shapeKey] = hullDesc;
DetailLog("{0},BSShapeCollection.DereferenceHull,key={1},refCnt={2}",
@ -324,7 +336,8 @@ public class BSShapeCollection : IDisposable
// if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used.
// Returns 'true' if the geometry was rebuilt.
// Called at taint-time!
private bool CreateGeom(bool forceRebuild, BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs)
private bool CreateGeom(bool forceRebuild, BSPrim prim, ShapeData shapeData,
PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback)
{
bool ret = false;
bool haveShape = false;
@ -349,8 +362,8 @@ public class BSShapeCollection : IDisposable
|| prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE
)
{
ret = GetReferenceToNativeShape(prim, shapeData,
ShapeData.PhysicsShapeType.SHAPE_SPHERE, ShapeData.FixedShapeKey.KEY_SPHERE);
ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE,
ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
prim.LocalID, forceRebuild, prim.BSShape);
}
@ -363,8 +376,8 @@ public class BSShapeCollection : IDisposable
|| prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX
)
{
ret = GetReferenceToNativeShape(
prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX, ShapeData.FixedShapeKey.KEY_BOX);
ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX,
ShapeData.FixedShapeKey.KEY_BOX, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
prim.LocalID, forceRebuild, prim.BSShape);
}
@ -378,13 +391,13 @@ public class BSShapeCollection : IDisposable
if (prim.IsPhysical)
{
// Update prim.BSShape to reference a hull of this shape.
ret = GetReferenceToHull(prim, shapeData, pbs);
ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
}
else
{
ret = GetReferenceToMesh(prim, shapeData, pbs);
ret = GetReferenceToMesh(prim, shapeData, pbs, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
}
@ -394,7 +407,8 @@ public class BSShapeCollection : IDisposable
// Creates a native shape and assignes it to prim.BSShape
private bool GetReferenceToNativeShape( BSPrim prim, ShapeData shapeData,
ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey)
ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey,
ShapeDestructionCallback shapeCallback)
{
BulletShape newShape;
@ -404,7 +418,7 @@ public class BSShapeCollection : IDisposable
shapeData.Scale = shapeData.Size;
// release any previous shape
DereferenceShape(prim.BSShape, true);
DereferenceShape(prim.BSShape, true, shapeCallback);
// Native shapes are always built independently.
newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
@ -422,7 +436,8 @@ public class BSShapeCollection : IDisposable
// Dereferences previous shape in BSShape and adds a reference for this new shape.
// Returns 'true' of a mesh was actually built. Otherwise .
// Called at taint-time!
private bool GetReferenceToMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs)
private bool GetReferenceToMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback)
{
BulletShape newShape = new BulletShape(IntPtr.Zero);
@ -436,7 +451,7 @@ public class BSShapeCollection : IDisposable
prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
// Since we're recreating new, get rid of the reference to the previous shape
DereferenceShape(prim.BSShape, true);
DereferenceShape(prim.BSShape, true, shapeCallback);
newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod);
@ -490,7 +505,8 @@ public class BSShapeCollection : IDisposable
// See that hull shape exists in the physical world and update prim.BSShape.
// We could be creating the hull because scale changed or whatever.
private bool GetReferenceToHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs)
private bool GetReferenceToHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback)
{
BulletShape newShape;
@ -505,7 +521,7 @@ public class BSShapeCollection : IDisposable
prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
// Remove usage of the previous shape. Also removes reference to underlying mesh if it is a hull.
DereferenceShape(prim.BSShape, true);
DereferenceShape(prim.BSShape, true, shapeCallback);
newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
@ -656,7 +672,8 @@ public class BSShapeCollection : IDisposable
// Updates prim.BSBody with the information about the new body if one is created.
// Returns 'true' if an object was actually created.
// Called at taint-time.
private bool CreateBody(bool forceRebuild, BSPrim prim, BulletSim sim, BulletShape shape, ShapeData shapeData)
private bool CreateBody(bool forceRebuild, BSPrim prim, BulletSim sim, BulletShape shape,
ShapeData shapeData, BodyDestructionCallback bodyCallback)
{
bool ret = false;
@ -679,7 +696,7 @@ public class BSShapeCollection : IDisposable
if (mustRebuild || forceRebuild)
{
DereferenceBody(prim.BSBody, true);
DereferenceBody(prim.BSBody, true, bodyCallback);
BulletBody aBody;
IntPtr bodyPtr = IntPtr.Zero;

21
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
View File

@ -42,12 +42,12 @@ public struct BulletSim
{
ptr = xx;
worldID = worldId;
scene = bss;
physicsScene = bss;
}
public IntPtr ptr;
public uint worldID;
// The scene is only in here so very low level routines have a handle to print debug/error messages
public BSScene scene;
public BSScene physicsScene;
}
// An allocated Bullet btRigidBody
@ -120,14 +120,27 @@ public struct BulletShape
}
}
// Constraint type values as defined by Bullet
public enum ConstraintType : int
{
POINT2POINT_CONSTRAINT_TYPE = 3,
HINGE_CONSTRAINT_TYPE,
CONETWIST_CONSTRAINT_TYPE,
D6_CONSTRAINT_TYPE,
SLIDER_CONSTRAINT_TYPE,
CONTACT_CONSTRAINT_TYPE,
D6_SPRING_CONSTRAINT_TYPE,
MAX_CONSTRAINT_TYPE
}
// An allocated Bullet btConstraint
public struct BulletConstraint
{
public BulletConstraint(IntPtr xx)
{
Ptr = xx;
ptr = xx;
}
public IntPtr Ptr;
public IntPtr ptr;
}
// An allocated HeightMapThing which holds various heightmap info.