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BulletSim: freshen up the code for constraint based linksets.

TeleportWork
Robert Adams 2013-07-09 16:26:17 -07:00
parent df63bfafef
commit 803632f8f3
3 changed files with 64 additions and 23 deletions
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4
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -1029,8 +1029,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Add this correction to the velocity to make it faster/slower.
VehicleVelocity += linearMotorVelocityW;
VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}",
ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV,
VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},tgt={3},correctV={4},correctW={5},newVelW={6},fricFact={7}",
ControllingPrim.LocalID, origVelW, currentVelV, m_linearMotor.TargetValue, linearMotorCorrectionV,
linearMotorVelocityW, VehicleVelocity, frictionFactorV);
}

1
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
View File

@ -59,6 +59,7 @@ public sealed class BSLinksetCompound : BSLinkset
{
DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
// When rebuilding, it is possible to set properties that would normally require a rebuild.
// If already rebuilding, don't request another rebuild.
// If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.

82
OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
View File

@ -48,12 +48,22 @@ public sealed class BSLinksetConstraints : BSLinkset
{
base.Refresh(requestor);
if (HasAnyChildren && IsRoot(requestor))
}
private void ScheduleRebuild(BSPrimLinkable requestor)
{
DetailLog("{0},BSLinksetConstraint.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
// When rebuilding, it is possible to set properties that would normally require a rebuild.
// If already rebuilding, don't request another rebuild.
// If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
if (!Rebuilding && HasAnyChildren)
{
// Queue to happen after all the other taint processing
m_physicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
{
if (HasAnyChildren && IsRoot(requestor))
if (HasAnyChildren)
RecomputeLinksetConstraints();
});
}
@ -67,8 +77,14 @@ public sealed class BSLinksetConstraints : BSLinkset
// Called at taint-time!
public override bool MakeDynamic(BSPrimLinkable child)
{
// What is done for each object in BSPrim is what we want.
return false;
bool ret = false;
DetailLog("{0},BSLinksetConstraints.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
if (IsRoot(child))
{
// The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
ScheduleRebuild(LinksetRoot);
}
return ret;
}
// The object is going static (non-physical). Do any setup necessary for a static linkset.
@ -78,8 +94,16 @@ public sealed class BSLinksetConstraints : BSLinkset
// Called at taint-time!
public override bool MakeStatic(BSPrimLinkable child)
{
// What is done for each object in BSPrim is what we want.
return false;
bool ret = false;
DetailLog("{0},BSLinksetConstraint.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
child.ClearDisplacement();
if (IsRoot(child))
{
// Schedule a rebuild to verify that the root shape is set to the real shape.
ScheduleRebuild(LinksetRoot);
}
return ret;
}
// Called at taint-time!!
@ -105,7 +129,7 @@ public sealed class BSLinksetConstraints : BSLinkset
// Just undo all the constraints for this linkset. Rebuild at the end of the step.
ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
// Cause the constraints, et al to be rebuilt before the next simulation step.
Refresh(LinksetRoot);
ScheduleRebuild(LinksetRoot);
}
return ret;
}
@ -123,7 +147,7 @@ public sealed class BSLinksetConstraints : BSLinkset
DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
// Cause constraints and assorted properties to be recomputed before the next simulation step.
Refresh(LinksetRoot);
ScheduleRebuild(LinksetRoot);
}
return;
}
@ -147,7 +171,7 @@ public sealed class BSLinksetConstraints : BSLinkset
PhysicallyUnlinkAChildFromRoot(rootx, childx);
});
// See that the linkset parameters are recomputed at the end of the taint time.
Refresh(LinksetRoot);
ScheduleRebuild(LinksetRoot);
}
else
{
@ -165,6 +189,7 @@ public sealed class BSLinksetConstraints : BSLinkset
Refresh(rootPrim);
}
// Create a static constraint between the two passed objects
private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
{
// Zero motion for children so they don't interpolate
@ -281,24 +306,39 @@ public sealed class BSLinksetConstraints : BSLinkset
DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, linksetMass);
foreach (BSPrimLinkable child in m_children)
try
{
// A child in the linkset physically shows the mass of the whole linkset.
// This allows Bullet to apply enough force on the child to move the whole linkset.
// (Also do the mass stuff before recomputing the constraint so mass is not zero.)
child.UpdatePhysicalMassProperties(linksetMass, true);
Rebuilding = true;
BSConstraint constrain;
if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
// There is no reason to build all this physical stuff for a non-physical linkset.
if (!LinksetRoot.IsPhysicallyActive)
{
// If constraint doesn't exist yet, create it.
constrain = BuildConstraint(LinksetRoot, child);
DetailLog("{0},BSLinksetConstraint.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID);
return; // Note the 'finally' clause at the botton which will get executed.
}
constrain.RecomputeConstraintVariables(linksetMass);
// PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG
foreach (BSPrimLinkable child in m_children)
{
// A child in the linkset physically shows the mass of the whole linkset.
// This allows Bullet to apply enough force on the child to move the whole linkset.
// (Also do the mass stuff before recomputing the constraint so mass is not zero.)
child.UpdatePhysicalMassProperties(linksetMass, true);
BSConstraint constrain;
if (!m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
{
// If constraint doesn't exist yet, create it.
constrain = BuildConstraint(LinksetRoot, child);
}
constrain.RecomputeConstraintVariables(linksetMass);
// PhysicsScene.PE.DumpConstraint(PhysicsScene.World, constrain.Constraint); // DEBUG DEBUG
}
}
finally
{
Rebuilding = false;
}
}
}
}