diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index e967dfc81b..e3ce7fbb35 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -395,7 +395,8 @@ public sealed class BSLinksetCompound : BSLinkset // Constraint linksets are rebuilt every time. // Note that this works for rebuilding just the root after a linkset is taken apart. // Called at taint time!! - private bool disableCOM = true; // DEBUG DEBUG: disable until we get this debugged + private bool UseBulletSimRootOffsetHack = false; + private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting private void RecomputeLinksetCompound() { if (!LinksetRoot.IsPhysicallyActive) @@ -428,11 +429,19 @@ public sealed class BSLinksetCompound : BSLinkset // 'centerDisplacement' is the value to subtract from children to give physical offset position OMV.Vector3 centerDisplacement = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation; - LinksetRoot.SetEffectiveCenterOfMassW(centerDisplacement); + if (UseBulletSimRootOffsetHack || disableCOM) + { + centerDisplacement = OMV.Vector3.Zero; + LinksetRoot.ClearDisplacement(); + } + else + { + LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacement); + } + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}", + LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacement); - // TODO: add phantom root shape to be the center-of-mass - - // Add a shape for each of the other children in the linkset + // Add the shapes of all the components of the linkset int memberIndex = 1; ForEachMember(delegate(BSPrimLinkable cPrim) { @@ -449,8 +458,8 @@ public sealed class BSLinksetCompound : BSLinkset OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; m_physicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}", - LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1}cShape={2},offPos={3},offRot={4}", + LinksetRoot.LocalID, memberIndex, cPrim.PhysShape, offsetPos, offsetRot); memberIndex++; @@ -463,13 +472,21 @@ public sealed class BSLinksetCompound : BSLinkset m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody); m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo); m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}", + LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetShape); // With all of the linkset packed into the root prim, it has the mass of everyone. LinksetMass = ComputeLinksetMass(); LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); - // Enable the physical position updator to return the position and rotation of the root shape - m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); + if (UseBulletSimRootOffsetHack) + { + // Enable the physical position updator to return the position and rotation of the root shape. + // This enables a feature in the C++ code to return the world coordinates of the first shape in the + // compound shape. This eleviates the need to offset the returned physical position by the + // center-of-mass offset. + m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); + } } finally { @@ -477,7 +494,7 @@ public sealed class BSLinksetCompound : BSLinkset } // See that the Aabb surrounds the new shape - m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo); + m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetShape.physShapeInfo); } } } \ No newline at end of file diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 28d4bd708a..7eba851ac3 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -259,7 +259,8 @@ public abstract class BSPhysObject : PhysicsActor // The user can optionally set the center of mass. The user's setting will override any // computed center-of-mass (like in linksets). - public OMV.Vector3? UserSetCenterOfMass { get; set; } + // Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass. + public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; } public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free. public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs index f1c3b5c1bb..f5ee671862 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs @@ -78,14 +78,16 @@ public class BSPrimDisplaced : BSPrim // Set this sets and computes the displacement from the passed prim to the center-of-mass. // A user set value for center-of-mass overrides whatever might be passed in here. // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates). - public virtual void SetEffectiveCenterOfMassW(Vector3 centerOfMassDisplacement) + public virtual void SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement) { Vector3 comDisp; - if (UserSetCenterOfMass.HasValue) - comDisp = (OMV.Vector3)UserSetCenterOfMass; + if (UserSetCenterOfMassDisplacement.HasValue) + comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement; else comDisp = centerOfMassDisplacement; + DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}", + LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp); if (comDisp == Vector3.Zero) { // If there is no diplacement. Things get reset. @@ -107,9 +109,15 @@ public class BSPrimDisplaced : BSPrim set { if (PositionDisplacement != OMV.Vector3.Zero) - base.ForcePosition = value - (PositionDisplacement * RawOrientation); + { + OMV.Vector3 displacedPos = value - (PositionDisplacement * RawOrientation); + DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos); + base.ForcePosition = displacedPos; + } else + { base.ForcePosition = value; + } } } @@ -118,6 +126,7 @@ public class BSPrimDisplaced : BSPrim get { return base.ForceOrientation; } set { + // TODO: base.ForceOrientation = value; } } @@ -143,7 +152,10 @@ public class BSPrimDisplaced : BSPrim { // Correct for any rotation around the center-of-mass // TODO!!! - entprop.Position = entprop.Position + (PositionDisplacement * entprop.Rotation); + + OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation); + DetailLog("{0},BSPrimDisplaced.ForcePosition,physPos={1},disp={2},newPos={3}", LocalID, entprop.Position, PositionDisplacement, displacedPos); + entprop.Position = displacedPos; // entprop.Rotation = something; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index f0c9fd5d4a..3faa4843f8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs @@ -117,7 +117,7 @@ public abstract class BSShape StringBuilder buff = new StringBuilder(); buff.Append("