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BulletSim: cosmetic changes (comments and renaming). Give mass to terrain to improve interactions.

connector_plugin
Robert Adams 2012-10-10 08:02:37 -07:00
parent 68698975f1
commit a791620622
7 changed files with 74 additions and 52 deletions
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4
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -263,7 +263,7 @@ public class BSCharacter : BSPhysObject
// A version of the sanity check that also makes sure a new position value is
// pushed back to the physics engine. This routine would be used by anyone
// who is not already pushing the value.
private bool PositionSanityCheck2(bool atTaintTime)
private bool PositionSanityCheck2(bool inTaintTime)
{
bool ret = false;
if (PositionSanityCheck())
@ -275,7 +275,7 @@ public class BSCharacter : BSPhysObject
DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
};
if (atTaintTime)
if (inTaintTime)
sanityOperation();
else
PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", sanityOperation);

55
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
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@ -160,6 +160,31 @@ public class BSLinkset
return ret;
}
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
// May be called at runtime or taint-time (just pass the appropriate flag).
public void Refresh(BSPhysObject requestor, bool inTaintTime)
{
// If there are no children, there can't be any constraints to recompute
if (!HasAnyChildren)
return;
// Only the root does the recomputation
if (IsRoot(requestor))
{
BSScene.TaintCallback refreshOperation = delegate()
{
RecomputeLinksetConstraintVariables();
DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}",
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
};
if (inTaintTime)
refreshOperation();
else
PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation);
}
}
// The object is going dynamic (physical). Do any setup necessary
// for a dynamic linkset.
// Only the state of the passed object can be modified. The rest of the linkset
@ -182,24 +207,19 @@ public class BSLinkset
return false;
}
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
// Called at runtime.
public void Refresh(BSPhysObject requestor)
// If the software is handling the movement of all the objects in a linkset
// (like if one doesn't use constraints for static linksets), this is called
// when an update for the root of the linkset is received.
// Called at taint-time!!
public void UpdateProperties(BSPhysObject physObject)
{
// If there are no children, there can't be any constraints to recompute
if (!HasAnyChildren)
return;
// Only the root does the recomputation
if (IsRoot(requestor))
// The root local properties have been updated. Apply to the children if appropriate.
if (IsRoot(physObject) && HasAnyChildren)
{
PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate()
if (!physObject.IsPhysical)
{
RecomputeLinksetConstraintVariables();
DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}",
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
});
// TODO: implement software linkset update for static object linksets
}
}
}
@ -236,9 +256,8 @@ public class BSLinkset
return ret;
}
// Routine used when rebuilding the body of the root of the linkset
// This is called after RemoveAllLinksToRoot() to restore all the constraints.
// This is called when the root body has been changed.
// Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
// this routine will restore the removed constraints.
// Called at taint-time!!
public void RestoreBodyDependencies(BSPrim child)
{

10
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -327,7 +327,7 @@ public sealed class BSPrim : BSPhysObject
// A version of the sanity check that also makes sure a new position value is
// pushed back to the physics engine. This routine would be used by anyone
// who is not already pushing the value.
private bool PositionSanityCheck2(bool atTaintTime)
private bool PositionSanityCheck2(bool inTaintTime)
{
bool ret = false;
if (PositionSanityCheck())
@ -339,7 +339,7 @@ public sealed class BSPrim : BSPhysObject
DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
};
if (atTaintTime)
if (inTaintTime)
sanityOperation();
else
PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation);
@ -583,7 +583,7 @@ public sealed class BSPrim : BSPhysObject
// Set up the object physicalness (does gravity and collisions move this object)
MakeDynamic(IsStatic);
// Update vehicle specific parameters
// Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
_vehicle.Refresh();
// Arrange for collision events if the simulator wants them
@ -606,7 +606,7 @@ public sealed class BSPrim : BSPhysObject
// Recompute any linkset parameters.
// When going from non-physical to physical, this re-enables the constraints that
// had been automatically disabled when the mass was set to zero.
Linkset.Refresh(this);
Linkset.Refresh(this, true);
DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
@ -1322,6 +1322,8 @@ public sealed class BSPrim : BSPhysObject
PositionSanityCheck2(true);
Linkset.UpdateProperties(this);
DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);

9
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -39,7 +39,6 @@ using log4net;
using OpenMetaverse;
// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
// Move all logic out of the C++ code and into the C# code for easier future modifications.
// Test sculpties (verified that they don't work)
// Compute physics FPS reasonably
// Based on material, set density and friction
@ -493,7 +492,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
int numSubSteps = 0;
// DEBUG
DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep);
// DetailLog("{0},BSScene.Simulate,beforeStep,ntaimts={1},step={2}", DetailLogZero, numTaints, m_simulationStep);
try
{
@ -503,8 +502,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
DetailLog("{0},Simulate,call, nTaints={1}, simTime={2}, substeps={3}, updates={4}, colliders={5}",
DetailLogZero, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}",
DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
}
catch (Exception e)
{
@ -855,7 +854,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
(s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); },
(s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ),
new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
ConfigurationParameters.numericFalse,
ConfigurationParameters.numericTrue,
(s,cf,p,v) => { s.ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, s.BoolNumeric(v)); },
(s) => { return s.NumericBool(s.ShouldUseHullsForPhysicalObjects); },
(s,p,l,v) => { s.ShouldUseHullsForPhysicalObjects = s.BoolNumeric(v); } ),

31
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
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@ -67,8 +67,8 @@ public class BSShapeCollection : IDisposable
public DateTime lastReferenced;
}
private Dictionary<ulong, MeshDesc> Meshes = new Dictionary<ulong, MeshDesc>();
private Dictionary<ulong, HullDesc> Hulls = new Dictionary<ulong, HullDesc>();
private Dictionary<System.UInt64, MeshDesc> Meshes = new Dictionary<System.UInt64, MeshDesc>();
private Dictionary<System.UInt64, HullDesc> Hulls = new Dictionary<System.UInt64, HullDesc>();
private Dictionary<uint, BodyDesc> Bodies = new Dictionary<uint, BodyDesc>();
public BSShapeCollection(BSScene physScene)
@ -121,7 +121,7 @@ public class BSShapeCollection : IDisposable
// Track another user of a body
// We presume the caller has allocated the body.
// Bodies only have one user so the reference count is either 1 or 0.
public void ReferenceBody(BulletBody body, bool atTaintTime)
public void ReferenceBody(BulletBody body, bool inTaintTime)
{
lock (m_collectionActivityLock)
{
@ -147,7 +147,7 @@ public class BSShapeCollection : IDisposable
body.ID, body);
}
};
if (atTaintTime)
if (inTaintTime)
createOperation();
else
PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation);
@ -272,7 +272,7 @@ public class BSShapeCollection : IDisposable
// Release the usage of a shape.
// The collisionObject is released since it is a copy of the real collision shape.
public void DereferenceShape(BulletShape shape, bool atTaintTime, ShapeDestructionCallback shapeCallback)
public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
{
if (shape.ptr == IntPtr.Zero)
return;
@ -294,14 +294,14 @@ public class BSShapeCollection : IDisposable
if (shape.ptr != IntPtr.Zero & shape.isNativeShape)
{
DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
BSScene.DetailLogZero, shape.ptr.ToString("X"), atTaintTime);
BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime);
if (shapeCallback != null) shapeCallback(shape);
BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
}
break;
}
};
if (atTaintTime)
if (inTaintTime)
{
lock (m_collectionActivityLock)
{
@ -441,7 +441,7 @@ public class BSShapeCollection : IDisposable
// Native shapes are always built independently.
newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
newShape.shapeKey = (ulong)shapeKey;
newShape.shapeKey = (System.UInt64)shapeKey;
newShape.isNativeShape = true;
// Don't need to do a 'ReferenceShape()' here because native shapes are not tracked.
@ -461,7 +461,7 @@ public class BSShapeCollection : IDisposable
BulletShape newShape = new BulletShape(IntPtr.Zero);
float lod;
ulong newMeshKey = ComputeShapeKey(shapeData, pbs, out lod);
System.UInt64 newMeshKey = ComputeShapeKey(shapeData, pbs, out lod);
// if this new shape is the same as last time, don't recreate the mesh
if (newMeshKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH)
@ -484,7 +484,7 @@ public class BSShapeCollection : IDisposable
return true; // 'true' means a new shape has been added to this prim
}
private BulletShape CreatePhysicalMesh(string objName, ulong newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{
IMesh meshData = null;
IntPtr meshPtr;
@ -531,7 +531,7 @@ public class BSShapeCollection : IDisposable
BulletShape newShape;
float lod;
ulong newHullKey = ComputeShapeKey(shapeData, pbs, out lod);
System.UInt64 newHullKey = ComputeShapeKey(shapeData, pbs, out lod);
// if the hull hasn't changed, don't rebuild it
if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL)
@ -554,7 +554,7 @@ public class BSShapeCollection : IDisposable
}
List<ConvexResult> m_hulls;
private BulletShape CreatePhysicalHull(string objName, ulong newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{
IntPtr hullPtr;
@ -667,7 +667,7 @@ public class BSShapeCollection : IDisposable
// Create a hash of all the shape parameters to be used as a key
// for this particular shape.
private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod)
private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod)
{
// level of detail based on size and type of the object
float lod = PhysicsScene.MeshLOD;
@ -680,10 +680,10 @@ public class BSShapeCollection : IDisposable
lod = PhysicsScene.MeshMegaPrimLOD;
retLod = lod;
return (ulong)pbs.GetMeshKey(shapeData.Size, lod);
return pbs.GetMeshKey(shapeData.Size, lod);
}
// For those who don't want the LOD
private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs)
private System.UInt64 ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs)
{
float lod;
return ComputeShapeKey(shapeData, pbs, out lod);
@ -717,6 +717,7 @@ public class BSShapeCollection : IDisposable
if (mustRebuild || forceRebuild)
{
// Free any old body
DereferenceBody(prim.BSBody, true, bodyCallback);
BulletBody aBody;

14
OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
View File

@ -201,10 +201,10 @@ public class BSTerrainManager
// The 'doNow' boolean says whether to do all the unmanaged activities right now (like when
// calling this routine from initialization or taint-time routines) or whether to delay
// all the unmanaged activities to taint-time.
private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool atTaintTime)
private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime)
{
DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},atTaintTime={3}",
BSScene.DetailLogZero, minCoords, maxCoords, atTaintTime);
DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},inTaintTime={3}",
BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime);
float minZ = float.MaxValue;
float maxZ = float.MinValue;
@ -320,7 +320,9 @@ public class BSTerrainManager
BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
BulletSimAPI.SetMassProps2(mapInfo.terrainBody.ptr, 0f, Vector3.Zero);
float terrainMass = 1000;
Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(mapInfo.terrainBody.ptr, terrainMass);
BulletSimAPI.SetMassProps2(mapInfo.terrainBody.ptr, terrainMass, localInertia);
BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.ptr);
// Return the new terrain to the world of physical objects
@ -342,7 +344,7 @@ public class BSTerrainManager
// There is the option to do the changes now (we're already in 'taint time'), or
// to do the Bullet operations later.
if (atTaintTime)
if (inTaintTime)
rebuildOperation();
else
PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation);
@ -381,7 +383,7 @@ public class BSTerrainManager
};
// If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time.
if (atTaintTime)
if (inTaintTime)
createOperation();
else
PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation);

3
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@ -101,9 +101,8 @@ public struct BulletShape
}
public IntPtr ptr;
public ShapeData.PhysicsShapeType type;
public ulong shapeKey;
public System.UInt64 shapeKey;
public bool isNativeShape;
// Hulls have an underlying mesh. A pointer to it is hidden here.
public override string ToString()
{
StringBuilder buff = new StringBuilder();