BulletSim: fix crash caused when linksets were rebuilt. A problem added
when individual child pos/rot changes were implementated a week or so ago. Remove some passing of inTaintTime flag when it was never false.user_profiles
Robert Adams
parent
ed71c939fc
commit
75a05c16c5
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@ -126,9 +126,9 @@ public sealed class BSCharacter : BSPhysObject
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DetailLog("{0},BSCharacter.Destroy", LocalID);
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PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
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{
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PhysicsScene.Shapes.DereferenceBody(PhysBody, true /* inTaintTime */, null /* bodyCallback */);
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PhysicsScene.Shapes.DereferenceBody(PhysBody, null /* bodyCallback */);
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PhysBody.Clear();
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PhysicsScene.Shapes.DereferenceShape(PhysShape, true /* inTaintTime */, null /* bodyCallback */);
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PhysicsScene.Shapes.DereferenceShape(PhysShape, null /* bodyCallback */);
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PhysShape.Clear();
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});
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}
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@ -219,28 +219,45 @@ public sealed class BSLinksetCompound : BSLinkset
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{
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// Gather the child info. It might not be there if the linkset is in transition.
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BSLinksetCompoundInfo lsi = updated.LinksetInfo as BSLinksetCompoundInfo;
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// The linksetInfo will need to be rebuilt either here or when the linkset is rebuilt
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if (LinksetRoot.PhysShape.HasPhysicalShape && lsi != null)
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{
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if (PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape))
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{
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BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index);
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if (linksetChildShape.HasPhysicalShape)
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int numLinksetChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape);
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if (lsi.Index < numLinksetChildren)
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{
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// Compute the offset from the center-of-gravity
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BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement);
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PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index,
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newLsi.OffsetFromCenterOfMass,
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newLsi.OffsetRot,
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true /* shouldRecalculateLocalAabb */);
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DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},newLsi={2}",
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updated.LocalID, whichUpdated, newLsi);
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updated.LinksetInfo = newLsi;
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updatedChild = true;
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// It is possible that the linkset is still under construction and the child is not yet
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// inserted into the compound shape. A rebuild of the linkset in a pre-step action will
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// build the whole thing with the new position or rotation.
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// This must be checked for because Bullet references the child array but does no validity
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// checking of the child index passed.
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BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index);
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if (linksetChildShape.HasPhysicalShape)
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{
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// Compute the offset from the center-of-gravity
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BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement);
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PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index,
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newLsi.OffsetFromCenterOfMass,
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newLsi.OffsetRot,
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true /* shouldRecalculateLocalAabb */);
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updated.LinksetInfo = newLsi;
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updatedChild = true;
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DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},newLsi={2}",
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updated.LocalID, whichUpdated, newLsi);
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}
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else // DEBUG DEBUG
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{ // DEBUG DEBUG
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DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}",
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updated.LocalID, linksetChildShape);
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} // DEBUG DEBUG
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}
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else // DEBUG DEBUG
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{ // DEBUG DEBUG
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DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}",
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updated.LocalID, linksetChildShape);
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// the child is not yet in the compound shape. This is non-fatal.
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DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,childNotInCompoundShape,numChildren={1},index={2}",
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updated.LocalID, numLinksetChildren, lsi.Index);
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} // DEBUG DEBUG
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}
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else // DEBUG DEBUG
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@ -256,6 +273,9 @@ public sealed class BSLinksetCompound : BSLinkset
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if (!updatedChild)
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{
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// If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info.
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// Note that there are several ways through this code that will not update the child that can
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// occur if the linkset is being rebuilt. In this case, scheduling a rebuild is a NOOP since
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// there will already be a rebuild scheduled.
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DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}",
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updated.LocalID, whichUpdated);
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updated.LinksetInfo = null; // setting to 'null' causes relative position to be recomputed.
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@ -146,9 +146,9 @@ public sealed class BSPrim : BSPhysObject
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{
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DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
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// If there are physical body and shape, release my use of same.
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PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
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PhysicsScene.Shapes.DereferenceBody(PhysBody, null);
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PhysBody.Clear();
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PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
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PhysicsScene.Shapes.DereferenceShape(PhysShape, null);
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PhysShape.Clear();
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});
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}
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@ -181,11 +181,19 @@ public sealed class BSPrim : BSPhysObject
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public override bool ForceBodyShapeRebuild(bool inTaintTime)
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{
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PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ForceBodyShapeRebuild", delegate()
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if (inTaintTime)
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{
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_mass = CalculateMass(); // changing the shape changes the mass
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CreateGeomAndObject(true);
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});
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}
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else
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{
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PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", delegate()
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{
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_mass = CalculateMass(); // changing the shape changes the mass
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CreateGeomAndObject(true);
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});
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}
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return true;
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}
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public override bool Grabbed {
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@ -133,48 +133,44 @@ public sealed class BSShapeCollection : IDisposable
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// Track another user of a body.
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// We presume the caller has allocated the body.
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// Bodies only have one user so the body is just put into the world if not already there.
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public void ReferenceBody(BulletBody body, bool inTaintTime)
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private void ReferenceBody(BulletBody body)
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{
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lock (m_collectionActivityLock)
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{
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if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,body={1}", body.ID, body);
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PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.ReferenceBody", delegate()
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if (!PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
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{
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if (!PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
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{
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PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body);
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if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
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}
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});
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PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, body);
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if (DDetail) DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
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}
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}
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}
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// Release the usage of a body.
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// Called when releasing use of a BSBody. BSShape is handled separately.
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public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback )
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// Called in taint time.
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public void DereferenceBody(BulletBody body, BodyDestructionCallback bodyCallback )
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{
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if (!body.HasPhysicalBody)
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return;
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PhysicsScene.AssertInTaintTime("BSShapeCollection.DereferenceBody");
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lock (m_collectionActivityLock)
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{
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PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceBody", delegate()
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if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1}", body.ID, body);
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// If the caller needs to know the old body is going away, pass the event up.
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if (bodyCallback != null) bodyCallback(body);
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if (PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
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{
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if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1},inTaintTime={2}",
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body.ID, body, inTaintTime);
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// If the caller needs to know the old body is going away, pass the event up.
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if (bodyCallback != null) bodyCallback(body);
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PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body);
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if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
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}
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if (PhysicsScene.PE.IsInWorld(PhysicsScene.World, body))
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{
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PhysicsScene.PE.RemoveObjectFromWorld(PhysicsScene.World, body);
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if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,removingFromWorld. Body={1}", body.ID, body);
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}
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// Zero any reference to the shape so it is not freed when the body is deleted.
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PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, null);
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PhysicsScene.PE.DestroyObject(PhysicsScene.World, body);
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});
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// Zero any reference to the shape so it is not freed when the body is deleted.
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PhysicsScene.PE.SetCollisionShape(PhysicsScene.World, body, null);
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PhysicsScene.PE.DestroyObject(PhysicsScene.World, body);
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}
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}
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@ -245,44 +241,43 @@ public sealed class BSShapeCollection : IDisposable
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}
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// Release the usage of a shape.
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public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
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public void DereferenceShape(BulletShape shape, ShapeDestructionCallback shapeCallback)
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{
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if (!shape.HasPhysicalShape)
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return;
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PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate()
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PhysicsScene.AssertInTaintTime("BSShapeCollection.DereferenceShape");
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if (shape.HasPhysicalShape)
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{
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if (shape.HasPhysicalShape)
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if (shape.isNativeShape)
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{
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if (shape.isNativeShape)
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// Native shapes are not tracked and are released immediately
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if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1}",
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BSScene.DetailLogZero, shape.AddrString);
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if (shapeCallback != null) shapeCallback(shape);
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PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape);
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}
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else
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{
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switch (shape.type)
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{
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// Native shapes are not tracked and are released immediately
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if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
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BSScene.DetailLogZero, shape.AddrString, inTaintTime);
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if (shapeCallback != null) shapeCallback(shape);
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PhysicsScene.PE.DeleteCollisionShape(PhysicsScene.World, shape);
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}
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else
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{
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switch (shape.type)
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{
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case BSPhysicsShapeType.SHAPE_HULL:
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DereferenceHull(shape, shapeCallback);
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break;
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case BSPhysicsShapeType.SHAPE_MESH:
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DereferenceMesh(shape, shapeCallback);
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break;
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case BSPhysicsShapeType.SHAPE_COMPOUND:
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DereferenceCompound(shape, shapeCallback);
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break;
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case BSPhysicsShapeType.SHAPE_UNKNOWN:
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break;
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default:
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break;
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}
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case BSPhysicsShapeType.SHAPE_HULL:
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DereferenceHull(shape, shapeCallback);
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break;
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case BSPhysicsShapeType.SHAPE_MESH:
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DereferenceMesh(shape, shapeCallback);
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break;
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case BSPhysicsShapeType.SHAPE_COMPOUND:
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DereferenceCompound(shape, shapeCallback);
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break;
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case BSPhysicsShapeType.SHAPE_UNKNOWN:
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break;
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default:
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break;
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}
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}
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});
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}
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}
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// Count down the reference count for a mesh shape
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@ -393,7 +388,7 @@ public sealed class BSShapeCollection : IDisposable
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if (shapeInfo.type != BSPhysicsShapeType.SHAPE_UNKNOWN)
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{
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DereferenceShape(shapeInfo, true, null);
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DereferenceShape(shapeInfo, null);
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}
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else
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{
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@ -543,7 +538,7 @@ public sealed class BSShapeCollection : IDisposable
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ShapeDestructionCallback shapeCallback)
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{
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// release any previous shape
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DereferenceShape(prim.PhysShape, true, shapeCallback);
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DereferenceShape(prim.PhysShape, shapeCallback);
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BulletShape newShape = BuildPhysicalNativeShape(prim, shapeType, shapeKey);
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@ -611,7 +606,7 @@ public sealed class BSShapeCollection : IDisposable
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prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
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// Since we're recreating new, get rid of the reference to the previous shape
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DereferenceShape(prim.PhysShape, true, shapeCallback);
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DereferenceShape(prim.PhysShape, shapeCallback);
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newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, prim.BaseShape, prim.Size, lod);
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// Take evasive action if the mesh was not constructed.
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@ -682,7 +677,7 @@ public sealed class BSShapeCollection : IDisposable
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prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
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// Remove usage of the previous shape.
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DereferenceShape(prim.PhysShape, true, shapeCallback);
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DereferenceShape(prim.PhysShape, shapeCallback);
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newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, prim.BaseShape, prim.Size, lod);
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newShape = VerifyMeshCreated(newShape, prim);
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@ -817,7 +812,6 @@ public sealed class BSShapeCollection : IDisposable
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// Don't need to do this as the shape is freed when the new root shape is created below.
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// DereferenceShape(prim.PhysShape, true, shapeCallback);
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BulletShape cShape = PhysicsScene.PE.CreateCompoundShape(PhysicsScene.World, false);
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// Create the shape for the root prim and add it to the compound shape. Cannot be a native shape.
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@ -956,7 +950,7 @@ public sealed class BSShapeCollection : IDisposable
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if (mustRebuild || forceRebuild)
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{
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// Free any old body
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DereferenceBody(prim.PhysBody, true, bodyCallback);
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DereferenceBody(prim.PhysBody, bodyCallback);
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BulletBody aBody;
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if (prim.IsSolid)
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@ -970,7 +964,7 @@ public sealed class BSShapeCollection : IDisposable
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if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody);
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}
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ReferenceBody(aBody, true);
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ReferenceBody(aBody);
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prim.PhysBody = aBody;
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@ -65,6 +65,10 @@ Vehicle attributes are not restored when a vehicle is rezzed on region creation
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GENERAL TODO LIST:
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=================================================
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Collisions are inconsistant: arrows are supposed to hit and report collision. Often don't.
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If arrow show at prim, collision reported about 1/3 of time. If collision reported,
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both arrow and prim report it. The arrow bounces off the prim 9 out of 10 times.
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Shooting 5m sphere "arrows" at 60m/s.
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llMoveToTarget objects are not effected by gravity until target is removed.
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Compute CCD parameters based on body size
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Can solver iterations be changed per body/shape? Can be for constraints but what
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