diff --git a/OpenSim/Region/Framework/Interfaces/IXmlRpcRouter.cs b/OpenSim/Region/Framework/Interfaces/IXmlRpcRouter.cs index 6db66742c0..093d3f0030 100644 --- a/OpenSim/Region/Framework/Interfaces/IXmlRpcRouter.cs +++ b/OpenSim/Region/Framework/Interfaces/IXmlRpcRouter.cs @@ -34,5 +34,6 @@ namespace OpenSim.Region.Framework.Interfaces void RegisterNewReceiver(IScriptModule scriptEngine, UUID channelID, UUID objectID, UUID itemID, string url); void ScriptRemoved(UUID itemID); void ObjectRemoved(UUID objectID); + void UnRegisterReceiver(string channelID, UUID itemID); } } diff --git a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcGridRouterModule.cs b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcGridRouterModule.cs index 6120a81b6c..709d389b75 100644 --- a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcGridRouterModule.cs +++ b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcGridRouterModule.cs @@ -46,6 +46,7 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule { public class XmlRpcInfo { + public UUID item; public UUID channel; public string uri; } @@ -88,6 +89,14 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule return; scene.RegisterModuleInterface(this); + + IScriptModule scriptEngine = scene.RequestModuleInterface(); + if ( scriptEngine != null ) + { + scriptEngine.OnScriptRemoved += this.ScriptRemoved; + scriptEngine.OnObjectRemoved += this.ObjectRemoved; + + } } public void RegionLoaded(Scene scene) @@ -120,22 +129,36 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule public void RegisterNewReceiver(IScriptModule scriptEngine, UUID channel, UUID objectID, UUID itemID, string uri) { - if (!m_Channels.ContainsKey(itemID)) + if (!m_Enabled) + return; + + m_log.InfoFormat("[XMLRPC GRID ROUTER]: New receiver Obj: {0} Ch: {1} ID: {2} URI: {3}", + objectID.ToString(), channel.ToString(), itemID.ToString(), uri); + + XmlRpcInfo info = new XmlRpcInfo(); + info.channel = channel; + info.uri = uri; + info.item = itemID; + + bool success = SynchronousRestObjectRequester.MakeRequest( + "POST", m_ServerURI+"/RegisterChannel/", info); + + if (!success) { - XmlRpcInfo info = new XmlRpcInfo(); - info.channel = channel; - info.uri = uri; - - bool success = SynchronousRestObjectRequester.MakeRequest( - "POST", m_ServerURI+"/RegisterChannel/", info); - - if (!success) - { - m_log.Error("[XMLRPC GRID ROUTER] Error contacting server"); - } - - m_Channels[itemID] = channel; + m_log.Error("[XMLRPC GRID ROUTER] Error contacting server"); } + + m_Channels[itemID] = channel; + + } + + public void UnRegisterReceiver(string channelID, UUID itemID) + { + if (!m_Enabled) + return; + + RemoveChannel(itemID); + } public void ScriptRemoved(UUID itemID) @@ -143,10 +166,33 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule if (!m_Enabled) return; - if (m_Channels.ContainsKey(itemID)) + RemoveChannel(itemID); + + } + + public void ObjectRemoved(UUID objectID) + { + // m_log.InfoFormat("[XMLRPC GRID ROUTER]: Object Removed {0}",objectID.ToString()); + } + + private bool RemoveChannel(UUID itemID) + { + if(!m_Channels.ContainsKey(itemID)) { - bool success = SynchronousRestObjectRequester.MakeRequest( - "POST", m_ServerURI+"/RemoveChannel/", m_Channels[itemID]); + m_log.InfoFormat("[XMLRPC GRID ROUTER]: Attempted to unregister non-existing Item: {0}", itemID.ToString()); + return false; + } + + XmlRpcInfo info = new XmlRpcInfo(); + + info.channel = m_Channels[itemID]; + info.item = itemID; + info.uri = "http://0.0.0.0:00"; + + if (info != null) + { + bool success = SynchronousRestObjectRequester.MakeRequest( + "POST", m_ServerURI+"/RemoveChannel/", info); if (!success) { @@ -154,11 +200,9 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcGridRouterModule } m_Channels.Remove(itemID); + return true; } - } - - public void ObjectRemoved(UUID objectID) - { + return false; } } } diff --git a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs index 4783f4c25a..ad0b83ddd8 100644 --- a/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs +++ b/OpenSim/Region/OptionalModules/Scripting/XmlRpcRouterModule/XmlRpcRouterModule.cs @@ -101,12 +101,18 @@ namespace OpenSim.Region.OptionalModules.Scripting.XmlRpcRouterModule scriptEngine.PostScriptEvent(itemID, "xmlrpc_uri", new Object[] {uri}); } + public void UnRegisterReceiver(string channelID, UUID itemID) + { + } + public void ScriptRemoved(UUID itemID) { + System.Console.WriteLine("TEST Script Removed!"); } public void ObjectRemoved(UUID objectID) { + System.Console.WriteLine("TEST Obj Removed!"); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 4c195e1cfc..21aa9be78b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -165,8 +165,8 @@ public sealed class BSCharacter : BSPhysObject BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); // Do this after the object has been added to the world - BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, - (uint)CollisionFilterGroups.AvatarFilter, + BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr, + (uint)CollisionFilterGroups.AvatarGroup, (uint)CollisionFilterGroups.AvatarMask); } @@ -307,7 +307,7 @@ public sealed class BSCharacter : BSPhysObject } if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { - float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); + float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position); if (Position.Z < waterHeight) { _position.Z = waterHeight; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 74eb9ab408..be8a502993 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -45,9 +45,7 @@ using System; using System.Collections.Generic; using System.Reflection; using System.Runtime.InteropServices; -using log4net; using OpenMetaverse; -using OpenSim.Framework; using OpenSim.Region.Physics.Manager; namespace OpenSim.Region.Physics.BulletSPlugin @@ -100,7 +98,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate - private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body + private Vector3 m_lastAngularCorrection = Vector3.Zero; private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body //Deflection properties @@ -113,6 +111,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private float m_bankingEfficiency = 0; private float m_bankingMix = 0; private float m_bankingTimescale = 0; + private Vector3 m_lastBanking = Vector3.Zero; //Hover and Buoyancy properties private float m_VhoverHeight = 0f; @@ -127,7 +126,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin //Attractor properties private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction"); private float m_verticalAttractionEfficiency = 1.0f; // damped - private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor. + private float m_verticalAttractionTimescale = 600f; // Timescale > 500 means no vert attractor. public BSDynamics(BSScene myScene, BSPrim myPrim) { @@ -154,7 +153,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: - m_angularMotorDecayTimescale = Math.Max(0.01f, Math.Min(pValue,120)); + m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120); m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale; break; case Vehicle.ANGULAR_MOTOR_TIMESCALE: @@ -162,7 +161,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_angularMotor.TimeScale = m_angularMotorTimescale; break; case Vehicle.BANKING_EFFICIENCY: - m_bankingEfficiency = Math.Max(-1f, Math.Min(pValue, 1f)); + m_bankingEfficiency = ClampInRange(-1f, pValue, 1f); break; case Vehicle.BANKING_MIX: m_bankingMix = Math.Max(pValue, 0.01f); @@ -171,10 +170,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.BUOYANCY: - m_VehicleBuoyancy = Math.Max(-1f, Math.Min(pValue, 1f)); + m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f); break; case Vehicle.HOVER_EFFICIENCY: - m_VhoverEfficiency = Math.Max(0f, Math.Min(pValue, 1f)); + m_VhoverEfficiency = ClampInRange(0f, pValue, 1f); break; case Vehicle.HOVER_HEIGHT: m_VhoverHeight = pValue; @@ -189,7 +188,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_linearDeflectionTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: - m_linearMotorDecayTimescale = Math.Max(0.01f, Math.Min(pValue,120)); + m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120); m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale; break; case Vehicle.LINEAR_MOTOR_TIMESCALE: @@ -197,7 +196,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_linearMotor.TimeScale = m_linearMotorTimescale; break; case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: - m_verticalAttractionEfficiency = Math.Max(0.1f, Math.Min(pValue, 1f)); + m_verticalAttractionEfficiency = ClampInRange(0.1f, pValue, 1f); m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency; break; case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: @@ -242,9 +241,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin break; case Vehicle.ANGULAR_MOTOR_DIRECTION: // Limit requested angular speed to 2 rps= 4 pi rads/sec - pValue.X = Math.Max(-12.56f, Math.Min(pValue.X, 12.56f)); - pValue.Y = Math.Max(-12.56f, Math.Min(pValue.Y, 12.56f)); - pValue.Z = Math.Max(-12.56f, Math.Min(pValue.Z, 12.56f)); + pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f); + pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f); + pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f); m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); m_angularMotor.SetTarget(m_angularMotorDirection); break; @@ -330,6 +329,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingEfficiency = 0; m_bankingTimescale = 1000; m_bankingMix = 1; + m_lastBanking = Vector3.Zero; m_referenceFrame = Quaternion.Identity; m_flags = (VehicleFlag)0; @@ -364,6 +364,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingEfficiency = 0; m_bankingTimescale = 10; m_bankingMix = 1; + m_lastBanking = Vector3.Zero; m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY @@ -402,6 +403,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingEfficiency = -0.2f; m_bankingMix = 1; m_bankingTimescale = 1; + m_lastBanking = Vector3.Zero; m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY @@ -440,6 +442,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingEfficiency = -0.3f; m_bankingMix = 0.8f; m_bankingTimescale = 1; + m_lastBanking = Vector3.Zero; m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY @@ -478,6 +481,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingEfficiency = 1; m_bankingMix = 0.7f; m_bankingTimescale = 2; + m_lastBanking = Vector3.Zero; m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY @@ -516,6 +520,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_bankingEfficiency = 0; m_bankingMix = 0.7f; m_bankingTimescale = 5; + m_lastBanking = Vector3.Zero; + m_referenceFrame = Quaternion.Identity; m_referenceFrame = Quaternion.Identity; @@ -558,9 +564,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (IsActive) { + // Remember the mass so we don't have to fetch it every step m_vehicleMass = Prim.Linkset.LinksetMass; - // Friction effects are handled by this vehicle code + // Friction affects are handled by this vehicle code float friction = 0f; BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, friction); @@ -574,6 +581,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Vector3 localInertia = new Vector3(1f, 1f, 1f); Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass); BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); + BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}", Prim.LocalID, friction, localInertia, angularDamping); @@ -598,31 +606,167 @@ namespace OpenSim.Region.Physics.BulletSPlugin Refresh(); } + #region Known vehicle value functions + // Vehicle physical parameters that we buffer from constant getting and setting. + // The "m_known*" variables are initialized to 'null', fetched only if referenced + // and stored back into the physics engine only if updated. + // This does two things: 1) saves continuious calls into unmanaged code, and + // 2) signals when a physics property update must happen back to the simulator + // to update values modified for the vehicle. + private int m_knownChanged; + private float? m_knownTerrainHeight; + private float? m_knownWaterLevel; + private Vector3? m_knownPosition; + private Vector3? m_knownVelocity; + private Quaternion? m_knownOrientation; + private Vector3? m_knownRotationalVelocity; + + private const int m_knownChangedPosition = 1 << 0; + private const int m_knownChangedVelocity = 1 << 1; + private const int m_knownChangedOrientation = 1 << 2; + private const int m_knownChangedRotationalVelocity = 1 << 3; + + private void ForgetKnownVehicleProperties() + { + m_knownTerrainHeight = null; + m_knownWaterLevel = null; + m_knownPosition = null; + m_knownVelocity = null; + m_knownOrientation = null; + m_knownRotationalVelocity = null; + m_knownChanged = 0; + } + private void PushKnownChanged() + { + if (m_knownChanged != 0) + { + if ((m_knownChanged & m_knownChangedPosition) != 0) + Prim.ForcePosition = VehiclePosition; + if ((m_knownChanged & m_knownChangedOrientation) != 0) + Prim.ForceOrientation = VehicleOrientation; + if ((m_knownChanged & m_knownChangedVelocity) != 0) + Prim.ForceVelocity = VehicleVelocity; + if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) + { + Prim.ForceRotationalVelocity = VehicleRotationalVelocity; + BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, VehicleRotationalVelocity); + } + // If we set one of the values (ie, the physics engine didn't do it) we must force + // an UpdateProperties event to send the changes up to the simulator. + BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); + } + } + + // Since the computation of terrain height can be a little involved, this routine + // is used ot fetch the height only once for each vehicle simulation step. + private float GetTerrainHeight(Vector3 pos) + { + if (m_knownTerrainHeight == null) + m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); + return (float)m_knownTerrainHeight; + } + + // Since the computation of water level can be a little involved, this routine + // is used ot fetch the level only once for each vehicle simulation step. + private float GetWaterLevel(Vector3 pos) + { + if (m_knownWaterLevel == null) + m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos); + return (float)m_knownWaterLevel; + } + + private Vector3 VehiclePosition + { + get + { + if (m_knownPosition == null) + m_knownPosition = Prim.ForcePosition; + return (Vector3)m_knownPosition; + } + set + { + m_knownPosition = value; + m_knownChanged |= m_knownChangedPosition; + } + } + + private Quaternion VehicleOrientation + { + get + { + if (m_knownOrientation == null) + m_knownOrientation = Prim.ForceOrientation; + return (Quaternion)m_knownOrientation; + } + set + { + m_knownOrientation = value; + m_knownChanged |= m_knownChangedOrientation; + } + } + + private Vector3 VehicleVelocity + { + get + { + if (m_knownVelocity == null) + m_knownVelocity = Prim.ForceVelocity; + return (Vector3)m_knownVelocity; + } + set + { + m_knownVelocity = value; + m_knownChanged |= m_knownChangedVelocity; + } + } + + private Vector3 VehicleRotationalVelocity + { + get + { + if (m_knownRotationalVelocity == null) + m_knownRotationalVelocity = Prim.ForceRotationalVelocity; + return (Vector3)m_knownRotationalVelocity; + } + set + { + m_knownRotationalVelocity = value; + m_knownChanged |= m_knownChangedRotationalVelocity; + } + } + #endregion // Known vehicle value functions + // One step of the vehicle properties for the next 'pTimestep' seconds. internal void Step(float pTimestep) { if (!IsActive) return; + ForgetKnownVehicleProperties(); + MoveLinear(pTimestep); MoveAngular(pTimestep); LimitRotation(pTimestep); // remember the position so next step we can limit absolute movement effects - m_lastPositionVector = Prim.ForcePosition; + m_lastPositionVector = VehiclePosition; + + // If we forced the changing of some vehicle parameters, update the values and + // for the physics engine to note the changes so an UpdateProperties event will happen. + PushKnownChanged(); VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", - Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity); + Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity); } - // Apply the effect of the linear motor. - // Also does hover and float. + // Apply the effect of the linear motor and other linear motions (like hover and float). private void MoveLinear(float pTimestep) { Vector3 linearMotorContribution = m_linearMotor.Step(pTimestep); - // Rotate new object velocity from vehicle relative to world coordinates - linearMotorContribution *= Prim.ForceOrientation; + // The movement computed in the linear motor is relative to the vehicle + // coordinates. Rotate the movement to world coordinates. + linearMotorContribution *= VehicleOrientation; // ================================================================== // Gravity and Buoyancy @@ -630,16 +774,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy); - Vector3 pos = Prim.ForcePosition; - float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); + Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep); - Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep, ref pos, terrainHeight); + Vector3 hoverContribution = ComputeLinearHover(pTimestep); - Vector3 hoverContribution = ComputeLinearHover(pTimestep, ref pos, terrainHeight); + ComputeLinearBlockingEndPoint(pTimestep); - ComputeLinearBlockingEndPoint(pTimestep, ref pos); - - Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep, pos, terrainHeight); + Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep); // ================================================================== Vector3 newVelocity = linearMotorContribution @@ -667,42 +808,39 @@ namespace OpenSim.Region.Physics.BulletSPlugin newVelocity = Vector3.Zero; // ================================================================== - // Stuff new linear velocity into the vehicle - Prim.ForceVelocity = newVelocity; - // Prim.ApplyForceImpulse((m_newVelocity - Prim.Velocity) * m_vehicleMass, false); // DEBUG DEBUG + // Stuff new linear velocity into the vehicle. + // Since the velocity is just being set, it is not scaled by pTimeStep. Bullet will do that for us. + VehicleVelocity = newVelocity; // Other linear forces are applied as forces. - Vector3 totalDownForce = grav * m_vehicleMass; + Vector3 totalDownForce = grav * m_vehicleMass * pTimestep; if (totalDownForce != Vector3.Zero) { Prim.AddForce(totalDownForce, false); } - VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},primVel={4},totalDown={5}", - Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, - newVelocity, Prim.Velocity, totalDownForce); + VDetailLog("{0}, MoveLinear,done,newVel={1},totDown={2},linContrib={3},terrContrib={4},hoverContrib={5},limitContrib={6}", + Prim.LocalID, newVelocity, totalDownForce, + linearMotorContribution, terrainHeightContribution, hoverContribution, limitMotorUpContribution + ); } // end MoveLinear() - public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep, ref Vector3 pos, float terrainHeight) + public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep) { Vector3 ret = Vector3.Zero; // If below the terrain, move us above the ground a little. - // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset. - // TODO: Add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass. - // Vector3 rotatedSize = m_prim.Size * m_prim.ForceOrientation; - // if (rotatedSize.Z < terrainHeight) - if (pos.Z < terrainHeight) + // TODO: Consider taking the rotated size of the object or possibly casting a ray. + if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition)) { // TODO: correct position by applying force rather than forcing position. - pos.Z = terrainHeight + 2; - Prim.ForcePosition = pos; - VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos); + VehiclePosition += new Vector3(0f, 0f, GetTerrainHeight(VehiclePosition) + 2f); + VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition); } return ret; } - public Vector3 ComputeLinearHover(float pTimestep, ref Vector3 pos, float terrainHeight) + public Vector3 ComputeLinearHover(float pTimestep) { Vector3 ret = Vector3.Zero; @@ -713,11 +851,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // We should hover, get the target height if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) { - m_VhoverTargetHeight = Prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight; + m_VhoverTargetHeight = GetWaterLevel(VehiclePosition) + m_VhoverHeight; } if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) { - m_VhoverTargetHeight = terrainHeight + m_VhoverHeight; + m_VhoverTargetHeight = GetTerrainHeight(VehiclePosition) + m_VhoverHeight; } if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) { @@ -727,45 +865,44 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0) { // If body is already heigher, use its height as target height - if (pos.Z > m_VhoverTargetHeight) - m_VhoverTargetHeight = pos.Z; + if (VehiclePosition.Z > m_VhoverTargetHeight) + m_VhoverTargetHeight = VehiclePosition.Z; } + if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) { - if (Math.Abs(pos.Z - m_VhoverTargetHeight) > 0.2f) + if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f) { + Vector3 pos = VehiclePosition; pos.Z = m_VhoverTargetHeight; - Prim.ForcePosition = pos; + VehiclePosition = pos; } } else { - float verticalError = pos.Z - m_VhoverTargetHeight; - // RA: where does the 50 come from? - float verticalCorrectionVelocity = pTimestep * ((verticalError * 50.0f) / m_VhoverTimescale); - // Replace Vertical speed with correction figure if significant - if (verticalError > 0.01f) + // Error is positive if below the target and negative if above. + float verticalError = m_VhoverTargetHeight - VehiclePosition.Z; + float verticalCorrectionVelocity = verticalError / m_VhoverTimescale; + + // TODO: implement m_VhoverEfficiency correctly + if (Math.Abs(verticalError) > m_VhoverEfficiency) { ret = new Vector3(0f, 0f, verticalCorrectionVelocity); - //KF: m_VhoverEfficiency is not yet implemented - } - else if (verticalError < -0.01) - { - ret = new Vector3(0f, 0f, -verticalCorrectionVelocity); } } - VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", - Prim.LocalID, pos, ret, m_VhoverHeight, m_VhoverTargetHeight); + VDetailLog("{0}, MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}", + Prim.LocalID, VehiclePosition, ret, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight); } return ret; } - public bool ComputeLinearBlockingEndPoint(float pTimestep, ref Vector3 pos) + public bool ComputeLinearBlockingEndPoint(float pTimestep) { bool changed = false; + Vector3 pos = VehiclePosition; Vector3 posChange = pos - m_lastPositionVector; if (m_BlockingEndPoint != Vector3.Zero) { @@ -796,32 +933,41 @@ namespace OpenSim.Region.Physics.BulletSPlugin } if (changed) { - Prim.ForcePosition = pos; - VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", + VehiclePosition = pos; + VDetailLog("{0}, MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", Prim.LocalID, m_BlockingEndPoint, posChange, pos); } } return changed; } - public Vector3 ComputeLinearMotorUp(float pTimestep, Vector3 pos, float terrainHeight) + // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : + // Prevent ground vehicles from motoring into the sky.This flag has a subtle effect when + // used with conjunction with banking: the strength of the banking will decay when the + // vehicle no longer experiences collisions. The decay timescale is the same as + // VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering + // when they are in mid jump. + // TODO: this code is wrong. Also, what should it do for boats? + public Vector3 ComputeLinearMotorUp(float pTimestep) { Vector3 ret = Vector3.Zero; if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) { // If the vehicle is motoring into the sky, get it going back down. - float distanceAboveGround = pos.Z - terrainHeight; + // float distanceAboveGround = pos.Z - Math.Max(GetTerrainHeight(pos), GetWaterLevel(pos)); + float distanceAboveGround = VehiclePosition.Z - GetTerrainHeight(VehiclePosition); if (distanceAboveGround > 1f) { // downForce = new Vector3(0, 0, (-distanceAboveGround / m_bankingTimescale) * pTimestep); // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale); ret = new Vector3(0, 0, -distanceAboveGround); } - // TODO: this calculation is all wrong. From the description at + // TODO: this calculation is wrong. From the description at // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce // has a decay factor. This says this force should // be computed with a motor. - VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}", + // TODO: add interaction with banking. + VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},downForce={2}", Prim.LocalID, distanceAboveGround, ret); } return ret; @@ -830,61 +976,63 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ======================================================================= // ======================================================================= // Apply the effect of the angular motor. + // The 'contribution' is how much angular correction velocity each function wants. + // All the contributions are added together and the orientation of the vehicle + // is changed by all the contributed corrections. private void MoveAngular(float pTimestep) { - // m_angularMotorDirection // angular velocity requested by LSL motor - // m_angularMotorVelocity // current angular motor velocity (ramps up and down) - // m_angularMotorTimescale // motor angular velocity ramp up time - // m_angularMotorDecayTimescale // motor angular velocity decay rate - // m_angularFrictionTimescale // body angular velocity decay rate - // m_lastAngularVelocity // what was last applied to body - - /* - if (m_angularMotorDirection.LengthSquared() > 0.0001) - { - Vector3 origVel = m_angularMotorVelocity; - Vector3 origDir = m_angularMotorDirection; - - // new velocity += error / ( time to get there / step interval) - // requested direction - current vehicle direction - m_angularMotorVelocity += (m_angularMotorDirection - m_angularMotorVelocity) / (m_angularMotorTimescale / pTimestep); - // decay requested direction - m_angularMotorDirection *= (1.0f - (pTimestep * 1.0f/m_angularMotorDecayTimescale)); - - VDetailLog("{0},MoveAngular,angularMotorApply,angTScale={1},timeStep={2},origvel={3},origDir={4},vel={5}", - Prim.LocalID, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity); - } - else - { - m_angularMotorVelocity = Vector3.Zero; - } - */ - + // The user wants how many radians per second angular change? Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); // ================================================================== - // NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement + // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : + // This flag prevents linear deflection parallel to world z-axis. This is useful + // for preventing ground vehicles with large linear deflection, like bumper cars, + // from climbing their linear deflection into the sky. + // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) { angularMotorContribution.X = 0f; angularMotorContribution.Y = 0f; - VDetailLog("{0},MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); + VDetailLog("{0}, MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); } - Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction(pTimestep); + Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction(); - Vector3 deflectionContribution = ComputeAngularDeflection(pTimestep); + Vector3 deflectionContribution = ComputeAngularDeflection(); - Vector3 bankingContribution = ComputeAngularBanking(pTimestep); + Vector3 bankingContribution = ComputeAngularBanking(angularMotorContribution.Z); // ================================================================== m_lastVertAttractor = verticalAttractionContribution; - // Sum velocities - m_lastAngularVelocity = angularMotorContribution + // Sum corrections + m_lastAngularCorrection = angularMotorContribution + verticalAttractionContribution - + bankingContribution - + deflectionContribution; + + deflectionContribution + + bankingContribution; + + // ================================================================== + // The correction is applied to the current orientation. + if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f)) + { + Vector3 scaledCorrection = m_lastAngularCorrection * pTimestep; + + VehicleRotationalVelocity = scaledCorrection; + + VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}", + Prim.LocalID, + angularMotorContribution, verticalAttractionContribution, + bankingContribution, deflectionContribution, + m_lastAngularCorrection, scaledCorrection + ); + } + else + { + // The vehicle is not adding anything velocity wise. + VehicleRotationalVelocity = Vector3.Zero; + VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID); + } // ================================================================== //Offset section @@ -914,52 +1062,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin torqueFromOffset.Z = 0; torqueFromOffset *= m_vehicleMass; Prim.ApplyTorqueImpulse(torqueFromOffset, true); - VDetailLog("{0},BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); + VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); } - // ================================================================== - if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) - { - m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. - Prim.ZeroAngularMotion(true); - VDetailLog("{0},MoveAngular,zeroAngularMotion,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); - } - else - { - // Apply to the body. - // The above calculates the absolute angular velocity needed. Angular velocity is massless. - // Since we are stuffing the angular velocity directly into the object, the computed - // velocity needs to be scaled by the timestep. - // Also remove any motion that is on the object so added motion is only from vehicle. - Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) - - Prim.ForceRotationalVelocity); - // Unscale the force by the angular factor so it overwhelmes the Bullet additions. - Prim.ForceRotationalVelocity = applyAngularForce; - - VDetailLog("{0},MoveAngular,done,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}", - Prim.LocalID, - angularMotorContribution, verticalAttractionContribution, - bankingContribution, deflectionContribution, - applyAngularForce, m_lastAngularVelocity - ); - } } - public Vector3 ComputeAngularVerticalAttraction(float pTimestep) + public Vector3 ComputeAngularVerticalAttraction() { Vector3 ret = Vector3.Zero; // If vertical attaction timescale is reasonable and we applied an angular force last time... if (m_verticalAttractionTimescale < 500) { - Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation; - verticalError.Normalize(); - m_verticalAttractionMotor.SetCurrent(verticalError); - m_verticalAttractionMotor.SetTarget(Vector3.UnitZ); - ret = m_verticalAttractionMotor.Step(pTimestep); - /* // Take a vector pointing up and convert it from world to vehicle relative coords. - Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation; + Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; verticalError.Normalize(); // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) @@ -977,63 +1093,70 @@ namespace OpenSim.Region.Physics.BulletSPlugin } // Y error means needed rotation around X axis and visa versa. - verticalAttractionContribution.X = verticalError.Y; - verticalAttractionContribution.Y = - verticalError.X; - verticalAttractionContribution.Z = 0f; + ret.X = verticalError.Y; + ret.Y = - verticalError.X; + ret.Z = 0f; // scale by the time scale and timestep - Vector3 unscaledContrib = verticalAttractionContribution; - verticalAttractionContribution /= m_verticalAttractionTimescale; - verticalAttractionContribution *= pTimestep; + Vector3 unscaledContrib = ret; + ret /= m_verticalAttractionTimescale; + // This returns the angular correction desired. Timestep is added later. + // ret *= pTimestep; // apply efficiency - Vector3 preEfficiencyContrib = verticalAttractionContribution; + Vector3 preEfficiencyContrib = ret; + // TODO: implement efficiency. + // Effenciency squared seems to give a more realistic effect float efficencySquared = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency; - verticalAttractionContribution *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); + // ret *= efficencySquared; - VDetailLog("{0},MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}", + VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}", Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib, m_verticalAttractionEfficiency, efficencySquared, - verticalAttractionContribution); - */ - + ret); } return ret; } - public Vector3 ComputeAngularDeflection(float pTimestep) + // Return the angular correction to correct the direction the vehicle is pointing to be + // the direction is should want to be pointing. + public Vector3 ComputeAngularDeflection() { Vector3 ret = Vector3.Zero; if (m_angularDeflectionEfficiency != 0) { - // Compute a scaled vector that points in the preferred axis (X direction) - Vector3 scaledDefaultDirection = - new Vector3((pTimestep * 10 * (m_angularDeflectionEfficiency / m_angularDeflectionTimescale)), 0, 0); - // Adding the current vehicle orientation and reference frame displaces the orientation to the frame. - // Rotate the scaled default axix relative to the actual vehicle direction giving where it should point. - Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(Prim.ForceOrientation, m_referenceFrame); + // Where the vehicle should want to point relative to the vehicle + Vector3 preferredDirection = Vector3.UnitX * m_referenceFrame; - // Scale by efficiency and timescale - ret = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep; + // Where the vehicle is pointing relative to the vehicle. + Vector3 currentDirection = Vector3.UnitX * Quaternion.Add(VehicleOrientation, m_referenceFrame); - VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}", Prim.LocalID, preferredAxisOfMotion, ret); + // Difference between where vehicle is pointing and where it should wish to point + Vector3 directionCorrection = preferredDirection - currentDirection; - // This deflection computation is not correct. - ret = Vector3.Zero; + // Scale the correction by recovery timescale and efficiency + ret = directionCorrection * m_angularDeflectionEfficiency / m_angularDeflectionTimescale; + + VDetailLog("{0}, MoveAngular,Deflection,perfDir={1},currentDir={2},dirCorrection={3},ret={4}", + Prim.LocalID, preferredDirection, currentDirection, directionCorrection, ret); } return ret; } - public Vector3 ComputeAngularBanking(float pTimestep) + // Return an angular change to tip the vehicle (around X axis) when turning (turned around Z). + // Remembers the last banking value calculated and returns the difference needed this tick. + // TurningFactor is rate going left or right (pos=left, neg=right, scale=0..1). + public Vector3 ComputeAngularBanking(float turningFactor) { Vector3 ret = Vector3.Zero; + Vector3 computedBanking = Vector3.Zero; if (m_bankingEfficiency != 0) { - Vector3 dir = Vector3.One * Prim.ForceOrientation; + Vector3 currentDirection = Vector3.UnitX * VehicleOrientation; + float mult = (m_bankingMix * m_bankingMix) * -1 * (m_bankingMix < 0 ? -1 : 1); - //Changes which way it banks in and out of turns //Use the square of the efficiency, as it looks much more how SL banking works float effSquared = (m_bankingEfficiency * m_bankingEfficiency); @@ -1041,58 +1164,34 @@ namespace OpenSim.Region.Physics.BulletSPlugin effSquared *= -1; //Keep the negative! float mix = Math.Abs(m_bankingMix); - if (m_angularMotorVelocity.X == 0) + // TODO: Must include reference frame. + float forwardSpeed = VehicleVelocity.X; + + if (!Prim.IsColliding && forwardSpeed > mix) { - // The vehicle is stopped - /*if (!parent.Orientation.ApproxEquals(this.m_referenceFrame, 0.25f)) - { - Vector3 axisAngle; - float angle; - parent.Orientation.GetAxisAngle(out axisAngle, out angle); - Vector3 rotatedVel = parent.Velocity * parent.Orientation; - if ((rotatedVel.X < 0 && axisAngle.Y > 0) || (rotatedVel.X > 0 && axisAngle.Y < 0)) - m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (1f) * 10; - else - m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (-1f) * 10; - }*/ - } - else - { - ret.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4; + computedBanking.X = ClampInRange(-3f, turningFactor * (effSquared * mult), 3f); } - //If they are colliding, we probably shouldn't shove the prim around... probably - if (!Prim.IsColliding && Math.Abs(m_angularMotorVelocity.X) > mix) - { - float angVelZ = m_angularMotorVelocity.X * -1; - /*if(angVelZ > mix) - angVelZ = mix; - else if(angVelZ < -mix) - angVelZ = -mix;*/ - //This controls how fast and how far the banking occurs - Vector3 bankingRot = new Vector3(angVelZ * (effSquared * mult), 0, 0); - if (bankingRot.X > 3) - bankingRot.X = 3; - else if (bankingRot.X < -3) - bankingRot.X = -3; - bankingRot *= Prim.ForceOrientation; - ret += bankingRot; - } - m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency; - VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}", - Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, ret); + // 'computedBanking' is now how much banking that should be happening. + ret = computedBanking - m_lastBanking; + + // Scale the correction by timescale and efficiency + ret /= m_bankingTimescale * m_bankingEfficiency; + + VDetailLog("{0}, MoveAngular,Banking,computedB={1},lastB={2},bEff={3},effSq={4},mult={5},mix={6},banking={7}", + Prim.LocalID, computedBanking, m_lastBanking, m_bankingEfficiency, effSquared, mult, mix, ret); } + m_lastBanking = computedBanking; return ret; } - // This is from previous instantiations of XXXDynamics.cs. // Applies roll reference frame. // TODO: is this the right way to separate the code to do this operation? // Should this be in MoveAngular()? internal void LimitRotation(float timestep) { - Quaternion rotq = Prim.ForceOrientation; + Quaternion rotq = VehicleOrientation; Quaternion m_rot = rotq; if (m_RollreferenceFrame != Quaternion.Identity) { @@ -1120,12 +1219,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin } if (rotq != m_rot) { - Prim.ForceOrientation = m_rot; - VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); + VehicleOrientation = m_rot; + VDetailLog("{0}, LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); } } + private float ClampInRange(float low, float val, float high) + { + return Math.Max(low, Math.Min(val, high)); + } + // Invoke the detailed logger and output something if it's enabled. private void VDetailLog(string msg, params Object[] args) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index e91bfa8496..851d5081ef 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -1,3 +1,30 @@ +/* + * 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 + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT + * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS + * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. + * + */ using System; using System.Collections.Generic; using System.Text; @@ -8,7 +35,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin public abstract class BSMotor { // Timescales and other things can be turned off by setting them to 'infinite'. - public const float Infinite = 10000f; + public const float Infinite = 12345f; public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite); public BSMotor(string useName) @@ -19,7 +46,9 @@ public abstract class BSMotor public virtual void Reset() { } public virtual void Zero() { } + // A name passed at motor creation for easily identifyable debugging messages. public string UseName { get; private set; } + // Used only for outputting debug information. Might not be set so check for null. public BSScene PhysicsScene { get; set; } protected void MDetailLog(string msg, params Object[] parms) @@ -34,10 +63,23 @@ public abstract class BSMotor } } // Can all the incremental stepping be replaced with motor classes? + +// Motor which moves CurrentValue to TargetValue over TimeScale seconds. +// The TargetValue is decays in TargetValueDecayTimeScale and +// the CurrentValue will be held back by FrictionTimeScale. +// TimeScale and TargetDelayTimeScale may be 'infinite' which means go decay. + +// For instance, if something is moving at speed X and the desired speed is Y, +// CurrentValue is X and TargetValue is Y. As the motor is stepped, new +// values of CurrentValue are returned that approach the TargetValue. +// The feature of decaying TargetValue is so vehicles will eventually +// come to a stop rather than run forever. This can be disabled by +// setting TargetValueDecayTimescale to 'infinite'. +// The change from CurrentValue to TargetValue is linear over TimeScale seconds. public class BSVMotor : BSMotor { - public Vector3 FrameOfReference { get; set; } - public Vector3 Offset { get; set; } + // public Vector3 FrameOfReference { get; set; } + // public Vector3 Offset { get; set; } public float TimeScale { get; set; } public float TargetValueDecayTimeScale { get; set; } @@ -72,6 +114,14 @@ public class BSVMotor : BSMotor { TargetValue = target; } + + // A form of stepping that does not take the time quantum into account. + // The caller must do the right thing later. + public Vector3 Step() + { + return Step(1f); + } + public Vector3 Step(float timeStep) { Vector3 returnCurrent = Vector3.Zero; @@ -99,18 +149,19 @@ public class BSVMotor : BSMotor if (FrictionTimescale != BSMotor.InfiniteVector) { // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep; + // Individual friction components can be 'infinite' so compute each separately. frictionFactor.X = FrictionTimescale.X == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.X) * timeStep; frictionFactor.Y = FrictionTimescale.Y == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Y) * timeStep; frictionFactor.Z = FrictionTimescale.Z == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Z) * timeStep; CurrentValue *= (Vector3.One - frictionFactor); } - MDetailLog("{0},BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}", + MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}", BSScene.DetailLogZero, UseName, origCurrVal, origTarget, timeStep, TimeScale, addAmount, TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor); - MDetailLog("{0},BSVMotor.Step,nonZero,{1},curr={2},target={3},add={4},decay={5},frict={6},ret={7}", + MDetailLog("{0}, BSVMotor.Step,nonZero,{1},curr={2},target={3},add={4},decay={5},frict={6},ret={7}", BSScene.DetailLogZero, UseName, CurrentValue, TargetValue, addAmount, decayFactor, frictionFactor, returnCurrent); } @@ -120,7 +171,7 @@ public class BSVMotor : BSMotor CurrentValue = Vector3.Zero; TargetValue = Vector3.Zero; - MDetailLog("{0},BSVMotor.Step,zero,{1},curr={2},target={3},ret={4}", + MDetailLog("{0}, BSVMotor.Step,zero,{1},curr={2},target={3},ret={4}", BSScene.DetailLogZero, UseName, TargetValue, CurrentValue, returnCurrent); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index c62c79a11f..ea1f71a839 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -253,8 +253,9 @@ public sealed class BSPrim : BSPhysObject // Zero some other properties in the physics engine PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() { - BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); + // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity); + BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); }); } @@ -329,7 +330,7 @@ public sealed class BSPrim : BSPhysObject if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { - float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); + float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position); // TODO: a floating motor so object will bob in the water if (Math.Abs(Position.Z - waterHeight) > 0.1f) { @@ -347,7 +348,9 @@ public sealed class BSPrim : BSPhysObject if (ret) { // Apply upforce and overcome gravity. - AddForce(upForce - PhysicsScene.DefaultGravity, false, inTaintTime); + OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity; + DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce); + AddForce(correctionForce, false, inTaintTime); } return ret; } @@ -643,9 +646,13 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); // Collision filter can be set only when the object is in the world - if (PhysBody.collisionFilter != 0 || PhysBody.collisionMask != 0) + if (PhysBody.collisionGroup != 0 || PhysBody.collisionMask != 0) { - BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, (uint)PhysBody.collisionFilter, (uint)PhysBody.collisionMask); + if (!BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr, (uint)PhysBody.collisionGroup, (uint)PhysBody.collisionMask)) + { + PhysicsScene.Logger.ErrorFormat("{0} Failure setting prim collision mask. localID={1}, grp={2:X}, mask={3:X}", + LogHeader, LocalID, PhysBody.collisionGroup, PhysBody.collisionMask); + } } // Recompute any linkset parameters. @@ -684,11 +691,11 @@ public sealed class BSPrim : BSPhysObject // There can be special things needed for implementing linksets Linkset.MakeStatic(this); // The activation state is 'disabled' so Bullet will not try to act on it. - BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION); + // BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION); // Start it out sleeping and physical actions could wake it up. - // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING); + BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING); - PhysBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter; + PhysBody.collisionGroup = CollisionFilterGroups.StaticObjectGroup; PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask; } else @@ -734,7 +741,7 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG); // BulletSimAPI.Activate2(BSBody.ptr, true); - PhysBody.collisionFilter = CollisionFilterGroups.ObjectFilter; + PhysBody.collisionGroup = CollisionFilterGroups.ObjectGroup; PhysBody.collisionMask = CollisionFilterGroups.ObjectMask; } } @@ -762,7 +769,7 @@ public sealed class BSPrim : BSPhysObject m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType); } CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - PhysBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter; + PhysBody.collisionGroup = CollisionFilterGroups.VolumeDetectGroup; PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask; } } @@ -838,15 +845,6 @@ public sealed class BSPrim : BSPhysObject } public override OMV.Vector3 RotationalVelocity { get { - /* - OMV.Vector3 pv = OMV.Vector3.Zero; - // if close to zero, report zero - // This is copied from ODE but I'm not sure why it returns zero but doesn't - // zero the property in the physics engine. - if (_rotationalVelocity.ApproxEquals(pv, 0.2f)) - return pv; - */ - return _rotationalVelocity; } set { @@ -1408,7 +1406,7 @@ public sealed class BSPrim : BSPhysObject LastEntityProperties = CurrentEntityProperties; CurrentEntityProperties = entprop; - OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; + OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 09b1423586..f72bd74476 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -96,6 +96,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public long SimulationStep { get { return m_simulationStep; } } private int m_taintsToProcessPerStep; + public delegate void PreStepAction(float timeStep); + public event PreStepAction BeforeStep; + // A value of the time now so all the collision and update routines do not have to get their own // Set to 'now' just before all the prims and actors are called for collisions and updates public int SimulationNowTime { get; private set; } @@ -127,7 +130,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public const uint GROUNDPLANE_ID = 1; public const uint CHILDTERRAIN_ID = 2; // Terrain allocated based on our mega-prim childre start here - private float m_waterLevel; + public float SimpleWaterLevel { get; set; } public BSTerrainManager TerrainManager { get; private set; } public ConfigurationParameters Params @@ -182,6 +185,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters private string m_physicsLoggingDir; private string m_physicsLoggingPrefix; private int m_physicsLoggingFileMinutes; + private bool m_physicsLoggingDoFlush; // 'true' of the vehicle code is to log lots of details public bool VehicleLoggingEnabled { get; private set; } @@ -290,6 +294,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", "."); m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-"); m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); + m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false); // Very detailed logging for vehicle debugging VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); @@ -485,8 +490,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters ProcessTaints(); // Some of the prims operate with special vehicle properties - ProcessVehicles(timeStep); - ProcessTaints(); // the vehicles might have added taints + DoPreStepActions(timeStep); + + // the prestep actions might have added taints + ProcessTaints(); // step the physical world one interval m_simulationStep++; @@ -634,12 +641,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public override void SetWaterLevel(float baseheight) { - m_waterLevel = baseheight; - } - // Someday.... - public float GetWaterLevelAtXYZ(Vector3 loc) - { - return m_waterLevel; + SimpleWaterLevel = baseheight; } public override void DeleteTerrain() @@ -910,6 +912,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters } } + private void DoPreStepActions(float timeStep) + { + ProcessVehicles(timeStep); + + PreStepAction actions = BeforeStep; + if (actions != null) + actions(timeStep); + + } + // Some prims have extra vehicle actions // Called at taint time! private void ProcessVehicles(float timeStep) @@ -974,6 +986,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // Should handle fetching the right type from the ini file and converting it. // -- a delegate for getting the value as a float // -- a delegate for setting the value from a float + // -- an optional delegate to update the value in the world. Most often used to + // push the new value to an in-world object. // // The single letter parameters for the delegates are: // s = BSScene @@ -1493,7 +1507,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { PhysicsLogging.Write(msg, args); // Add the Flush() if debugging crashes. Gets all the messages written out. - // PhysicsLogging.Flush(); + if (m_physicsLoggingDoFlush) PhysicsLogging.Flush(); } // Used to fill in the LocalID when there isn't one. It's the correct number of characters. public const string DetailLogZero = "0000000000"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 892c34bbb0..b94dcf6af7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -620,8 +620,7 @@ public sealed class BSShapeCollection : IDisposable } else { - // Pass false for physicalness as this creates some sort of bounding box which we don't need - meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false); + meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false); if (meshData != null) { @@ -694,8 +693,8 @@ public sealed class BSShapeCollection : IDisposable else { // Build a new hull in the physical world - // Pass false for physicalness as this creates some sort of bounding box which we don't need - IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false); + // Pass true for physicalness as this creates some sort of bounding box which we don't need + IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false); if (meshData != null) { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 1450f66491..83b9c37104 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -121,8 +121,8 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys // redo its bounding box now that it is in the world BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); - BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr, - (uint)CollisionFilterGroups.TerrainFilter, + BulletSimAPI.SetCollisionGroupMask2(m_mapInfo.terrainBody.ptr, + (uint)CollisionFilterGroups.TerrainGroup, (uint)CollisionFilterGroups.TerrainMask); // Make it so the terrain will not move or be considered for movement. @@ -148,7 +148,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys } // The passed position is relative to the base of the region. - public override float GetHeightAtXYZ(Vector3 pos) + public override float GetTerrainHeightAtXYZ(Vector3 pos) { float ret = BSTerrainManager.HEIGHT_GETHEIGHT_RET; @@ -166,5 +166,11 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys } return ret; } + + // The passed position is relative to the base of the region. + public override float GetWaterLevelAtXYZ(Vector3 pos) + { + return PhysicsScene.SimpleWaterLevel; + } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index cd623f1398..83df360434 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -62,7 +62,8 @@ public abstract class BSTerrainPhys : IDisposable ID = id; } public abstract void Dispose(); - public abstract float GetHeightAtXYZ(Vector3 pos); + public abstract float GetTerrainHeightAtXYZ(Vector3 pos); + public abstract float GetWaterLevelAtXYZ(Vector3 pos); } // ========================================================================================== @@ -75,6 +76,7 @@ public sealed class BSTerrainManager public const float HEIGHT_INITIALIZATION = 24.987f; public const float HEIGHT_INITIAL_LASTHEIGHT = 24.876f; public const float HEIGHT_GETHEIGHT_RET = 24.765f; + public const float WATER_HEIGHT_GETHEIGHT_RET = 19.998f; // If the min and max height are equal, we reduce the min by this // amount to make sure that a bounding box is built for the terrain. @@ -138,8 +140,8 @@ public sealed class BSTerrainManager // Ground plane does not move BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); // Everything collides with the ground plane. - BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr, - (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask); + BulletSimAPI.SetCollisionGroupMask2(m_groundPlane.ptr, + (uint)CollisionFilterGroups.GroundPlaneGroup, (uint)CollisionFilterGroups.GroundPlaneMask); // Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain. BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize); @@ -358,7 +360,7 @@ public sealed class BSTerrainManager BSTerrainPhys physTerrain; if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain)) { - ret = physTerrain.GetHeightAtXYZ(loc - terrainBaseXYZ); + ret = physTerrain.GetTerrainHeightAtXYZ(loc - terrainBaseXYZ); } else { @@ -370,6 +372,33 @@ public sealed class BSTerrainManager return ret; } + public float GetWaterLevelAtXYZ(Vector3 pos) + { + float ret = WATER_HEIGHT_GETHEIGHT_RET; + + float tX = pos.X; + float tY = pos.Y; + + Vector3 terrainBaseXYZ = Vector3.Zero; + terrainBaseXYZ.X = ((int)(tX / (int)DefaultRegionSize.X)) * (int)DefaultRegionSize.X; + terrainBaseXYZ.Y = ((int)(tY / (int)DefaultRegionSize.Y)) * (int)DefaultRegionSize.Y; + + lock (m_terrains) + { + BSTerrainPhys physTerrain; + if (m_terrains.TryGetValue(terrainBaseXYZ, out physTerrain)) + { + ret = physTerrain.GetWaterLevelAtXYZ(pos); + } + else + { + PhysicsScene.Logger.ErrorFormat("{0} GetWaterHeightAtXY: terrain not found: region={1}, x={2}, y={3}", + LogHeader, PhysicsScene.RegionName, tX, tY); + } + } + return ret; + } + // Although no one seems to check this, I do support combining. public bool SupportsCombining() { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 5f6675d526..6ce767ddad 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -130,8 +130,8 @@ public sealed class BSTerrainMesh : BSTerrainPhys // Redo its bounding box now that it is in the world BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr); - BulletSimAPI.SetCollisionFilterMask2(m_terrainBody.ptr, - (uint)CollisionFilterGroups.TerrainFilter, + BulletSimAPI.SetCollisionGroupMask2(m_terrainBody.ptr, + (uint)CollisionFilterGroups.TerrainGroup, (uint)CollisionFilterGroups.TerrainMask); // Make it so the terrain will not move or be considered for movement. @@ -148,7 +148,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys } } - public override float GetHeightAtXYZ(Vector3 pos) + public override float GetTerrainHeightAtXYZ(Vector3 pos) { // For the moment use the saved heightmap to get the terrain height. // TODO: raycast downward to find the true terrain below the position. @@ -169,6 +169,12 @@ public sealed class BSTerrainMesh : BSTerrainPhys return ret; } + // The passed position is relative to the base of the region. + public override float GetWaterLevelAtXYZ(Vector3 pos) + { + return PhysicsScene.SimpleWaterLevel; + } + // Convert the passed heightmap to mesh information suitable for CreateMeshShape2(). // Return 'true' if successfully created. public static bool ConvertHeightmapToMesh( diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 1e003e6e8c..a5acfd1aeb 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -57,12 +57,12 @@ public struct BulletBody { ID = id; ptr = xx; - collisionFilter = 0; + collisionGroup = 0; collisionMask = 0; } public IntPtr ptr; public uint ID; - public CollisionFilterGroups collisionFilter; + public CollisionFilterGroups collisionGroup; public CollisionFilterGroups collisionMask; public override string ToString() { @@ -71,10 +71,10 @@ public struct BulletBody buff.Append(ID.ToString()); buff.Append(",p="); buff.Append(ptr.ToString("X")); - if (collisionFilter != 0 || collisionMask != 0) + if (collisionGroup != 0 || collisionMask != 0) { - buff.Append(",f="); - buff.Append(collisionFilter.ToString("X")); + buff.Append(",g="); + buff.Append(collisionGroup.ToString("X")); buff.Append(",m="); buff.Append(collisionMask.ToString("X")); } @@ -376,36 +376,36 @@ public enum CollisionFilterGroups : uint // Don't use the bit definitions!! Define the use in a // filter/mask definition below. This way collision interactions // are more easily debugged. - BNoneFilter = 0, - BDefaultFilter = 1 << 0, - BStaticFilter = 1 << 1, - BKinematicFilter = 1 << 2, - BDebrisFilter = 1 << 3, - BSensorTrigger = 1 << 4, - BCharacterFilter = 1 << 5, - BAllFilter = 0xFFFFFFFF, + BNoneGroup = 0, + BDefaultGroup = 1 << 0, + BStaticGroup = 1 << 1, + BKinematicGroup = 1 << 2, + BDebrisGroup = 1 << 3, + BSensorTrigger = 1 << 4, + BCharacterGroup = 1 << 5, + BAllGroup = 0xFFFFFFFF, // Filter groups defined by BulletSim - BGroundPlaneFilter = 1 << 10, - BTerrainFilter = 1 << 11, - BRaycastFilter = 1 << 12, - BSolidFilter = 1 << 13, - BLinksetFilter = 1 << 14, + BGroundPlaneGroup = 1 << 10, + BTerrainGroup = 1 << 11, + BRaycastGroup = 1 << 12, + BSolidGroup = 1 << 13, + BLinksetGroup = 1 << 14, // The collsion filters and masked are defined in one place -- don't want them scattered - AvatarFilter = BCharacterFilter, - AvatarMask = BAllFilter, - ObjectFilter = BSolidFilter, - ObjectMask = BAllFilter, - StaticObjectFilter = BStaticFilter, - StaticObjectMask = BAllFilter & ~BStaticFilter, // static objects don't collide with each other - LinksetFilter = BLinksetFilter, - LinksetMask = BAllFilter & ~BLinksetFilter, // linkset objects don't collide with each other - VolumeDetectFilter = BSensorTrigger, + AvatarGroup = BCharacterGroup, + AvatarMask = BAllGroup, + ObjectGroup = BSolidGroup, + ObjectMask = BAllGroup, + StaticObjectGroup = BStaticGroup, + StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much + LinksetGroup = BLinksetGroup, + LinksetMask = BAllGroup & ~BLinksetGroup, // linkset objects don't collide with each other + VolumeDetectGroup = BSensorTrigger, VolumeDetectMask = ~BSensorTrigger, - TerrainFilter = BTerrainFilter, - TerrainMask = BAllFilter & ~BStaticFilter, // static objects on the ground don't collide - GroundPlaneFilter = BGroundPlaneFilter, - GroundPlaneMask = BAllFilter + TerrainGroup = BTerrainGroup, + TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide + GroundPlaneGroup = BGroundPlaneGroup, + GroundPlaneMask = BAllGroup }; @@ -945,7 +945,7 @@ public static extern IntPtr GetConstraintRef2(IntPtr obj, int index); public static extern int GetNumConstraintRefs2(IntPtr obj); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask); +public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask); // ===================================================================================== // btCollisionShape entries @@ -1006,14 +1006,17 @@ public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape); +[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] +public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo); + [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpAllInfo2(IntPtr sim); +public static extern void DumpActivationInfo2(IntPtr sim); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo); +public static extern void DumpAllInfo2(IntPtr sim); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern void DumpPhysicsStatistics2(IntPtr sim); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt new file mode 100755 index 0000000000..68f25fcb85 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -0,0 +1,117 @@ +CRASHES +================================================= +20121129.1411: editting/moving phys object across region boundries causes crash + getPos-> btRigidBody::upcast -> getBodyType -> BOOM +20121128.1600: mesh object not rezzing (no physics mesh). + Causes many errors. Doesn't stop after first error with box shape. + Eventually crashes when deleting the object. + +BULLETSIM TODO LIST: +================================================= +Neb car jiggling left and right +Vehicles (Move smoothly) +Light cycle falling over when driving +Light cycle not banking +Do single prim vehicles don't seem to properly vehiclize. +Gun sending shooter flying +Collision margin (gap between physical objects lying on each other) +Boundry checking (crashes related to crossing boundry) + Add check for border edge position for avatars and objects. + Verify the events are created for border crossings. +Avatar rotation (check out changes to ScenePresence for physical rotation) +Avatar running (what does phys engine need to do?) +Small physical objects do not interact correctly + Create chain of .5x.5x.1 torui and make all but top physical so to hang. + The chain will fall apart and pairs will dance around on ground + Chains of 1x1x.2 will stay connected but will dance. + Chains above 2x2x.4 are move stable and get stablier as torui get larger. +Add material type linkage and input all the material property definitions. + Skeleton classes and table are in the sources but are not filled or used. +Add PID motor for avatar movement (slow to stop, ...) +Implement function efficiency for lineaar and angular motion. + +After getting off a vehicle, the root prim is phantom (can be walked through) + Need to force a position update for the root prim after compound shape destruction +Find/remove avatar collision with ID=0. +Test avatar walking up stairs. How does compare with SL. + Radius of the capsule affects ability to climb edges. +Tune terrain/object friction to be closer to SL. +Debounce avatar contact so legs don't keep folding up when standing. +Implement LSL physics controls. Like STATUS_ROTATE_X. +Add border extensions to terrain to help region crossings and objects leaving region. +Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint) + +Speed up creation of large physical linksets + For instance, sitting in Neb's car (130 prims) takes several seconds to become physical +Performance test with lots of avatars. Can BulletSim support a thousand? +Optimize collisions in C++: only send up to the object subscribed to collisions. + Use collision subscription and remove the collsion(A,B) and collision(B,A) +Check wheter SimMotionState needs large if statement (see TODO). + +Implement 'top colliders' info. +Avatar jump +Implement meshes or just verify that they work. +Do prim hash codes work for sculpties and meshes? +Performance measurement and changes to make quicker. +Implement detailed physics stats (GetStats()). + +Eliminate collisions between objects in a linkset. (LinksetConstraint) + Have UserPointer point to struct with localID and linksetID? + Objects in original linkset still collide with each other? + +Measure performance improvement from hulls +Test not using ghost objects for volume detect implementation. +Performance of closures and delegates for taint processing + Are there faster ways? + Is any slowdown introduced by the existing implementation significant? +Is there are more efficient method of implementing pre and post step actions? + See http://www.codeproject.com/Articles/29922/Weak-Events-in-C + +Package Bullet source mods for Bullet internal stats output + +Physics Arena central pyramid: why is one side permiable? + +INTERNAL IMPROVEMENT/CLEANUP +================================================= +Remove unused fields from ShapeData (not used in API2) +Breakout code for mesh/hull/compound/native into separate BSShape* classes + Standardize access to building and reference code. + The skeleton classes are in the sources but are not complete or linked in. +Generalize Dynamics and PID with standardized motors. +Generalize Linkset and vehicles into PropertyManagers + Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies + Possibly generalized a 'pre step action' registration. +Complete implemention of preStepActions + Replace vehicle step call with prestep event. + Is there a need for postStepActions? postStepTaints? +Implement linkset by setting position of children when root updated. (LinksetManual) +LinkablePrim class? Would that simplify/centralize the linkset logic? +Linkset implementation using manual prim movement. +Linkset implementation using compound shapes. + Compound shapes will need the LocalID in the shapes and collision + processing to get it from there. +BSScene.UpdateParameterSet() is broken. How to set params on objects? +Remove HeightmapInfo from terrain specification. + Since C++ code does not need terrain height, this structure et al are not needed. +Add floating motor for BS_FLOATS_ON_WATER so prim and avatar will + bob at the water level. BSPrim.PositionSanityCheck(). + +DONE DONE DONE DONE +================================================= +Cleanup code in BSDynamics by using motors. +Consider implementing terrain with a mesh rather than heightmap. + Would have better and adjustable resolution. +NOTDONE: Build terrain mesh so heighmap is height of the center of the square meter. + SL and ODE define meter square as being at one corner with one diagional. +Terrain as mesh. +How are static linksets seen by the physics engine? + A: they are not linked in physics. When moved, all the children are repositioned. +Remember to remove BSScene.DetailLog Refresh call. +Convert BSCharacter to use all API2 +Avatar pushing difficult (too heavy?) +Use asset service passed to BulletSim to get sculptie bodies, etc. +Vehicles (fix bouncing on terrain) +Remove old code in DLL (all non-API2 stuff). +Measurements of mega-physical prim performance (with graph) +Debug Bullet internal stats output (why is timing all wrong?) + Bullet stats logging only works with a single instance of Bullet (one region). \ No newline at end of file diff --git a/OpenSim/Region/Physics/Manager/IMesher.cs b/OpenSim/Region/Physics/Manager/IMesher.cs index 3a9ca1bd34..10c4bd3ae6 100644 --- a/OpenSim/Region/Physics/Manager/IMesher.cs +++ b/OpenSim/Region/Physics/Manager/IMesher.cs @@ -36,6 +36,7 @@ namespace OpenSim.Region.Physics.Manager { IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod); IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical); + IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache); } // Values for level of detail to be passed to the mesher. diff --git a/OpenSim/Region/Physics/Manager/ZeroMesher.cs b/OpenSim/Region/Physics/Manager/ZeroMesher.cs index ba19db6c18..270d2eca0c 100644 --- a/OpenSim/Region/Physics/Manager/ZeroMesher.cs +++ b/OpenSim/Region/Physics/Manager/ZeroMesher.cs @@ -64,10 +64,15 @@ namespace OpenSim.Region.Physics.Manager { public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod) { - return CreateMesh(primName, primShape, size, lod, false); + return CreateMesh(primName, primShape, size, lod, false, false); } public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical) + { + return CreateMesh(primName, primShape, size, lod, false, false); + } + + public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache) { // Remove the reference to the encoded JPEG2000 data so it can be GCed primShape.SculptData = OpenMetaverse.Utils.EmptyBytes; diff --git a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs index 6fa91ab89b..8145d61c6f 100644 --- a/OpenSim/Region/Physics/Meshing/Meshmerizer.cs +++ b/OpenSim/Region/Physics/Meshing/Meshmerizer.cs @@ -702,11 +702,16 @@ namespace OpenSim.Region.Physics.Meshing public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod) { - return CreateMesh(primName, primShape, size, lod, false); + return CreateMesh(primName, primShape, size, lod, false, true); } public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical) { + return CreateMesh(primName, primShape, size, lod, isPhysical, true); + } + + public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache) + { #if SPAM m_log.DebugFormat("[MESH]: Creating mesh for {0}", primName); #endif @@ -716,9 +721,12 @@ namespace OpenSim.Region.Physics.Meshing // If this mesh has been created already, return it instead of creating another copy // For large regions with 100k+ prims and hundreds of copies of each, this can save a GB or more of memory - key = primShape.GetMeshKey(size, lod); - if (m_uniqueMeshes.TryGetValue(key, out mesh)) - return mesh; + if (shouldCache) + { + key = primShape.GetMeshKey(size, lod); + if (m_uniqueMeshes.TryGetValue(key, out mesh)) + return mesh; + } if (size.X < 0.01f) size.X = 0.01f; if (size.Y < 0.01f) size.Y = 0.01f; @@ -741,7 +749,10 @@ namespace OpenSim.Region.Physics.Meshing // trim the vertex and triangle lists to free up memory mesh.TrimExcess(); - m_uniqueMeshes.Add(key, mesh); + if (shouldCache) + { + m_uniqueMeshes.Add(key, mesh); + } } return mesh; diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs index acf4d8c1d2..4108588163 100644 --- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs +++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs @@ -6856,6 +6856,13 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api public void llCloseRemoteDataChannel(string channel) { m_host.AddScriptLPS(1); + + IXmlRpcRouter xmlRpcRouter = m_ScriptEngine.World.RequestModuleInterface(); + if (xmlRpcRouter != null) + { + xmlRpcRouter.UnRegisterReceiver(channel, m_item.ItemID); + } + IXMLRPC xmlrpcMod = m_ScriptEngine.World.RequestModuleInterface(); xmlrpcMod.CloseXMLRPCChannel((UUID)channel); ScriptSleep(1000); diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll index 38b11cd9f1..75d5bc342f 100755 Binary files a/bin/lib32/BulletSim.dll and b/bin/lib32/BulletSim.dll differ diff --git a/bin/lib32/libBulletSim.so b/bin/lib32/libBulletSim.so index f59ec978fc..b648da1028 100755 Binary files a/bin/lib32/libBulletSim.so and b/bin/lib32/libBulletSim.so differ diff --git a/bin/lib64/BulletSim.dll b/bin/lib64/BulletSim.dll index 1861d6d21b..fc0fdca73d 100755 Binary files a/bin/lib64/BulletSim.dll and b/bin/lib64/BulletSim.dll differ diff --git a/bin/lib64/libBulletSim.so b/bin/lib64/libBulletSim.so index e9b8845729..a1b099c529 100755 Binary files a/bin/lib64/libBulletSim.so and b/bin/lib64/libBulletSim.so differ