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* BulletDotNET Updates. 

* Should react somewhat normally to editing, and setting physics now.
0.6.5-rc1
Teravus Ovares 2009-04-07 00:13:08 +00:00
parent 39f5dd1973
commit 9459b16cc2
4 changed files with 221 additions and 61 deletions
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271
OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
View File

@ -178,6 +178,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
private btTransform tempTransform3;
private btTransform tempTransform4;
private btTriangleIndexVertexArray btshapeArray;
private bool forceenable = false;
public btRigidBody Body;
@ -722,66 +723,103 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
if (m_taintadd)
{
m_log.Debug("[PHYSICS]: TaintAdd");
changeadd(timestep);
}
if (prim_geom.Handle == IntPtr.Zero)
{
CreateGeom(IntPtr.Zero, primMesh);
if (IsPhysical)
SetBody(Mass);
else
SetBody(0);
m_log.Debug("[PHYSICS]: GEOM_DOESNT_EXSIT");
}
if (!_position.IsIdentical(m_taintposition, 0f))
changemove(timestep);
if (!_position.IsIdentical(m_taintposition, 0f))
{
m_log.Debug("[PHYSICS]: TaintMove");
changemove(timestep);
}
if (m_taintrot != _orientation)
{
m_log.Debug("[PHYSICS]: TaintRotate");
rotate(timestep);
//
} //
if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
{
m_log.Debug("[PHYSICS]: TaintPhysics");
changePhysicsStatus(timestep);
}
//
if (!_size.IsIdentical(m_taintsize, 0))
{
m_log.Debug("[PHYSICS]: TaintSize");
changesize(timestep);
//
}
//
if (m_taintshape)
{
m_log.Debug("[PHYSICS]: TaintShape");
changeshape(timestep);
//
} //
if (m_taintforce)
{
m_log.Debug("[PHYSICS]: TaintForce");
changeAddForce(timestep);
}
if (m_taintaddangularforce)
{
m_log.Debug("[PHYSICS]: TaintAngularForce");
changeAddAngularForce(timestep);
}
if (!m_taintTorque.IsIdentical(PhysicsVector.Zero, 0.001f))
{
m_log.Debug("[PHYSICS]: TaintTorque");
changeSetTorque(timestep);
}
if (m_taintdisable)
{
m_log.Debug("[PHYSICS]: TaintDisable");
changedisable(timestep);
}
if (m_taintselected != m_isSelected)
{
m_log.Debug("[PHYSICS]: TaintSelected");
changeSelectedStatus(timestep);
}
if (!m_taintVelocity.IsIdentical(PhysicsVector.Zero, 0.001f))
{
m_log.Debug("[PHYSICS]: TaintVelocity");
changevelocity(timestep);
}
if (m_taintparent != _parent)
{
m_log.Debug("[PHYSICS]: TaintLink");
changelink(timestep);
}
if (m_taintCollidesWater != m_collidesWater)
{
changefloatonwater(timestep);
}
if (!m_angularlock.IsIdentical(m_taintAngularLock, 0))
{
m_log.Debug("[PHYSICS]: TaintAngularLock");
changeAngularLock(timestep);
}
if (m_taintremove)
{
DisposeOfBody();
Dispose();
}
}
@ -789,19 +827,41 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
private void changeadd(float timestep)
{
if (_mesh == null)
//SetCollisionShape(null);
// Construction of new prim
if (Body != null)
{
if (_parent_scene.needsMeshing(_pbs))
if (Body.Handle != IntPtr.Zero)
{
// Don't need to re-enable body.. it's done in SetMesh
_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
// createmesh returns null when it's a shape that isn't a cube.
_parent_scene.removeFromWorld(this, Body);
//Body.Dispose();
}
//Body = null;
// TODO: dispose parts that make up body
}
CreateGeom(IntPtr.Zero, primMesh);
if (_parent_scene.needsMeshing(_pbs))
{
// Don't need to re-enable body.. it's done in SetMesh
float meshlod = _parent_scene.meshSculptLOD;
enableBody();
changeSelectedStatus(timestep);
if (IsPhysical)
meshlod = _parent_scene.MeshSculptphysicalLOD;
IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
// createmesh returns null when it doesn't mesh.
CreateGeom(IntPtr.Zero, mesh);
}
else
{
_mesh = null;
CreateGeom(IntPtr.Zero, null);
}
if (IsPhysical)
SetBody(Mass);
else
SetBody(0);
//changeSelectedStatus(timestep);
m_taintadd = false;
}
@ -809,7 +869,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
private void changemove(float timestep)
{
m_log.Debug("[PHYSICS]: _________ChangeMove");
tempTransform2 = Body.getWorldTransform();
btQuaternion quat = tempTransform2.getRotation();
tempPosition2.setValue(_position.X, _position.Y, _position.Z);
@ -825,7 +885,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
private void rotate(float timestep)
{
m_log.Debug("[PHYSICS]: _________ChangeRotate");
tempTransform2 = Body.getWorldTransform();
tempOrientation2 = new btQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W);
tempTransform2.setRotation(tempOrientation2);
@ -837,54 +897,100 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
private void changePhysicsStatus(float timestep)
{
SetCollisionShape(prim_geom);
SetBody(Mass);
changeSelectedStatus(timestep);
if (Body != null)
{
if (Body.Handle != IntPtr.Zero)
{
_parent_scene.removeFromWorld(this, Body);
//Body.Dispose();
}
//Body = null;
// TODO: dispose parts that make up body
}
m_log.Debug("[PHYSICS]: _________ChangePhysics");
if (_parent_scene.needsMeshing(_pbs))
{
// Don't need to re-enable body.. it's done in SetMesh
float meshlod = _parent_scene.meshSculptLOD;
if (IsPhysical)
meshlod = _parent_scene.MeshSculptphysicalLOD;
IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
// createmesh returns null when it doesn't mesh.
CreateGeom(IntPtr.Zero, mesh);
}
else
{
_mesh = null;
CreateGeom(IntPtr.Zero, null);
}
SetCollisionShape(prim_geom);
if (m_isphysical)
SetBody(Mass);
else
SetBody(0);
changeSelectedStatus(timestep);
resetCollisionAccounting();
m_taintPhysics = m_isphysical;
}
private void changesize(float timestep)
{
if (Body != null)
{
if (Body.Handle != IntPtr.Zero)
{
_parent_scene.removeFromWorld(this, Body);
//Body.Dispose();
}
//Body = null;
// TODO: dispose parts that make up body
}
m_log.Debug("[PHYSICS]: _________ChangeSize");
SetCollisionShape(null);
// Construction of new prim
if (_parent_scene.needsMeshing(_pbs))
{
// Don't need to re-enable body.. it's done in SetMesh
float meshlod = _parent_scene.meshSculptLOD;
if (IsPhysical)
meshlod = _parent_scene.MeshSculptphysicalLOD;
// Don't need to re-enable body.. it's done in SetMesh
IMesh mesh = null;
if (_parent_scene.needsMeshing(_pbs))
mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
//IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
// createmesh returns null when it doesn't mesh.
CreateGeom(IntPtr.Zero, mesh);
}
else
{
_mesh = null;
CreateGeom(IntPtr.Zero, _mesh);
CreateGeom(IntPtr.Zero, null);
}
if (IsPhysical)
SetBody(Mass);
else
SetBody(0);
m_taintsize = _size;
}
private void changeshape(float timestep)
{
if (Body != null)
{
if (Body.Handle != IntPtr.Zero)
{
_parent_scene.removeFromWorld(this, Body);
//Body.Dispose();
}
//Body = null;
// TODO: dispose parts that make up body
}
// Cleanup of old prim geometry and Bodies
if (IsPhysical && Body != null && Body.Handle != IntPtr.Zero)
{
@ -898,12 +1004,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
else
{
disableBody();
//disableBody();
}
}
try
{
SetCollisionShape(null);
//SetCollisionShape(null);
}
catch (System.AccessViolationException)
{
@ -968,6 +1074,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
}
resetCollisionAccounting();
m_taintshape = false;
}
@ -1004,6 +1111,16 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
private void changeSelectedStatus(float timestep)
{
// TODO: throw new NotImplementedException();
if (m_taintselected)
{
disableBodySoft();
}
else
{
enableBodySoft();
}
m_isSelected = m_taintselected;
}
private void changevelocity(float timestep)
@ -1584,6 +1701,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
public void CreateGeom(IntPtr m_targetSpace, IMesh p_mesh)
{
m_log.Debug("[PHYSICS]: _________CreateGeom");
if (p_mesh != null)
{
_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
@ -1631,7 +1749,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
// TODO: Set Collision Body Mesh
// This sleeper is there to moderate how long it takes between
// setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object
m_log.Debug("_________SetMesh");
Thread.Sleep(10);
//Kill Body so that mesh can re-make the geom
@ -1647,7 +1765,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
else
{
disableBody();
//disableBody();
}
}
@ -1683,11 +1801,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
private void SetCollisionShape(btCollisionShape shape)
{
/*
if (shape == null)
m_log.Debug("[PHYSICS]:SetShape!Null");
else
m_log.Debug("[PHYSICS]:SetShape!");
if (Body != null)
{
DisposeOfBody();
@ -1698,6 +1817,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
prim_geom.Dispose();
prim_geom = null;
}
*/
prim_geom = shape;
//Body.set
@ -1705,12 +1825,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
public void SetBody(float mass)
{
m_log.DebugFormat("[PHYSICS]: SetBody! {0}",mass);
//m_log.DebugFormat("[PHYSICS]: SetBody! {0}",mass);
/*
if (Body != null && Body.Handle != IntPtr.Zero)
{
DisposeOfBody();
}
*/
if (tempMotionState1 != null && tempMotionState1.Handle != IntPtr.Zero)
tempMotionState1.Dispose();
if (tempTransform2 != null && tempTransform2.Handle != IntPtr.Zero)
@ -1728,18 +1849,41 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
if (tempInertia1 != null && tempInertia1.Handle != IntPtr.Zero)
tempInertia1.Dispose();
tempInertia1 = new btVector3(0, 0, 0);
/*
if (prim_geom.Handle == IntPtr.Zero)
{
m_log.Warn("[PHYSICS]:PrimGeom is Disposed!");
CreateGeom(IntPtr.Zero, primMesh);
if (_parent_scene.needsMeshing(_pbs))
{
// Don't need to re-enable body.. it's done in SetMesh
float meshlod = _parent_scene.meshSculptLOD;
if (IsPhysical)
meshlod = _parent_scene.MeshSculptphysicalLOD;
IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
// createmesh returns null when it doesn't mesh.
CreateGeom(IntPtr.Zero, mesh);
}
else
{
_mesh = null;
CreateGeom(IntPtr.Zero, null);
}
}
*/
prim_geom.calculateLocalInertia(mass, tempInertia1);
if (mass == 0)
Body = new btRigidBody(mass, tempMotionState1, prim_geom);
if (mass != 0)
_parent_scene.addActivePrim(this);
else
Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
_parent_scene.remActivePrim(this);
// Body = new btRigidBody(mass, tempMotionState1, prim_geom);
//else
Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
if (prim_geom is btGImpactMeshShape)
{
@ -1810,6 +1954,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
public void disableBody()
{
//this kills the body so things like 'mesh' can re-create it.
/*
lock (this)
{
if (!childPrim)
@ -1861,6 +2006,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
}
*/
m_disabled = true;
m_collisionscore = 0;
}
@ -1885,7 +2031,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
if (m_isphysical && Body.Handle != IntPtr.Zero)
{
Body.clearForces();
Body.forceActivationState(1);
Body.forceActivationState(4);
forceenable = true;
}
m_disabled = false;
}
@ -1922,8 +2070,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
PhysicsVector pv = new PhysicsVector(0, 0, 0);
bool lastZeroFlag = _zeroFlag;
if (tempPosition2 != null && tempPosition2.Handle != IntPtr.Zero)
tempPosition2.Dispose();
if (tempPosition3 != null && tempPosition3.Handle != IntPtr.Zero)
tempPosition3.Dispose();
if (tempTransform3 != null && tempTransform3.Handle != IntPtr.Zero)
tempTransform3.Dispose();
@ -1939,7 +2087,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
tempTransform3 = Body.getInterpolationWorldTransform();
tempPosition2 = tempTransform3.getOrigin(); // vec
tempPosition3 = tempTransform3.getOrigin(); // vec
tempOrientation2 = tempTransform3.getRotation(); // ori
tempAngularVelocity1 = Body.getInterpolationAngularVelocity(); //rotvel
tempLinearVelocity1 = Body.getInterpolationLinearVelocity(); // vel
@ -1950,9 +2098,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
m_lastposition = _position;
m_lastorientation = _orientation;
l_position.X = tempPosition2.getX();
l_position.Y = tempPosition2.getY();
l_position.Z = tempPosition2.getZ();
l_position.X = tempPosition3.getX();
l_position.Y = tempPosition3.getY();
l_position.Z = tempPosition3.getZ();
l_orientation.X = tempOrientation2.getX();
l_orientation.Y = tempOrientation2.getY();
l_orientation.Z = tempOrientation2.getZ();
@ -2103,6 +2251,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
m_lastposition = l_position;
if (forceenable)
{
Body.forceActivationState(1);
forceenable = false;
}
}
else
{

11
OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
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@ -187,8 +187,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
newPrim = new BulletDotNETPrim(name, this, pos, siz, rot, mesh, pbs, isphysical);
lock (m_prims)
m_prims.Add(newPrim);
//lock (m_prims)
// m_prims.Add(newPrim);
return newPrim;
@ -267,6 +267,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
foreach (BulletDotNETPrim prim in m_prims)
{
if (prim != null)
prim.Move(timeStep);
}
}
@ -279,6 +280,10 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
foreach (BulletDotNETPrim prm in m_activePrims)
{
/*
if (prm != null)
if (prm.Body != null)
*/
prm.UpdatePositionAndVelocity();
}
@ -487,6 +492,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
m_world.removeRigidBody(body);
}
remActivePrim(prm);
m_prims.Remove(prm);
}
@ -662,6 +668,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
m_prims.Add(pPrim);
m_world.addRigidBody(pPrim.Body);
m_log.Debug("ADDED");
}
}
}

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bin/BulletDotNET.dll
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bin/BulletDotNET.pdb
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