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BulletSim: Add ZeroAngularMotion method to physical objects. Add inTaint flag to ZeroMotion method. Update the references to those functions.

integration
Robert Adams 2012-11-06 17:58:55 -08:00
parent e2130817e5
commit 76cc303031
4 changed files with 82 additions and 28 deletions
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27
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -103,7 +103,7 @@ public sealed class BSCharacter : BSPhysObject
PhysicsScene.TaintedObject("BSCharacter.create", delegate()
{
DetailLog("{0},BSCharacter.create,taint", LocalID);
// New body and shape into BSBody and BSShape
// New body and shape into PhysBody and PhysShape
PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, null, null);
SetPhysicalProperties();
@ -126,7 +126,7 @@ public sealed class BSCharacter : BSPhysObject
{
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
ZeroMotion();
ZeroMotion(true);
ForcePosition = _position;
// Set the velocity and compute the proper friction
ForceVelocity = _velocity;
@ -218,18 +218,31 @@ public sealed class BSCharacter : BSPhysObject
// Do it to the properties so the values get set in the physics engine.
// Push the setting of the values to the viewer.
// Called at taint time!
public override void ZeroMotion()
public override void ZeroMotion(bool inTaintTime)
{
_velocity = OMV.Vector3.Zero;
_acceleration = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero;
// Zero some other properties directly into the physics engine
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
BulletSimAPI.SetInterpolationVelocity2(PhysBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
BulletSimAPI.ClearForces2(PhysBody.ptr);
PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
{
BulletSimAPI.ClearAllForces2(PhysBody.ptr);
});
}
public override void ZeroAngularMotion(bool inTaintTime)
{
_rotationalVelocity = OMV.Vector3.Zero;
PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
{
BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
// The next also get rid of applied linear force but the linear velocity is untouched.
BulletSimAPI.ClearForces2(PhysBody.ptr);
});
}
public override void LockAngularMotion(OMV.Vector3 axis) { return; }

2
OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
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@ -184,7 +184,7 @@ public sealed class BSLinksetConstraints : BSLinkset
private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim)
{
// Zero motion for children so they don't interpolate
childPrim.ZeroMotion();
childPrim.ZeroMotion(true);
// Relative position normalized to the root prim
// Essentually a vector pointing from center of rootPrim to center of childPrim

20
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
View File

@ -34,9 +34,17 @@ using OpenSim.Region.Physics.Manager;
namespace OpenSim.Region.Physics.BulletSPlugin
{
// Class to wrap all objects.
// The rest of BulletSim doesn't need to keep checking for avatars or prims
// unless the difference is significant.
/*
* Class to wrap all objects.
* The rest of BulletSim doesn't need to keep checking for avatars or prims
* unless the difference is significant.
*
* Variables in the physicsl objects are in three forms:
* VariableName: used by the simulator and performs taint operations, etc
* RawVariableName: direct reference to the BulletSim storage for the variable value
* ForceVariableName: direct reference (store and fetch) to the value in the physics engine.
* The last two (and certainly the last one) should be referenced only in taint-time.
*/
public abstract class BSPhysObject : PhysicsActor
{
protected void BaseInitialize(BSScene parentScene, uint localID, string name, string typeName)
@ -67,6 +75,9 @@ public abstract class BSPhysObject : PhysicsActor
// Set the raw mass but also update physical mass properties (inertia, ...)
public abstract void UpdatePhysicalMassProperties(float mass);
// The last value calculated for the prim's inertia
public OMV.Vector3 Inertia { get; set; }
// Reference to the physical body (btCollisionObject) of this object
public BulletBody PhysBody;
// Reference to the physical shape (btCollisionShape) of this object
@ -96,7 +107,8 @@ public abstract class BSPhysObject : PhysicsActor
public abstract bool IsStatic { get; }
// Stop all physical motion.
public abstract void ZeroMotion();
public abstract void ZeroMotion(bool inTaintTime);
public abstract void ZeroAngularMotion(bool inTaintTime);
// Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
public virtual void StepVehicle(float timeStep) { }

61
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -25,8 +25,6 @@
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
// Uncomment this it enable code to do all shape an body memory management
// in the C# code.
using System;
using System.Reflection;
using System.Collections.Generic;
@ -236,14 +234,27 @@ public sealed class BSPrim : BSPhysObject
// Do it to the properties so the values get set in the physics engine.
// Push the setting of the values to the viewer.
// Called at taint time!
public override void ZeroMotion()
public override void ZeroMotion(bool inTaintTime)
{
_velocity = OMV.Vector3.Zero;
_acceleration = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero;
// Zero some other properties in the physics engine
BulletSimAPI.ClearAllForces2(PhysBody.ptr);
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
{
BulletSimAPI.ClearAllForces2(PhysBody.ptr);
});
}
public override void ZeroAngularMotion(bool inTaintTime)
{
_rotationalVelocity = OMV.Vector3.Zero;
// Zero some other properties in the physics engine
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
{
BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
});
}
public override void LockAngularMotion(OMV.Vector3 axis)
@ -371,17 +382,18 @@ public sealed class BSPrim : BSPhysObject
{
if (IsStatic)
{
BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, OMV.Vector3.Zero);
Inertia = OMV.Vector3.Zero;
BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia);
BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
}
else
{
OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
// center of mass is at the zero of the object
BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
// BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, localInertia);
// DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, Inertia);
}
}
@ -582,7 +594,7 @@ public sealed class BSPrim : BSPhysObject
// DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
SetObjectDynamic(true);
// whether phys-to-static or static-to-phys, the object is not moving.
ZeroMotion();
ZeroMotion(true);
});
}
}
@ -648,6 +660,7 @@ public sealed class BSPrim : BSPhysObject
// 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},body={6},shape={7}",
@ -666,9 +679,9 @@ public sealed class BSPrim : BSPhysObject
// Become a Bullet 'static' object type
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
// Stop all movement
ZeroMotion();
ZeroMotion(true);
// Center of mass is at the center of the object
BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
// DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
// Mass is zero which disables a bunch of physics stuff in Bullet
UpdatePhysicalMassProperties(0f);
// Set collision detection parameters
@ -704,7 +717,7 @@ public sealed class BSPrim : BSPhysObject
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
// Center of mass is at the center of the object
BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
// DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
// A dynamic object has mass
UpdatePhysicalMassProperties(RawMass);
@ -958,6 +971,16 @@ public sealed class BSPrim : BSPhysObject
});
}
public void ApplyForceImpulse(OMV.Vector3 impulse, bool inTaintTime)
{
OMV.Vector3 applyImpulse = impulse;
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyForceImpulse", delegate()
{
DetailLog("{0},BSPrim.ApplyForceImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse);
});
}
private List<OMV.Vector3> m_accumulatedAngularForces = new List<OMV.Vector3>();
public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
AddAngularForce(force, pushforce, false);
@ -1001,7 +1024,6 @@ public sealed class BSPrim : BSPhysObject
OMV.Vector3 applyImpulse = impulse;
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
{
DetailLog("{0},BSPrim.ApplyTorqueImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
});
}
@ -1315,9 +1337,10 @@ public sealed class BSPrim : BSPhysObject
// If this prim is part of a linkset, we must remove and restore the physical
// links if the body is rebuilt.
bool needToRestoreLinkset = false;
bool needToRestoreVehicle = false;
// Create the correct physical representation for this type of object.
// Updates BSBody and BSShape with the new information.
// Updates PhysBody and PhysShape with the new information.
// Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
// Returns 'true' if either the body or the shape was changed.
PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
@ -1326,6 +1349,7 @@ public sealed class BSPrim : BSPhysObject
// Remove all the physical dependencies on the old body.
// (Maybe someday make the changing of BSShape an event handled by BSLinkset.)
needToRestoreLinkset = Linkset.RemoveBodyDependencies(this);
needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this);
});
if (needToRestoreLinkset)
@ -1333,6 +1357,11 @@ public sealed class BSPrim : BSPhysObject
// If physical body dependencies were removed, restore them
Linkset.RestoreBodyDependencies(this);
}
if (needToRestoreVehicle)
{
// If physical body dependencies were removed, restore them
_vehicle.RestoreBodyDependencies(this);
}
// Make sure the properties are set on the new object
UpdatePhysicalParameters();