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BulletSim: clean up actor code so routines use the same coding pattern. 

Fix a few enabling problems.
user_profiles
Robert Adams 2013-04-07 14:05:35 -07:00
parent fe16dc09da
commit a7a1b8b7e9
10 changed files with 141 additions and 127 deletions
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22
OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
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@ -67,14 +67,6 @@ public class BSActorAvatarMove : BSActor
{
m_physicsScene.DetailLog("{0},BSActorAvatarMove,refresh", m_controllingPrim.LocalID);
// If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
if (m_controllingPrim.RawForce == OMV.Vector3.Zero)
{
m_physicsScene.DetailLog("{0},BSActorAvatarMove,refresh,notAvatarMove,removing={1}", m_controllingPrim.LocalID, ActorName);
m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
return;
}
// If the object is physically active, add the hoverer prestep action
if (isActive)
{
@ -95,14 +87,19 @@ public class BSActorAvatarMove : BSActor
// Nothing to do for the hoverer since it is all software at pre-step action time.
}
// Usually called when target velocity changes to set the current velocity and the target
// into the movement motor.
public void SetVelocityAndTarget(OMV.Vector3 vel, OMV.Vector3 targ, bool inTaintTime)
{
m_physicsScene.TaintedObject(inTaintTime, "BSActorAvatarMove.setVelocityAndTarget", delegate()
{
m_velocityMotor.Reset();
m_velocityMotor.SetTarget(targ);
m_velocityMotor.SetCurrent(vel);
m_velocityMotor.Enabled = true;
if (m_velocityMotor != null)
{
m_velocityMotor.Reset();
m_velocityMotor.SetTarget(targ);
m_velocityMotor.SetCurrent(vel);
m_velocityMotor.Enabled = true;
}
});
}
@ -119,6 +116,7 @@ public class BSActorAvatarMove : BSActor
1f // efficiency
);
// _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
SetVelocityAndTarget(m_controllingPrim.RawVelocity, m_controllingPrim.TargetVelocity, true /* inTaintTime */);
m_physicsScene.BeforeStep += Mover;
}

6
OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
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@ -67,12 +67,10 @@ public class BSActorHover : BSActor
{
m_physicsScene.DetailLog("{0},BSActorHover,refresh", m_controllingPrim.LocalID);
// If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
// If not active any more, turn me off
if (!m_controllingPrim.HoverActive)
{
m_physicsScene.DetailLog("{0},BSActorHover,refresh,notHovering,removing={1}", m_controllingPrim.LocalID, ActorName);
m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
return;
SetEnabled(false);
}
// If the object is physically active, add the hoverer prestep action

113
OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs
View File

@ -36,7 +36,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
public class BSActorLockAxis : BSActor
{
bool TryExperimentalLockAxisCode = true;
BSConstraint LockAxisConstraint = null;
public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
@ -69,18 +68,13 @@ public class BSActorLockAxis : BSActor
// If all the axis are free, we don't need to exist
if (m_controllingPrim.LockedAxis == m_controllingPrim.LockedAxisFree)
{
m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,allAxisFree,removing={1}", m_controllingPrim.LocalID, ActorName);
m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
return;
Enabled = false;
}
// If the object is physically active, add the axis locking constraint
if (Enabled
&& m_controllingPrim.IsPhysicallyActive
&& TryExperimentalLockAxisCode
&& m_controllingPrim.LockedAxis != m_controllingPrim.LockedAxisFree)
if (isActive)
{
if (LockAxisConstraint == null)
AddAxisLockConstraint();
AddAxisLockConstraint();
}
else
{
@ -108,58 +102,61 @@ public class BSActorLockAxis : BSActor
private void AddAxisLockConstraint()
{
// Lock that axis by creating a 6DOF constraint that has one end in the world and
// the other in the object.
// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
// Remove any existing axis constraint (just to be sure)
RemoveAxisLockConstraint();
BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody,
OMV.Vector3.Zero, OMV.Quaternion.Identity,
false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
LockAxisConstraint = axisConstrainer;
m_physicsScene.Constraints.AddConstraint(LockAxisConstraint);
// The constraint is tied to the world and oriented to the prim.
// Free to move linearly in the region
OMV.Vector3 linearLow = OMV.Vector3.Zero;
OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize;
axisConstrainer.SetLinearLimits(linearLow, linearHigh);
// Angular with some axis locked
float fPI = (float)Math.PI;
OMV.Vector3 angularLow = new OMV.Vector3(-fPI, -fPI, -fPI);
OMV.Vector3 angularHigh = new OMV.Vector3(fPI, fPI, fPI);
if (m_controllingPrim.LockedAxis.X != 1f)
if (LockAxisConstraint == null)
{
angularLow.X = 0f;
angularHigh.X = 0f;
}
if (m_controllingPrim.LockedAxis.Y != 1f)
{
angularLow.Y = 0f;
angularHigh.Y = 0f;
}
if (m_controllingPrim.LockedAxis.Z != 1f)
{
angularLow.Z = 0f;
angularHigh.Z = 0f;
}
if (!axisConstrainer.SetAngularLimits(angularLow, angularHigh))
{
m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits", m_controllingPrim.LocalID);
}
// Lock that axis by creating a 6DOF constraint that has one end in the world and
// the other in the object.
// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}",
m_controllingPrim.LocalID, linearLow, linearHigh, angularLow, angularHigh);
// Remove any existing axis constraint (just to be sure)
RemoveAxisLockConstraint();
// Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(m_physicsScene.World, m_controllingPrim.PhysBody,
OMV.Vector3.Zero, OMV.Quaternion.Identity,
false /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
LockAxisConstraint = axisConstrainer;
m_physicsScene.Constraints.AddConstraint(LockAxisConstraint);
axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass);
// The constraint is tied to the world and oriented to the prim.
// Free to move linearly in the region
OMV.Vector3 linearLow = OMV.Vector3.Zero;
OMV.Vector3 linearHigh = m_physicsScene.TerrainManager.DefaultRegionSize;
axisConstrainer.SetLinearLimits(linearLow, linearHigh);
// Angular with some axis locked
float fPI = (float)Math.PI;
OMV.Vector3 angularLow = new OMV.Vector3(-fPI, -fPI, -fPI);
OMV.Vector3 angularHigh = new OMV.Vector3(fPI, fPI, fPI);
if (m_controllingPrim.LockedAxis.X != 1f)
{
angularLow.X = 0f;
angularHigh.X = 0f;
}
if (m_controllingPrim.LockedAxis.Y != 1f)
{
angularLow.Y = 0f;
angularHigh.Y = 0f;
}
if (m_controllingPrim.LockedAxis.Z != 1f)
{
angularLow.Z = 0f;
angularHigh.Z = 0f;
}
if (!axisConstrainer.SetAngularLimits(angularLow, angularHigh))
{
m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,failedSetAngularLimits", m_controllingPrim.LocalID);
}
m_physicsScene.DetailLog("{0},BSActorLockAxis.AddAxisLockConstraint,create,linLow={1},linHi={2},angLow={3},angHi={4}",
m_controllingPrim.LocalID, linearLow, linearHigh, angularLow, angularHigh);
// Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
axisConstrainer.RecomputeConstraintVariables(m_controllingPrim.RawMass);
}
}
private void RemoveAxisLockConstraint()

12
OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
View File

@ -67,15 +67,12 @@ public class BSActorMoveToTarget : BSActor
{
m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh", m_controllingPrim.LocalID);
// If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
if (!m_controllingPrim.HoverActive)
// If not active any more...
if (!m_controllingPrim.MoveToTargetActive)
{
m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,notMoveToTarget,removing={1}", m_controllingPrim.LocalID, ActorName);
m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
return;
Enabled = false;
}
// If the object is physically active, add the hoverer prestep action
if (isActive)
{
ActivateMoveToTarget();
@ -92,7 +89,7 @@ public class BSActorMoveToTarget : BSActor
// BSActor.RemoveBodyDependencies()
public override void RemoveBodyDependencies()
{
// Nothing to do for the hoverer since it is all software at pre-step action time.
// Nothing to do for the moveToTarget since it is all software at pre-step action time.
}
// If a hover motor has not been created, create one and start the hovering.
@ -144,7 +141,6 @@ public class BSActorMoveToTarget : BSActor
m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}",
m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
m_targetMotor.Enabled = false;
}
else
{

2
OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
View File

@ -71,7 +71,7 @@ public class BSActorSetForce : BSActor
if (m_controllingPrim.RawForce == OMV.Vector3.Zero)
{
m_physicsScene.DetailLog("{0},BSActorSetForce,refresh,notSetForce,removing={1}", m_controllingPrim.LocalID, ActorName);
m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
Enabled = false;
return;
}

4
OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
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@ -70,8 +70,8 @@ public class BSActorSetTorque : BSActor
// If not active any more, get rid of me (shouldn't ever happen, but just to be safe)
if (m_controllingPrim.RawTorque == OMV.Vector3.Zero)
{
m_physicsScene.DetailLog("{0},BSActorSetTorque,refresh,notSetTorque,removing={1}", m_controllingPrim.LocalID, ActorName);
m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName);
m_physicsScene.DetailLog("{0},BSActorSetTorque,refresh,notSetTorque,disabling={1}", m_controllingPrim.LocalID, ActorName);
Enabled = false;
return;
}

49
OpenSim/Region/Physics/BulletSPlugin/BSActors.cs
View File

@ -42,24 +42,36 @@ public class BSActorCollection
}
public void Add(string name, BSActor actor)
{
m_actors[name] = actor;
lock (m_actors)
{
if (!m_actors.ContainsKey(name))
{
m_actors[name] = actor;
}
}
}
public bool RemoveAndRelease(string name)
{
bool ret = false;
if (m_actors.ContainsKey(name))
lock (m_actors)
{
BSActor beingRemoved = m_actors[name];
beingRemoved.Dispose();
m_actors.Remove(name);
ret = true;
if (m_actors.ContainsKey(name))
{
BSActor beingRemoved = m_actors[name];
m_actors.Remove(name);
beingRemoved.Dispose();
ret = true;
}
}
return ret;
}
public void Clear()
{
Release();
m_actors.Clear();
lock (m_actors)
{
Release();
m_actors.Clear();
}
}
public void Dispose()
{
@ -69,15 +81,22 @@ public class BSActorCollection
{
return m_actors.ContainsKey(name);
}
public bool TryGetActor(string actorName, out BSActor theActor)
{
return m_actors.TryGetValue(actorName, out theActor);
}
public void ForEachActor(Action<BSActor> act)
{
foreach (KeyValuePair<string, BSActor> kvp in m_actors)
act(kvp.Value);
lock (m_actors)
{
foreach (KeyValuePair<string, BSActor> kvp in m_actors)
act(kvp.Value);
}
}
public void Enable(bool enabl)
{
ForEachActor(a => a.Enable(enabl));
ForEachActor(a => a.SetEnabled(enabl));
}
public void Release()
{
@ -106,7 +125,7 @@ public abstract class BSActor
{
protected BSScene m_physicsScene { get; private set; }
protected BSPhysObject m_controllingPrim { get; private set; }
protected bool Enabled { get; set; }
public virtual bool Enabled { get; set; }
public string ActorName { get; private set; }
public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName)
@ -122,8 +141,10 @@ public abstract class BSActor
{
get { return Enabled; }
}
// Turn the actor on an off.
public virtual void Enable(bool setEnabled)
// Turn the actor on an off. Only used by ActorCollection to set all enabled/disabled.
// Anyone else should assign true/false to 'Enabled'.
public void SetEnabled(bool setEnabled)
{
Enabled = setEnabled;
}

3
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
View File

@ -160,6 +160,9 @@ public sealed class BSCharacter : BSPhysObject
// Make so capsule does not fall over
PhysicsScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero);
// The avatar mover sets some parameters.
PhysicalActors.Refresh();
PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT);
PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);

35
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
View File

@ -282,30 +282,31 @@ public abstract class BSPhysObject : PhysicsActor
// 'actors' act on the physical object to change or constrain its motion. These can range from
// hovering to complex vehicle motion.
// May be called at non-taint time as this just adds the actor to the action list and the real
// work is done during the simulation step.
// Note that, if the actor is already in the list and we are disabling same, the actor is just left
// in the list disabled.
public delegate BSActor CreateActor();
public void CreateRemoveActor(bool createRemove, string actorName, bool inTaintTime, CreateActor creator)
public void EnableActor(bool enableActor, string actorName, CreateActor creator)
{
if (createRemove)
lock (PhysicalActors)
{
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CreateRemoveActor:" + actorName, delegate()
BSActor theActor;
if (PhysicalActors.TryGetActor(actorName, out theActor))
{
if (!PhysicalActors.HasActor(actorName))
{
DetailLog("{0},BSPrim.CreateRemoveActor,taint,registerActor,a={1}", LocalID, actorName);
PhysicalActors.Add(actorName, creator());
}
});
}
else
{
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CreateRemoveActor:" + actorName, delegate()
// The actor already exists so just turn it on or off
theActor.Enabled = enableActor;
}
else
{
if (PhysicalActors.HasActor(actorName))
// The actor does not exist. If it should, create it.
if (enableActor)
{
DetailLog("{0},BSPrim.CreateRemoveActor,taint,unregisterActor,a={1}", LocalID, actorName);
PhysicalActors.RemoveAndRelease(actorName);
theActor = creator();
PhysicalActors.Add(actorName, theActor);
theActor.Enabled = true;
}
});
}
}
}

22
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -95,6 +95,7 @@ public class BSPrim : BSPhysObject
_isPhysical = pisPhysical;
_isVolumeDetect = false;
// We keep a handle to the vehicle actor so we can set vehicle parameters later.
VehicleActor = new BSDynamics(PhysicsScene, this, VehicleActorName);
PhysicalActors.Add(VehicleActorName, VehicleActor);
@ -264,7 +265,7 @@ public class BSPrim : BSPhysObject
if (axis.Z != 1) locking.Z = 0f;
LockedAxis = locking;
CreateRemoveActor(LockedAxis != LockedAxisFree /* creatActor */, LockedAxisActorName, false /* inTaintTime */, delegate()
EnableActor(LockedAxis != LockedAxisFree, LockedAxisActorName, delegate()
{
return new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName);
});
@ -501,7 +502,7 @@ public class BSPrim : BSPhysObject
get { return RawForce; }
set {
RawForce = value;
CreateRemoveActor(RawForce == OMV.Vector3.Zero, SetForceActorName, false /* inTaintTime */, delegate()
EnableActor(RawForce != OMV.Vector3.Zero, SetForceActorName, delegate()
{
return new BSActorSetForce(PhysicsScene, this, SetForceActorName);
});
@ -510,14 +511,13 @@ public class BSPrim : BSPhysObject
public override int VehicleType {
get {
return (int)VehicleActor.Type; // if we are a vehicle, return that type
return (int)VehicleActor.Type;
}
set {
Vehicle type = (Vehicle)value;
PhysicsScene.TaintedObject("setVehicleType", delegate()
{
// Done at taint time so we're sure the physics engine is not using the variables
// Vehicle code changes the parameters for this vehicle type.
VehicleActor.ProcessTypeChange(type);
ActivateIfPhysical(false);
@ -669,11 +669,11 @@ public class BSPrim : BSPhysObject
get { return RawTorque; }
set {
RawTorque = value;
CreateRemoveActor(RawTorque == OMV.Vector3.Zero, SetTorqueActorName, false /* inTaintTime */, delegate()
EnableActor(RawTorque != OMV.Vector3.Zero, SetTorqueActorName, delegate()
{
return new BSActorSetTorque(PhysicsScene, this, SetTorqueActorName);
});
// DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, RawTorque);
}
}
public override OMV.Vector3 Acceleration {
@ -786,7 +786,6 @@ public class BSPrim : BSPhysObject
MakeDynamic(IsStatic);
// Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
VehicleActor.Refresh();
PhysicalActors.Refresh();
// Arrange for collision events if the simulator wants them
@ -1037,7 +1036,7 @@ public class BSPrim : BSPhysObject
public override bool PIDActive {
set {
base.MoveToTargetActive = value;
CreateRemoveActor(MoveToTargetActive, MoveToTargetActorName, false /* inTaintTime */, delegate()
EnableActor(MoveToTargetActive, MoveToTargetActorName, delegate()
{
return new BSActorMoveToTarget(PhysicsScene, this, MoveToTargetActorName);
});
@ -1049,7 +1048,7 @@ public class BSPrim : BSPhysObject
public override bool PIDHoverActive {
set {
base.HoverActive = value;
CreateRemoveActor(HoverActive /* creatActor */, HoverActorName, false /* inTaintTime */, delegate()
EnableActor(HoverActive, HoverActorName, delegate()
{
return new BSActorHover(PhysicsScene, this, HoverActorName);
});
@ -1458,7 +1457,7 @@ public class BSPrim : BSPhysObject
{
// Create the correct physical representation for this type of object.
// Updates base.PhysBody and base.PhysShape with the new information.
// Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
// Ignore 'forceRebuild'. 'GetBodyAndShape' makes the right choices and changes of necessary.
PhysicsScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysicsScene.World, this, null, delegate(BulletBody dBody)
{
// Called if the current prim body is about to be destroyed.
@ -1472,9 +1471,9 @@ public class BSPrim : BSPhysObject
return;
}
// Called at taint-time
protected virtual void RemoveBodyDependencies()
{
VehicleActor.RemoveBodyDependencies();
PhysicalActors.RemoveBodyDependencies();
}
@ -1482,6 +1481,7 @@ public class BSPrim : BSPhysObject
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
// Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator.
TriggerPreUpdatePropertyAction(ref entprop);
// DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG