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BulletSim: Merge branch 'BulletSim2017' 

Adds raycast using Bullet physics engine.
0.9.0.1-postfixes
Robert Adams 2017-09-05 06:24:04 -07:00
parent e08b051ca6 4608b44817
commit 921e3ceb09
16 changed files with 420 additions and 92 deletions
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22
OpenSim/Region/PhysicsModules/BulletS/BSAPIUnman.cs
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@ -1404,6 +1404,19 @@ public override float GetMargin(BulletShape shape)
return BSAPICPP.GetMargin2(shapeu.ptr);
}
// =====================================================================================
// Raycast
public override SweepHit ConvexSweepTest2(BulletWorld world, BulletBody sweepObject, Vector3 from, Vector3 to, float margin) {
BulletWorldUnman worldu = world as BulletWorldUnman;
BulletBodyUnman bodyu = sweepObject as BulletBodyUnman;
return BSAPICPP.ConvexSweepTest2(worldu.ptr, bodyu.ptr, from, to, margin);
}
public override RaycastHit RayTest2(BulletWorld world, Vector3 from, Vector3 to, uint filterGroup, uint filterMask) {
BulletWorldUnman worldu = world as BulletWorldUnman;
return BSAPICPP.RayTest2(worldu.ptr, from, to, filterGroup, filterMask);
}
// =====================================================================================
// Debugging
public override void DumpRigidBody(BulletWorld world, BulletBody collisionObject)
@ -2084,6 +2097,15 @@ public static extern void SetMargin2(IntPtr shape, float val);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern float GetMargin2(IntPtr shape);
// =====================================================================================
// Raycast
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern SweepHit ConvexSweepTest2(IntPtr sim, IntPtr obj, Vector3 from, Vector3 to, float margin);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern RaycastHit RayTest2(IntPtr sim, Vector3 from, Vector3 to, uint filterGroup, uint filterMask);
// =====================================================================================
// Debugging
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

8
OpenSim/Region/PhysicsModules/BulletS/BSAPIXNA.cs
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@ -2459,6 +2459,14 @@ private sealed class BulletConstraintXNA : BulletConstraint
}
return false;
}
public override SweepHit ConvexSweepTest2(BulletWorld world, BulletBody obj, Vector3 from, Vector3 to, float margin) {
return new SweepHit();
}
public override RaycastHit RayTest2(BulletWorld world, Vector3 from, Vector3 to, uint filterGroup, uint filterMask) {
return new RaycastHit();
}
}

21
OpenSim/Region/PhysicsModules/BulletS/BSApiTemplate.cs
View File

@ -121,6 +121,14 @@ public struct SweepHit
public float Fraction;
public Vector3 Normal;
public Vector3 Point;
public bool hasHit()
{
float sum = Fraction
+ Normal.X + Normal.Y + Normal.Z
+ Point.X + Point.Y + Point.Z;
return (sum != 0) || (ID != 0);
}
}
[StructLayout(LayoutKind.Sequential)]
public struct RaycastHit
@ -128,6 +136,13 @@ public struct RaycastHit
public UInt32 ID;
public float Fraction;
public Vector3 Normal;
public Vector3 Point;
public bool hasHit()
{
float sum = Normal.X + Normal.Y + Normal.Z + Point.X + Point.Y + Point.Z;
return (sum != 0);
}
}
[StructLayout(LayoutKind.Sequential)]
public struct CollisionDesc
@ -741,6 +756,12 @@ public abstract void SetMargin(BulletShape shape, float val);
public abstract float GetMargin(BulletShape shape);
// =====================================================================================
// Raycast
public abstract SweepHit ConvexSweepTest2(BulletWorld world, BulletBody obj, Vector3 from, Vector3 to, float margin);
public abstract RaycastHit RayTest2(BulletWorld world, Vector3 from, Vector3 to, uint filterGroup, uint filterMask);
// =====================================================================================
// Debugging
public virtual void DumpRigidBody(BulletWorld sim, BulletBody collisionObject) { }

5
OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
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@ -496,8 +496,7 @@ public sealed class BSCharacter : BSPhysObject
public override OMV.Vector3 ForceVelocity {
get { return RawVelocity; }
set {
PhysScene.AssertInTaintTime("BSCharacter.ForceVelocity");
DetailLog("{0}: BSCharacter.ForceVelocity.set = {1}", LocalID, value);
DetailLog("{0},BSCharacter.ForceVelocity.set={1}", LocalID, value);
RawVelocity = Util.ClampV(value, BSParam.MaxLinearVelocity);
PhysScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
@ -638,8 +637,6 @@ public sealed class BSCharacter : BSPhysObject
public override float ForceBuoyancy {
get { return _buoyancy; }
set {
PhysScene.AssertInTaintTime("BSCharacter.ForceBuoyancy");
_buoyancy = value;
DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
// Buoyancy is faked by changing the gravity applied to the object

1
OpenSim/Region/PhysicsModules/BulletS/BSLinksetCompound.cs
View File

@ -450,6 +450,7 @@ public sealed class BSLinksetCompound : BSLinkset
m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}",
LinksetRoot.LocalID, LinksetRoot.PhysBody, linksetShape);
m_physicsScene.PE.ResetBroadphasePool(m_physicsScene.World); // DEBUG DEBUG
// With all of the linkset packed into the root prim, it has the mass of everyone.
LinksetMass = ComputeLinksetMass();

11
OpenSim/Region/PhysicsModules/BulletS/BSParam.cs
View File

@ -230,6 +230,8 @@ public static class BSParam
public static float LinkConstraintCFM { get; private set; }
public static float LinkConstraintSolverIterations { get; private set; }
public static bool UseBulletRaycast { get; private set; }
public static float PID_D { get; private set; } // derivative
public static float PID_P { get; private set; } // proportional
@ -823,6 +825,9 @@ public static class BSParam
new ParameterDefn<float>("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
40 ),
new ParameterDefn<bool>("UseBulletRaycast", "If 'true', use the raycast function of the Bullet physics engine",
true ),
new ParameterDefn<float>("DebugNumber", "A console setable number sometimes used for debugging",
1.0f ),
@ -833,7 +838,7 @@ public static class BSParam
new ParameterDefn<float>("ResetBroadphasePool", "Setting this is any value resets the broadphase collision pool",
0f,
(s) => { return 0f; },
(s,v) => { BSParam.ResetBroadphasePoolTainted(s, v, false /* inTaintTime */); } ),
(s,v) => { BSParam.ResetBroadphasePoolTainted(s, v); } ),
new ParameterDefn<float>("ResetConstraintSolver", "Setting this is any value resets the constraint solver",
0f,
(s) => { return 0f; },
@ -919,10 +924,10 @@ public static class BSParam
// =====================================================================
// There are parameters that, when set, cause things to happen in the physics engine.
// This causes the broadphase collision cache to be cleared.
private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v, bool inTaintTime)
private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v)
{
BSScene physScene = pPhysScene;
physScene.TaintedObject(inTaintTime, "BSParam.ResetBroadphasePoolTainted", delegate()
physScene.TaintedObject(BSScene.DetailLogZero, "BSParam.ResetBroadphasePoolTainted", delegate()
{
physScene.PE.ResetBroadphasePool(physScene.World);
});

2
OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
View File

@ -790,8 +790,6 @@ public class BSPrim : BSPhysObject
public override OMV.Vector3 ForceVelocity {
get { return RawVelocity; }
set {
PhysScene.AssertInTaintTime("BSPrim.ForceVelocity");
RawVelocity = Util.ClampV(value, BSParam.MaxLinearVelocity);
if (PhysBody.HasPhysicalBody)
{

1
OpenSim/Region/PhysicsModules/BulletS/BSPrimDisplaced.cs
View File

@ -81,7 +81,6 @@ public class BSPrimDisplaced : BSPrim
// Called at taint time.
public virtual Vector3 SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement)
{
PhysScene.AssertInTaintTime("BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement");
Vector3 comDisp;
if (UserSetCenterOfMassDisplacement.HasValue)
comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement;

310
OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
View File

@ -124,9 +124,10 @@ namespace OpenSim.Region.PhysicsModule.BulletS
// True if initialized and ready to do simulation steps
private bool m_initialized = false;
// Flag which is true when processing taints.
// Not guaranteed to be correct all the time (don't depend on this) but good for debugging.
public bool InTaintTime { get; private set; }
// Object locked whenever execution is inside the physics engine
public Object PhysicsEngineLock = new object();
// Flag that is true when the simulator is active and shouldn't be touched
public bool InSimulationTime { get; private set; }
// Pinned memory used to pass step information between managed and unmanaged
internal int m_maxCollisionsPerFrame;
@ -344,7 +345,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
// Put some informational messages into the log file.
m_log.InfoFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
InTaintTime = false;
InSimulationTime = false;
m_initialized = true;
// If the physics engine runs on its own thread, start same.
@ -657,48 +658,57 @@ namespace OpenSim.Region.PhysicsModule.BulletS
int beforeTime = Util.EnvironmentTickCount();
int simTime = 0;
int numTaints = _taintOperations.Count;
InTaintTime = true; // Only used for debugging so locking is not necessary.
// update the prim states while we know the physics engine is not busy
ProcessTaints();
// Some of the physical objects requre individual, pre-step calls
// (vehicles and avatar movement, in particular)
TriggerPreStepEvent(timeStep);
// the prestep actions might have added taints
numTaints += _taintOperations.Count;
ProcessTaints();
InTaintTime = false; // Only used for debugging so locking is not necessary.
// The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
// Only enable this in a limited test world with few objects.
if (m_physicsPhysicalDumpEnabled)
PE.DumpAllInfo(World);
// step the physical world one interval
m_simulationStep++;
int numTaints = 0;
int numSubSteps = 0;
try
{
numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount);
}
catch (Exception e)
{
m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}",
LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e);
DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}",
DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
updatedEntityCount = 0;
collidersCount = 0;
}
// Make the physics engine dump useful statistics periodically
if (PhysicsMetricDumpFrames != 0 && ((m_simulationStep % PhysicsMetricDumpFrames) == 0))
PE.DumpPhysicsStatistics(World);
lock (PhysicsEngineLock)
{
InSimulationTime = true;
// update the prim states while we know the physics engine is not busy
numTaints += ProcessTaints();
// Some of the physical objects requre individual, pre-step calls
// (vehicles and avatar movement, in particular)
TriggerPreStepEvent(timeStep);
// the prestep actions might have added taints
numTaints += ProcessTaints();
// The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
// Only enable this in a limited test world with few objects.
if (m_physicsPhysicalDumpEnabled)
PE.DumpAllInfo(World);
// step the physical world one interval
m_simulationStep++;
try
{
numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount);
}
catch (Exception e)
{
m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}",
LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e);
DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}",
DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
updatedEntityCount = 0;
collidersCount = 0;
}
// Make the physics engine dump useful statistics periodically
if (PhysicsMetricDumpFrames != 0 && ((m_simulationStep % PhysicsMetricDumpFrames) == 0))
PE.DumpPhysicsStatistics(World);
InSimulationTime = false;
// Some actors want to know when the simulation step is complete.
TriggerPostStepEvent(timeStep);
// In case there were any parameter updates that happened during the simulation step
numTaints += ProcessTaints();
InSimulationTime = false;
}
// Get a value for 'now' so all the collision and update routines don't have to get their own.
SimulationNowTime = Util.EnvironmentTickCount();
@ -748,9 +758,6 @@ namespace OpenSim.Region.PhysicsModule.BulletS
}
}
// Some actors want to know when the simulation step is complete.
TriggerPostStepEvent(timeStep);
simTime = Util.EnvironmentTickCountSubtract(beforeTime);
if (PhysicsLogging.Enabled)
{
@ -956,6 +963,149 @@ namespace OpenSim.Region.PhysicsModule.BulletS
#endregion // Terrain
#region Raycast
public override bool SupportsRayCast()
{
return BSParam.UseBulletRaycast;
}
public override bool SupportsRaycastWorldFiltered()
{
return BSParam.UseBulletRaycast;
}
/// <summary>
/// Queue a raycast against the physics scene.
/// The provided callback method will be called when the raycast is complete
///
/// Many physics engines don't support collision testing at the same time as
/// manipulating the physics scene, so we queue the request up and callback
/// a custom method when the raycast is complete.
/// This allows physics engines that give an immediate result to callback immediately
/// and ones that don't, to callback when it gets a result back.
/// public delegate void RayCallback(List<ContactResult> list);
///
/// ODE for example will not allow you to change the scene while collision testing or
/// it asserts, 'opteration not valid for locked space'. This includes adding a ray to the scene.
///
/// This is named RayCastWorld to not conflict with modrex's Raycast method.
/// </summary>
/// <param name="position">Origin of the ray</param>
/// <param name="direction">Direction of the ray</param>
/// <param name="length">Length of ray in meters</param>
/// <param name="retMethod">Method to call when the raycast is complete</param>
public override void RaycastWorld(Vector3 position, Vector3 direction, float length, RaycastCallback retMethod)
{
if (retMethod != null)
{
if (BSParam.UseBulletRaycast)
{
Vector3 posFrom = position;
Vector3 posTo = Vector3.Normalize(direction) * length + position;
TaintedObject(DetailLogZero, "BSScene.RaycastWorld1", delegate ()
{
RaycastHit hitInfo = PE.RayTest2(World, posFrom, posTo, 0xffff, 0xffff);
retMethod(true, hitInfo.Point, hitInfo.ID, hitInfo.Fraction, hitInfo.Normal);
});
}
else
{
retMethod(false, Vector3.Zero, 0, 999999999999f, Vector3.Zero);
}
}
}
public override void RaycastWorld(Vector3 position, Vector3 direction, float length, int count, RayCallback retMethod)
{
if (retMethod != null)
{
if (BSParam.UseBulletRaycast)
{
List<ContactResult> hitInfo = RaycastWorld(position, direction, length, count);
retMethod(hitInfo);
}
else
{
retMethod(new List<ContactResult>());
}
}
}
public override List<ContactResult> RaycastWorld(Vector3 position, Vector3 direction, float length, int count)
{
return (List<ContactResult>)RaycastWorld(position, direction, length, count, RayFilterFlags.All);
}
public override object RaycastWorld(Vector3 position, Vector3 direction, float length, int count, RayFilterFlags filter)
{
List<ContactResult> ret = new List<ContactResult>();
if (BSParam.UseBulletRaycast)
{
uint collisionFilter = 0;
uint collisionMask = 0;
if ((filter & RayFilterFlags.land) != 0)
{
collisionFilter |= BulletSimData.CollisionTypeMasks[CollisionType.Terrain].group;
collisionMask |= BulletSimData.CollisionTypeMasks[CollisionType.Terrain].mask;
}
if ((filter & RayFilterFlags.agent) != 0)
{
collisionFilter |= BulletSimData.CollisionTypeMasks[CollisionType.Avatar].group;
collisionMask |= BulletSimData.CollisionTypeMasks[CollisionType.Avatar].mask;
}
if ((filter & RayFilterFlags.nonphysical) != 0)
{
collisionFilter |= BulletSimData.CollisionTypeMasks[CollisionType.Static].group;
collisionMask |= BulletSimData.CollisionTypeMasks[CollisionType.Static].mask;
}
if ((filter & RayFilterFlags.physical) != 0)
{
collisionFilter |= BulletSimData.CollisionTypeMasks[CollisionType.Dynamic].group;
collisionMask |= BulletSimData.CollisionTypeMasks[CollisionType.Dynamic].mask;
}
// if ((filter & RayFilterFlags.phantom) != 0)
// {
// collisionFilter |= BulletSimData.CollisionTypeMasks[CollisionType.VolumeDetect].group;
// collisionMask |= BulletSimData.CollisionTypeMasks[CollisionType.VolumeDetect].mask;
// }
if ((filter & RayFilterFlags.volumedtc) != 0)
{
collisionFilter |= BulletSimData.CollisionTypeMasks[CollisionType.VolumeDetect].group;
collisionMask |= BulletSimData.CollisionTypeMasks[CollisionType.VolumeDetect].mask;
}
DetailLog("{0},RaycastWorld,pos={1},dir={2},len={3},count={4},filter={5},filter={6},mask={7}",
DetailLogZero, position, direction, length, count, filter, collisionFilter, collisionMask);
// NOTE: locking ensures the physics engine is not executing.
// The caller might have to wait for the physics engine to finish.
lock (PhysicsEngineLock)
{
Vector3 posFrom = position;
Vector3 posTo = Vector3.Normalize(direction) * length + position;
DetailLog("{0},RaycastWorld,RayTest2,from={1},to={2}",
DetailLogZero, posFrom, posTo);
RaycastHit hitInfo = PE.RayTest2(World, posFrom, posTo, collisionFilter, collisionMask);
if (hitInfo.hasHit())
{
ContactResult result = new ContactResult();
result.Pos = hitInfo.Point;
result.Normal = hitInfo.Normal;
result.ConsumerID = hitInfo.ID;
result.Depth = hitInfo.Fraction;
ret.Add(result);
DetailLog("{0},RaycastWorld,hit,pos={1},norm={2},depth={3},id={4}",
DetailLogZero, result.Pos, result.Normal, result.Depth, result.ConsumerID);
}
}
}
return ret;
}
#endregion Raycast
public override Dictionary<uint, float> GetTopColliders()
{
Dictionary<uint, float> topColliders;
@ -1068,32 +1218,35 @@ namespace OpenSim.Region.PhysicsModule.BulletS
// Calls to the PhysicsActors can't directly call into the physics engine
// because it might be busy. We delay changes to a known time.
// We rely on C#'s closure to save and restore the context for the delegate.
public void TaintedObject(string pOriginator, string pIdent, TaintCallback pCallback)
// NOTE: 'inTaintTime' is no longer used. This entry exists so all the calls don't have to be changed.
// public void TaintedObject(bool inTaintTime, String pIdent, TaintCallback pCallback)
// {
// TaintedObject(BSScene.DetailLogZero, pIdent, pCallback);
// }
// NOTE: 'inTaintTime' is no longer used. This entry exists so all the calls don't have to be changed.
public void TaintedObject(bool inTaintTime, uint pOriginator, String pIdent, TaintCallback pCallback)
{
TaintedObject(false /*inTaintTime*/, pOriginator, pIdent, pCallback);
TaintedObject(m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback);
}
public void TaintedObject(uint pOriginator, String pIdent, TaintCallback pCallback)
{
TaintedObject(false /*inTaintTime*/, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback);
}
public void TaintedObject(bool inTaintTime, String pIdent, TaintCallback pCallback)
{
TaintedObject(inTaintTime, BSScene.DetailLogZero, pIdent, pCallback);
}
public void TaintedObject(bool inTaintTime, uint pOriginator, String pIdent, TaintCallback pCallback)
{
TaintedObject(inTaintTime, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback);
TaintedObject(m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback);
}
// Sometimes a potentially tainted operation can be used in and out of taint time.
// This routine executes the command immediately if in taint-time otherwise it is queued.
public void TaintedObject(bool inTaintTime, string pOriginator, string pIdent, TaintCallback pCallback)
public void TaintedObject(string pOriginator, string pIdent, TaintCallback pCallback)
{
if (!m_initialized) return;
if (inTaintTime)
if (Monitor.TryEnter(PhysicsEngineLock))
{
// If we can get exclusive access to the physics engine, just do the operation
pCallback();
Monitor.Exit(PhysicsEngineLock);
}
else
{
// The physics engine is busy, queue the operation
lock (_taintLock)
{
_taintOperations.Add(new TaintCallbackEntry(pOriginator, pIdent, pCallback));
@ -1120,14 +1273,21 @@ namespace OpenSim.Region.PhysicsModule.BulletS
// When someone tries to change a property on a BSPrim or BSCharacter, the object queues
// a callback into itself to do the actual property change. That callback is called
// here just before the physics engine is called to step the simulation.
public void ProcessTaints()
// Returns the number of taints processed
// NOTE: Called while PhysicsEngineLock is locked
public int ProcessTaints()
{
ProcessRegularTaints();
ProcessPostTaintTaints();
int ret = 0;
ret += ProcessRegularTaints();
ret += ProcessPostTaintTaints();
return ret;
}
private void ProcessRegularTaints()
// Returns the number of taints processed
// NOTE: Called while PhysicsEngineLock is locked
private int ProcessRegularTaints()
{
int ret = 0;
if (m_initialized && _taintOperations.Count > 0) // save allocating new list if there is nothing to process
{
// swizzle a new list into the list location so we can process what's there
@ -1144,6 +1304,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
{
DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", tcbe.originator, tcbe.ident); // DEBUG DEBUG DEBUG
tcbe.callback();
ret++;
}
catch (Exception e)
{
@ -1152,6 +1313,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
}
oldList.Clear();
}
return ret;
}
// Schedule an update to happen after all the regular taints are processed.
@ -1170,8 +1332,11 @@ namespace OpenSim.Region.PhysicsModule.BulletS
}
// Taints that happen after the normal taint processing but before the simulation step.
private void ProcessPostTaintTaints()
// Returns the number of taints processed
// NOTE: Called while PhysicsEngineLock is locked
private int ProcessPostTaintTaints()
{
int ret = 0;
if (m_initialized && _postTaintOperations.Count > 0)
{
Dictionary<string, TaintCallbackEntry> oldList;
@ -1187,6 +1352,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
{
DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG
kvp.Value.callback();
ret++;
}
catch (Exception e)
{
@ -1195,20 +1361,8 @@ namespace OpenSim.Region.PhysicsModule.BulletS
}
oldList.Clear();
}
return ret;
}
// Only used for debugging. Does not change state of anything so locking is not necessary.
public bool AssertInTaintTime(string whereFrom)
{
if (!InTaintTime)
{
DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
// Util.PrintCallStack(DetailLog);
}
return InTaintTime;
}
#endregion // Taints
#region IPhysicsParameters

6
OpenSim/Region/PhysicsModules/BulletS/BSShapeCollection.cs
View File

@ -75,8 +75,6 @@ public sealed class BSShapeCollection : IDisposable
// Called at taint-time.
public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim, PhysicalDestructionCallback bodyCallback)
{
m_physicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape");
bool ret = false;
// This lock could probably be pushed down lower but building shouldn't take long
@ -229,6 +227,8 @@ public sealed class BSShapeCollection : IDisposable
ret = CreateGeomMeshOrHull(prim, shapeCallback);
}
m_physicsScene.PE.ResetBroadphasePool(m_physicsScene.World); // DEBUG DEBUG
return ret;
}
@ -344,8 +344,6 @@ public sealed class BSShapeCollection : IDisposable
if (!body.HasPhysicalBody)
return;
m_physicsScene.AssertInTaintTime("BSShapeCollection.DereferenceBody");
lock (m_collectionActivityLock)
{
if (DDetail) DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody,body={1}", body.ID, body);

1
OpenSim/Region/PhysicsModules/BulletS/BulletSimData.cs
View File

@ -100,6 +100,7 @@ public class BulletBody
}
}
// Handle to btCollisionObject - a shape that can be added to a btRidgidBody
public class BulletShape
{
public BulletShape()

124
OpenSim/Region/PhysicsModules/BulletS/Tests/Raycast.cs Executable file
View File

@ -0,0 +1,124 @@
/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using NUnit.Framework;
using log4net;
using OpenSim.Framework;
using OpenSim.Region.PhysicsModule.BulletS;
using OpenSim.Region.PhysicsModules.SharedBase;
using OpenSim.Tests.Common;
using OpenMetaverse;
namespace OpenSim.Region.PhysicsModule.BulletS.Tests
{
[TestFixture]
public class BulletSimRaycast : OpenSimTestCase
{
// Documentation on attributes: http://www.nunit.org/index.php?p=attributes&r=2.6.1
// Documentation on assertions: http://www.nunit.org/index.php?p=assertions&r=2.6.1
BSScene _physicsScene { get; set; }
BSPrim _targetSphere { get; set; }
Vector3 _targetSpherePosition { get; set; }
float _simulationTimeStep = 0.089f;
uint _targetLocalID = 123;
[TestFixtureSetUp]
public void Init()
{
Dictionary<string, string> engineParams = new Dictionary<string, string>();
engineParams.Add("UseBulletRaycast", "true");
_physicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams);
PrimitiveBaseShape pbs = PrimitiveBaseShape.CreateSphere();
Vector3 pos = new Vector3(100.0f, 100.0f, 50f);
_targetSpherePosition = pos;
Vector3 size = new Vector3(10f, 10f, 10f);
pbs.Scale = size;
Quaternion rot = Quaternion.Identity;
bool isPhys = false;
_physicsScene.AddPrimShape("TargetSphere", pbs, pos, size, rot, isPhys, _targetLocalID);
_targetSphere = (BSPrim)_physicsScene.PhysObjects[_targetLocalID];
// The actual prim shape creation happens at taint time
_physicsScene.ProcessTaints();
}
[TestFixtureTearDown]
public void TearDown()
{
if (_physicsScene != null)
{
// The Dispose() will also free any physical objects in the scene
_physicsScene.Dispose();
_physicsScene = null;
}
}
// There is a 10x10x10 sphere at <100,100,50>
// Shoot rays around the sphere and verify it hits and doesn't hit
// TestCase parameters are <x,y,z> of start and <x,y,z> of end and expected result
[TestCase(100f, 50f, 50f, 100f, 150f, 50f, true, "Pass through sphere from front")]
[TestCase(50f, 100f, 50f, 150f, 100f, 50f, true, "Pass through sphere from side")]
[TestCase(50f, 50f, 50f, 150f, 150f, 50f, true, "Pass through sphere diaginally")]
[TestCase(100f, 100f, 100f, 100f, 100f, 20f, true, "Pass through sphere from above")]
[TestCase(20f, 20f, 50f, 80f, 80f, 50f, false, "Not reach sphere")]
[TestCase(50f, 50f, 65f, 150f, 150f, 65f, false, "Passed over sphere")]
public void RaycastAroundObject(float fromX, float fromY, float fromZ, float toX, float toY, float toZ, bool expected, string msg) {
Vector3 fromPos = new Vector3(fromX, fromY, fromZ);
Vector3 toPos = new Vector3(toX, toY, toZ);
Vector3 direction = toPos - fromPos;
float len = Vector3.Distance(fromPos, toPos);
List<ContactResult> results = _physicsScene.RaycastWorld(fromPos, direction, len, 1);
if (expected) {
// The test coordinates should generate a hit
Assert.True(results.Count != 0, msg + ": Did not return a hit but expected to.");
Assert.True(results.Count == 1, msg + ": Raycast returned not just one hit result.");
Assert.True(results[0].ConsumerID == _targetLocalID, msg + ": Raycast returned a collision object other than the target");
}
else
{
// The test coordinates should not generate a hit
if (results.Count > 0)
{
Assert.False(results.Count > 0, msg + ": Returned a hit at " + results[0].Pos.ToString());
}
}
}
}
}

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