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BulletSim: More tweaking on center-of-mass. Almost there. Changes have no effect if LinksetOffsetCenterOfMass=false (the default).

cpu-performance
Robert Adams 2013-06-10 06:40:07 -07:00
parent 03268d85c4
commit 97698ae311
4 changed files with 51 additions and 101 deletions
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78
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
View File

@ -35,62 +35,6 @@ using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
/*
// When a child is linked, the relationship position of the child to the parent
// is remembered so the child's world position can be recomputed when it is
// removed from the linkset.
sealed class BSLinksetCompoundInfo : BSLinksetInfo
{
public int Index;
public OMV.Vector3 OffsetFromRoot;
public OMV.Vector3 OffsetFromCenterOfMass;
public OMV.Quaternion OffsetRot;
public BSLinksetCompoundInfo(int indx, OMV.Vector3 p, OMV.Quaternion r)
{
Index = indx;
OffsetFromRoot = p;
OffsetFromCenterOfMass = p;
OffsetRot = r;
}
// 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape)
public BSLinksetCompoundInfo(int indx, BSPrimLinkable root, BSPrimLinkable child, OMV.Vector3 centerDisplacement)
{
// Each child position and rotation is given relative to the center-of-mass.
OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation);
OMV.Vector3 displacementFromRoot = (child.RawPosition - root.RawPosition) * invRootOrientation;
OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement;
OMV.Quaternion displacementRot = child.RawOrientation * invRootOrientation;
// Save relative position for recomputing child's world position after moving linkset.
Index = indx;
OffsetFromRoot = displacementFromRoot;
OffsetFromCenterOfMass = displacementFromCOM;
OffsetRot = displacementRot;
}
public override void Clear()
{
Index = 0;
OffsetFromRoot = OMV.Vector3.Zero;
OffsetFromCenterOfMass = OMV.Vector3.Zero;
OffsetRot = OMV.Quaternion.Identity;
}
public override string ToString()
{
StringBuilder buff = new StringBuilder();
buff.Append("<i=");
buff.Append(Index.ToString());
buff.Append(",p=");
buff.Append(OffsetFromRoot.ToString());
buff.Append(",m=");
buff.Append(OffsetFromCenterOfMass.ToString());
buff.Append(",r=");
buff.Append(OffsetRot.ToString());
buff.Append(">");
return buff.ToString();
}
};
*/
public sealed class BSLinksetCompound : BSLinkset
{
private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
@ -151,7 +95,9 @@ public sealed class BSLinksetCompound : BSLinkset
public override bool MakeStatic(BSPrimLinkable child)
{
bool ret = false;
DetailLog("{0},BSLinksetCompound.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.
@ -364,16 +310,28 @@ public sealed class BSLinksetCompound : BSLinkset
int memberIndex = 1;
ForEachMember(delegate(BSPrimLinkable cPrim)
{
// Root shape is always index zero.
cPrim.LinksetChildIndex = IsRoot(cPrim) ? 0 : memberIndex;
if (IsRoot(cPrim))
{
// Root shape is always index zero.
cPrim.LinksetChildIndex = 0;
}
else
{
cPrim.LinksetChildIndex = memberIndex;
memberIndex++;
}
// Get a reference to the shape of the child and add that shape to the linkset compound shape
BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim);
// Offset the child shape from the center-of-mass and rotate it to vehicle relative
OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacementV;
OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation;
// Add the child shape to the compound shape being built
m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}",
LinksetRoot.LocalID, memberIndex, childShape, offsetPos, offsetRot);
LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot);
// Since we are borrowing the shape of the child, disable the origional child body
if (!IsRoot(cPrim))
@ -385,8 +343,6 @@ public sealed class BSLinksetCompound : BSLinkset
cPrim.PhysBody.collisionType = CollisionType.LinksetChild;
}
memberIndex++;
return false; // 'false' says to move onto the next child in the list
});

63
OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
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@ -51,7 +51,7 @@ public class BSPrimDisplaced : BSPrim
// the prim/linkset by the location of the root prim. So, if center-of-mass is anywhere
// but the origin of the root prim, the physical origin is displaced from the simulator origin.
//
// This routine works by capturing the Force* setting of position/orientation/... and
// This routine works by capturing ForcePosition and
// adjusting the simulator values (being set) into the physical values.
// The conversion is also done in the opposite direction (physical origin -> simulator origin).
//
@ -60,8 +60,6 @@ public class BSPrimDisplaced : BSPrim
// class.
public virtual OMV.Vector3 PositionDisplacement { get; set; }
public virtual OMV.Quaternion OrientationDisplacement { get; set; }
public virtual OMV.Quaternion OrientationDisplacementOrigInv { get; set; }
public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
@ -70,15 +68,17 @@ public class BSPrimDisplaced : BSPrim
ClearDisplacement();
}
// Clears any center-of-mass displacement introduced by linksets, etc.
// Does not clear the displacement set by the user.
public void ClearDisplacement()
{
PositionDisplacement = OMV.Vector3.Zero;
OrientationDisplacement = OMV.Quaternion.Identity;
SetEffectiveCenterOfMassDisplacement(OMV.Vector3.Zero);
}
// 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).
// Called at taint time.
public virtual void SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement)
{
Vector3 comDisp;
@ -87,21 +87,17 @@ public class BSPrimDisplaced : BSPrim
else
comDisp = centerOfMassDisplacement;
if (comDisp.ApproxEquals(Vector3.Zero, 0.01f) )
comDisp = Vector3.Zero;
DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}",
LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp);
if (comDisp == Vector3.Zero)
if ( comDisp != PositionDisplacement )
{
// If there is no diplacement. Things get reset.
PositionDisplacement = OMV.Vector3.Zero;
OrientationDisplacement = OMV.Quaternion.Identity;
}
else
{
// Remember the displacement from root as well as the origional rotation of the
// new center-of-mass.
// Displacement setting is changing.
// The relationship between the physical object and simulated object must be aligned.
PositionDisplacement = comDisp;
OrientationDisplacement = Quaternion.Normalize(RawOrientation);
OrientationDisplacementOrigInv = Quaternion.Inverse(OrientationDisplacement);
this.ForcePosition = RawPosition;
}
}
@ -112,7 +108,11 @@ public class BSPrimDisplaced : BSPrim
{
if (PositionDisplacement != OMV.Vector3.Zero)
{
OMV.Vector3 displacedPos = value - (PositionDisplacement * (OrientationDisplacementOrigInv * RawOrientation));
// The displacement is always relative to the vehicle so, when setting position,
// the caller means to set the position of the root prim.
// This offsets the setting value to the center-of-mass and sends that to the
// physics engine.
OMV.Vector3 displacedPos = value - (PositionDisplacement * RawOrientation);
DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos);
base.ForcePosition = displacedPos;
}
@ -123,26 +123,12 @@ public class BSPrimDisplaced : BSPrim
}
}
public override Quaternion ForceOrientation
{
get { return base.ForceOrientation; }
set
{
// Changing orientation also changes the position of the center-of-mass since
// the orientation passed is for a rotation around the root prim's center.
base.ForceOrientation = value;
}
}
// TODO: decide if this is the right place for these variables.
// Somehow incorporate the optional settability by the user.
// Is this used?
// These are also overridden by BSPrimLinkable if the prim can be part of a linkset
public override OMV.Vector3 CenterOfMass
{
get { return RawPosition; }
}
// Is this used?
public override OMV.Vector3 GeometricCenter
{
get { return RawPosition; }
@ -151,18 +137,17 @@ public class BSPrimDisplaced : BSPrim
public override void UpdateProperties(EntityProperties entprop)
{
// Undo any center-of-mass displacement that might have been done.
if (PositionDisplacement != OMV.Vector3.Zero || OrientationDisplacement != OMV.Quaternion.Identity)
if (PositionDisplacement != OMV.Vector3.Zero)
{
// The origional shape was offset from 'zero' by PositionDisplacement and rotated by OrientationDisplacement.
// These physical locations and rotation must be back converted to be centered around the displaced
// The origional shape was offset from 'zero' by PositionDisplacement.
// These physical location must be back converted to be centered around the displaced
// root shape.
// The root position is the reported position displaced by the rotated displacement.
OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * (entprop.Rotation * OrientationDisplacementOrigInv));
DetailLog("{0},BSPrimDisplaced.ForcePosition,physPos={1},disp={2},newPos={3}", LocalID, entprop.Position, PositionDisplacement, displacedPos);
OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation);
DetailLog("{0},BSPrimDisplaced.UpdateProperties,physPos={1},disp={2},newPos={3}",
LocalID, entprop.Position, PositionDisplacement, displacedPos);
entprop.Position = displacedPos;
// entprop.Rotation = something;
}
base.UpdateProperties(entprop);

10
OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
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@ -134,6 +134,16 @@ public class BSPrimLinkable : BSPrimDisplaced
get { return Linkset.LinksetMass; }
}
public override OMV.Vector3 CenterOfMass
{
get { return Linkset.CenterOfMass; }
}
public override OMV.Vector3 GeometricCenter
{
get { return Linkset.GeometricCenter; }
}
// Refresh the linkset structure and parameters when the prim's physical parameters are changed.
public override void UpdatePhysicalParameters()
{

1
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@ -785,7 +785,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
{
// The simulation of the time interval took less than realtime.
// Do a sleep for the rest of realtime.
DetailLog("{0},BulletSPluginPhysicsThread,sleeping={1}", BSScene.DetailLogZero, simulationTimeVsRealtimeDifferenceMS);
Thread.Sleep(simulationTimeVsRealtimeDifferenceMS);
}
else