diff --git a/OpenSim/ApplicationPlugins/RemoteController/RemoteAdminPlugin.cs b/OpenSim/ApplicationPlugins/RemoteController/RemoteAdminPlugin.cs index e50dac611e..f1b59bb07d 100644 --- a/OpenSim/ApplicationPlugins/RemoteController/RemoteAdminPlugin.cs +++ b/OpenSim/ApplicationPlugins/RemoteController/RemoteAdminPlugin.cs @@ -1225,7 +1225,7 @@ namespace OpenSim.ApplicationPlugins.RemoteController { GridUserInfo userInfo = m_application.SceneManager.CurrentOrFirstScene.GridUserService.GetGridUserInfo(account.PrincipalID.ToString()); if (userInfo != null) - responseData["lastlogin"] = userInfo.Login; + responseData["lastlogin"] = Util.ToUnixTime(userInfo.Login); else responseData["lastlogin"] = 0; diff --git a/OpenSim/Data/MSSQL/Resources/RegionStore.migrations b/OpenSim/Data/MSSQL/Resources/RegionStore.migrations index b84c2a4dd6..4549801218 100644 --- a/OpenSim/Data/MSSQL/Resources/RegionStore.migrations +++ b/OpenSim/Data/MSSQL/Resources/RegionStore.migrations @@ -1153,7 +1153,7 @@ COMMIT BEGIN TRANSACTION -ALTER TABLE prims ADD COLUMN DynAttrs TEXT; +ALTER TABLE prims ADD DynAttrs TEXT; COMMIT @@ -1161,10 +1161,10 @@ COMMIT BEGIN TRANSACTION -ALTER TABLE prims ADD COLUMN `PhysicsShapeType` tinyint(4) NOT NULL default '0'; -ALTER TABLE prims ADD COLUMN `Density` double NOT NULL default '1000'; -ALTER TABLE prims ADD COLUMN `GravityModifier` double NOT NULL default '1'; -ALTER TABLE prims ADD COLUMN `Friction` double NOT NULL default '0.6'; -ALTER TABLE prims ADD COLUMN `Restitution` double NOT NULL default '0.5'; +ALTER TABLE prims ADD `PhysicsShapeType` tinyint(4) NOT NULL default '0'; +ALTER TABLE prims ADD `Density` double NOT NULL default '1000'; +ALTER TABLE prims ADD `GravityModifier` double NOT NULL default '1'; +ALTER TABLE prims ADD `Friction` double NOT NULL default '0.6'; +ALTER TABLE prims ADD `Restitution` double NOT NULL default '0.5'; COMMIT diff --git a/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs b/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs index 97035e385c..74954cc412 100644 --- a/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs +++ b/OpenSim/Framework/Servers/HttpServer/BaseHttpServer.cs @@ -454,7 +454,7 @@ namespace OpenSim.Framework.Servers.HttpServer } OSHttpResponse resp = new OSHttpResponse(new HttpResponse(context, request),context); - + resp.ReuseContext = true; HandleRequest(req, resp); diff --git a/OpenSim/Region/CoreModules/Framework/EntityTransfer/EntityTransferModule.cs b/OpenSim/Region/CoreModules/Framework/EntityTransfer/EntityTransferModule.cs index b70aeb7cb2..6e19805e05 100644 --- a/OpenSim/Region/CoreModules/Framework/EntityTransfer/EntityTransferModule.cs +++ b/OpenSim/Region/CoreModules/Framework/EntityTransfer/EntityTransferModule.cs @@ -280,10 +280,8 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer private void OnConnectionClosed(IClientAPI client) { - if (client.IsLoggingOut) + if (client.IsLoggingOut && m_entityTransferStateMachine.UpdateInTransit(client.AgentId, AgentTransferState.Aborting)) { - m_entityTransferStateMachine.UpdateInTransit(client.AgentId, AgentTransferState.Aborting); - m_log.DebugFormat( "[ENTITY TRANSFER MODULE]: Aborted teleport request from {0} in {1} due to simultaneous logout", client.Name, Scene.Name); diff --git a/OpenSim/Region/CoreModules/Framework/UserManagement/HGUserManagementModule.cs b/OpenSim/Region/CoreModules/Framework/UserManagement/HGUserManagementModule.cs index 4ef57fe978..8ce20e9950 100644 --- a/OpenSim/Region/CoreModules/Framework/UserManagement/HGUserManagementModule.cs +++ b/OpenSim/Region/CoreModules/Framework/UserManagement/HGUserManagementModule.cs @@ -50,12 +50,11 @@ namespace OpenSim.Region.CoreModules.Framework.UserManagement { private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); - #region ISharedRegionModule public new void Initialise(IConfigSource config) { - string umanmod = config.Configs["Modules"].GetString("UserManagementModule", base.Name); + string umanmod = config.Configs["Modules"].GetString("UserManagementModule", Name); if (umanmod == Name) { m_Enabled = true; diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs index 42644dc89f..ec7c3fa1c6 100644 --- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs +++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs @@ -1218,23 +1218,14 @@ namespace OpenSim.Region.Framework.Scenes // the mappings more consistant. public Vector3 SitTargetPositionLL { - get { return new Vector3(m_sitTargetPosition.X, m_sitTargetPosition.Y,m_sitTargetPosition.Z); } + get { return m_sitTargetPosition; } set { m_sitTargetPosition = value; } } public Quaternion SitTargetOrientationLL { - get - { - return new Quaternion( - m_sitTargetOrientation.X, - m_sitTargetOrientation.Y, - m_sitTargetOrientation.Z, - m_sitTargetOrientation.W - ); - } - - set { m_sitTargetOrientation = new Quaternion(value.X, value.Y, value.Z, value.W); } + get { return m_sitTargetOrientation; } + set { m_sitTargetOrientation = value; } } public bool Stopped @@ -4349,30 +4340,31 @@ namespace OpenSim.Region.Framework.Scenes } } - public void UpdateGroupPosition(Vector3 pos) + public void UpdateGroupPosition(Vector3 newPos) { - if ((pos.X != GroupPosition.X) || - (pos.Y != GroupPosition.Y) || - (pos.Z != GroupPosition.Z)) + Vector3 oldPos = GroupPosition; + + if ((newPos.X != oldPos.X) || + (newPos.Y != oldPos.Y) || + (newPos.Z != oldPos.Z)) { - Vector3 newPos = new Vector3(pos.X, pos.Y, pos.Z); GroupPosition = newPos; ScheduleTerseUpdate(); } } /// - /// + /// Update this part's offset position. /// /// - public void UpdateOffSet(Vector3 pos) + public void UpdateOffSet(Vector3 newPos) { - if ((pos.X != OffsetPosition.X) || - (pos.Y != OffsetPosition.Y) || - (pos.Z != OffsetPosition.Z)) - { - Vector3 newPos = new Vector3(pos.X, pos.Y, pos.Z); + Vector3 oldPos = OffsetPosition; + if ((newPos.X != oldPos.X) || + (newPos.Y != oldPos.Y) || + (newPos.Z != oldPos.Z)) + { if (ParentGroup.RootPart.GetStatusSandbox()) { if (Util.GetDistanceTo(ParentGroup.RootPart.StatusSandboxPos, newPos) > 10) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 77ea3edae2..f5b84d4ca4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -259,12 +259,12 @@ public override BulletShape CreateHullShape(BulletWorld world, int hullCount, fl BSPhysicsShapeType.SHAPE_HULL); } -public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) +public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms) { BulletWorldUnman worldu = world as BulletWorldUnman; BulletShapeUnman shapeu = meshShape as BulletShapeUnman; return new BulletShapeUnman( - BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr), + BSAPICPP.BuildHullShapeFromMesh2(worldu.ptr, shapeu.ptr, parms), BSPhysicsShapeType.SHAPE_HULL); } @@ -1411,7 +1411,7 @@ public static extern IntPtr CreateHullShape2(IntPtr world, int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape); +public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape, HACDParams parms); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index 6fc10e95ce..f6b4359572 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -1773,10 +1773,9 @@ private sealed class BulletConstraintXNA : BulletConstraint return new BulletShapeXNA(compoundshape, BSPhysicsShapeType.SHAPE_HULL); } - public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape) + public override BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms) { /* TODO */ return null; - } public override BulletShape CreateMeshShape(BulletWorld pWorld, int pIndicesCount, int[] indices, int pVerticesCount, float[] verticesAsFloats) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs new file mode 100755 index 0000000000..72196171e0 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorLockAxis.cs @@ -0,0 +1,175 @@ +/* + * 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 copyrightD + * 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.Linq; +using System.Text; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSActorLockAxis : BSActor +{ + bool TryExperimentalLockAxisCode = true; + BSConstraint LockAxisConstraint = null; + + public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName) + : base(physicsScene, pObj,actorName) + { + m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID); + LockAxisConstraint = null; + } + + // BSActor.isActive + public override bool isActive + { + get { return Enabled && m_controllingPrim.IsPhysicallyActive; } + } + + // Release any connections and resources used by the actor. + // BSActor.Dispose() + public override void Dispose() + { + RemoveAxisLockConstraint(); + } + + // Called when physical parameters (properties set in Bullet) need to be re-applied. + // Called at taint-time. + // BSActor.Refresh() + public override void Refresh() + { + m_physicsScene.DetailLog("{0},BSActorLockAxis,refresh,lockedAxis={1},enabled={2},pActive={3}", + m_controllingPrim.LocalID, m_controllingPrim.LockedAxis, Enabled, m_controllingPrim.IsPhysicallyActive); + // 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; + } + // If the object is physically active, add the axis locking constraint + if (Enabled + && m_controllingPrim.IsPhysicallyActive + && TryExperimentalLockAxisCode + && m_controllingPrim.LockedAxis != m_controllingPrim.LockedAxisFree) + { + if (LockAxisConstraint == null) + AddAxisLockConstraint(); + } + else + { + RemoveAxisLockConstraint(); + } + } + + // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). + // Register a prestep action to restore physical requirements before the next simulation step. + // Called at taint-time. + // BSActor.RemoveBodyDependencies() + public override void RemoveBodyDependencies() + { + if (LockAxisConstraint != null) + { + // If a constraint is set up, remove it from the physical scene + RemoveAxisLockConstraint(); + // Schedule a call before the next simulation step to restore the constraint. + m_physicsScene.PostTaintObject(m_controllingPrim.LockedAxisActorName, m_controllingPrim.LocalID, delegate() + { + Refresh(); + }); + } + } + + 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) + { + 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() + { + if (LockAxisConstraint != null) + { + m_physicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); + LockAxisConstraint = null; + m_physicsScene.DetailLog("{0},BSActorLockAxis.RemoveAxisLockConstraint,destroyingConstraint", m_controllingPrim.LocalID); + } + } +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs new file mode 100755 index 0000000000..5a19ba441d --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActors.cs @@ -0,0 +1,131 @@ +/* + * 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 copyrightD + * 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; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSActorCollection +{ + private BSScene PhysicsScene { get; set; } + private Dictionary m_actors; + + public BSActorCollection(BSScene physicsScene) + { + PhysicsScene = physicsScene; + m_actors = new Dictionary(); + } + public void Add(string name, BSActor actor) + { + m_actors[name] = actor; + } + public bool RemoveAndRelease(string name) + { + bool ret = false; + if (m_actors.ContainsKey(name)) + { + BSActor beingRemoved = m_actors[name]; + beingRemoved.Dispose(); + m_actors.Remove(name); + ret = true; + } + return ret; + } + public void Clear() + { + Release(); + m_actors.Clear(); + } + public bool HasActor(string name) + { + return m_actors.ContainsKey(name); + } + public void ForEachActor(Action act) + { + foreach (KeyValuePair kvp in m_actors) + act(kvp.Value); + } + + public void Release() + { + ForEachActor(a => a.Dispose()); + } + public void Refresh() + { + ForEachActor(a => a.Refresh()); + } + public void RemoveBodyDependencies() + { + ForEachActor(a => a.RemoveBodyDependencies()); + } +} + +// ============================================================================= +/// +/// Each physical object can have 'actors' who are pushing the object around. +/// This can be used for hover, locking axis, making vehicles, etc. +/// Each physical object can have multiple actors acting on it. +/// +/// An actor usually registers itself with physics scene events (pre-step action) +/// and modifies the parameters on the host physical object. +/// +public abstract class BSActor +{ + protected BSScene m_physicsScene { get; private set; } + protected BSPhysObject m_controllingPrim { get; private set; } + protected bool Enabled { get; set; } + public string ActorName { get; private set; } + + public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName) + { + m_physicsScene = physicsScene; + m_controllingPrim = pObj; + ActorName = actorName; + Enabled = true; + } + + // Return 'true' if activily updating the prim + public virtual bool isActive + { + get { return Enabled; } + } + // Turn the actor on an off. + public virtual void Enable(bool setEnabled) + { + Enabled = setEnabled; + } + // Release any connections and resources used by the actor. + public abstract void Dispose(); + // Called when physical parameters (properties set in Bullet) need to be re-applied. + public abstract void Refresh(); + // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). + // Register a prestep action to restore physical requirements before the next simulation step. + public abstract void RemoveBodyDependencies(); + +} +} diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs index 5765b0dc86..d0d9f34ae8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs @@ -191,6 +191,21 @@ public struct ConfigurationParameters public const float numericFalse = 0f; } +// Parameters passed for the conversion of a mesh to a hull using Bullet's HACD library. +[StructLayout(LayoutKind.Sequential)] +public struct HACDParams +{ + // usual default values + public float maxVerticesPerHull; // 100 + public float minClusters; // 2 + public float compacityWeight; // 0.1 + public float volumeWeight; // 0.0 + public float concavity; // 100 + public float addExtraDistPoints; // false + public float addNeighboursDistPoints; // false + public float addFacesPoints; // false + public float shouldAdjustCollisionMargin; // false +} // The states a bullet collision object can have public enum ActivationState : uint @@ -308,7 +323,7 @@ public abstract BulletShape CreateMeshShape(BulletWorld world, public abstract BulletShape CreateHullShape(BulletWorld world, int hullCount, float[] hulls); -public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape); +public abstract BulletShape BuildHullShapeFromMesh(BulletWorld world, BulletShape meshShape, HACDParams parms); public abstract BulletShape BuildNativeShape(BulletWorld world, ShapeData shapeData); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 90c2d9cf46..25be416d7a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -61,6 +61,7 @@ public sealed class BSCharacter : BSPhysObject private OMV.Vector3 _rotationalVelocity; private bool _kinematic; private float _buoyancy; + private bool _isStationaryStanding; // true is standing on a stationary object private BSVMotor _velocityMotor; @@ -84,6 +85,7 @@ public sealed class BSCharacter : BSPhysObject _buoyancy = ComputeBuoyancyFromFlying(isFlying); Friction = BSParam.AvatarStandingFriction; Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor; + _isStationaryStanding = false; // Old versions of ScenePresence passed only the height. If width and/or depth are zero, // replace with the default values. @@ -208,6 +210,7 @@ public sealed class BSCharacter : BSPhysObject // The code below uses whether the collider is static or moving to decide whether to zero motion. _velocityMotor.Step(timeStep); + _isStationaryStanding = false; // If we're not supposed to be moving, make sure things are zero. if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero) @@ -221,6 +224,7 @@ public sealed class BSCharacter : BSPhysObject if (!ColliderIsMoving) { DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID); + _isStationaryStanding = true; ZeroMotion(true /* inTaintTime */); } @@ -882,7 +886,10 @@ public sealed class BSCharacter : BSPhysObject // the world that things have changed. public override void UpdateProperties(EntityProperties entprop) { - _position = entprop.Position; + // Don't change position if standing on a stationary object. + if (!_isStationaryStanding) + _position = entprop.Position; + _orientation = entprop.Rotation; // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index b813974b68..42b5c49857 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -85,7 +85,9 @@ public abstract class BSConstraint : IDisposable { bool ret = false; if (m_enabled) + { ret = PhysicsScene.PE.SetAngularLimits(m_constraint, low, high); + } return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs index 476a0e5570..d0949f5d95 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs @@ -97,14 +97,14 @@ public sealed class BSConstraint6Dof : BSConstraint // A 6 Dof constraint that is fixed in the world and constrained to a on-the-fly created static object public BSConstraint6Dof(BulletWorld world, BulletBody obj1, Vector3 frameInBloc, Quaternion frameInBrot, - bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) + bool useLinearReferenceFrameB, bool disableCollisionsBetweenLinkedBodies) : base(world) { m_body1 = obj1; m_body2 = obj1; // Look out for confusion down the road m_constraint = PhysicsScene.PE.Create6DofConstraintFixed(m_world, m_body1, frameInBloc, frameInBrot, - useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies); + useLinearReferenceFrameB, disableCollisionsBetweenLinkedBodies); m_enabled = true; world.physicsScene.DetailLog("{0},BS6DofConstraint,createFixed,wID={1},rID={2},rBody={3}", BSScene.DetailLogZero, world.worldID, obj1.ID, obj1.AddrString); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 65df741962..0fd1f738f5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -40,13 +40,14 @@ using OpenSim.Region.Physics.Manager; namespace OpenSim.Region.Physics.BulletSPlugin { - public sealed class BSDynamics + public sealed class BSDynamics : BSActor { private static string LogHeader = "[BULLETSIM VEHICLE]"; - private BSScene PhysicsScene { get; set; } // the prim this dynamic controller belongs to - private BSPrim Prim { get; set; } + private BSPrim ControllingPrim { get; set; } + + private bool m_haveRegisteredForSceneEvents; // mass of the vehicle fetched each time we're calles private float m_vehicleMass; @@ -129,11 +130,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin public bool enableAngularDeflection; public bool enableAngularBanking; - public BSDynamics(BSScene myScene, BSPrim myPrim) + public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName) + : base(myScene, myPrim, actorName) { - PhysicsScene = myScene; - Prim = myPrim; + ControllingPrim = myPrim; Type = Vehicle.TYPE_NONE; + m_haveRegisteredForSceneEvents = false; SetupVehicleDebugging(); } @@ -155,7 +157,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Return 'true' if this vehicle is doing vehicle things public bool IsActive { - get { return (Type != Vehicle.TYPE_NONE && Prim.IsPhysicallyActive); } + get { return (Type != Vehicle.TYPE_NONE && ControllingPrim.IsPhysicallyActive); } } // Return 'true' if this a vehicle that should be sitting on the ground @@ -167,7 +169,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin #region Vehicle parameter setting public void ProcessFloatVehicleParam(Vehicle pParam, float pValue) { - VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); + VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: @@ -195,7 +197,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin break; case Vehicle.BUOYANCY: m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f); - m_VehicleGravity = Prim.ComputeGravity(m_VehicleBuoyancy); + m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy); break; case Vehicle.HOVER_EFFICIENCY: m_VhoverEfficiency = ClampInRange(0f, pValue, 1f); @@ -258,7 +260,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) { - VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); + VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.ANGULAR_FRICTION_TIMESCALE: @@ -294,7 +296,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) { - VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue); + VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue); switch (pParam) { case Vehicle.REFERENCE_FRAME: @@ -308,7 +310,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin internal void ProcessVehicleFlags(int pParam, bool remove) { - VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove); + VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", ControllingPrim.LocalID, pParam, remove); VehicleFlag parm = (VehicleFlag)pParam; if (pParam == -1) m_flags = (VehicleFlag)0; @@ -323,7 +325,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin public void ProcessTypeChange(Vehicle pType) { - VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType); + VDetailLog("{0},ProcessTypeChange,type={1}", ControllingPrim.LocalID, pType); // Set Defaults For Type Type = pType; switch (pType) @@ -563,12 +565,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, m_linearMotorDecayTimescale, m_linearFrictionTimescale, 1f); - m_linearMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) + m_linearMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging) m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, m_angularMotorDecayTimescale, m_angularFrictionTimescale, 1f); - m_angularMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) + m_angularMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging) /* Not implemented m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale, @@ -578,13 +580,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f); m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) */ + + if (this.Type == Vehicle.TYPE_NONE) + { + UnregisterForSceneEvents(); + } + else + { + RegisterForSceneEvents(); + } } #endregion // Vehicle parameter setting - public void Refresh() + // BSActor.Refresh() + public override void Refresh() { // If asking for a refresh, reset the physical parameters before the next simulation step. - PhysicsScene.PostTaintObject("BSDynamics.Refresh", Prim.LocalID, delegate() + m_physicsScene.PostTaintObject("BSDynamics.Refresh", ControllingPrim.LocalID, delegate() { SetPhysicalParameters(); }); @@ -597,49 +609,90 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (IsActive) { // Remember the mass so we don't have to fetch it every step - m_vehicleMass = Prim.TotalMass; + m_vehicleMass = ControllingPrim.TotalMass; // Friction affects are handled by this vehicle code - PhysicsScene.PE.SetFriction(Prim.PhysBody, BSParam.VehicleFriction); - PhysicsScene.PE.SetRestitution(Prim.PhysBody, BSParam.VehicleRestitution); + m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction); + m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution); // Moderate angular movement introduced by Bullet. // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. // Maybe compute linear and angular factor and damping from params. - PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, BSParam.VehicleAngularDamping); - PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, BSParam.VehicleLinearFactor); - PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, BSParam.VehicleAngularFactor); + m_physicsScene.PE.SetAngularDamping(ControllingPrim.PhysBody, BSParam.VehicleAngularDamping); + m_physicsScene.PE.SetLinearFactor(ControllingPrim.PhysBody, BSParam.VehicleLinearFactor); + m_physicsScene.PE.SetAngularFactorV(ControllingPrim.PhysBody, BSParam.VehicleAngularFactor); // Vehicles report collision events so we know when it's on the ground - PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); + m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); - Prim.Inertia = PhysicsScene.PE.CalculateLocalInertia(Prim.PhysShape, m_vehicleMass); - PhysicsScene.PE.SetMassProps(Prim.PhysBody, m_vehicleMass, Prim.Inertia); - PhysicsScene.PE.UpdateInertiaTensor(Prim.PhysBody); + ControllingPrim.Inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape, m_vehicleMass); + m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia); + m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody); // Set the gravity for the vehicle depending on the buoyancy // TODO: what should be done if prim and vehicle buoyancy differ? - m_VehicleGravity = Prim.ComputeGravity(m_VehicleBuoyancy); + m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy); // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same. - PhysicsScene.PE.SetGravity(Prim.PhysBody, Vector3.Zero); + m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero); VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}", - Prim.LocalID, m_vehicleMass, Prim.Inertia, m_VehicleGravity, + ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity, BSParam.VehicleAngularDamping, BSParam.VehicleFriction, BSParam.VehicleRestitution, BSParam.VehicleLinearFactor, BSParam.VehicleAngularFactor ); } else { - if (Prim.PhysBody.HasPhysicalBody) - PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); + if (ControllingPrim.PhysBody.HasPhysicalBody) + m_physicsScene.PE.RemoveFromCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); } } - public bool RemoveBodyDependencies(BSPhysObject prim) + // BSActor.RemoveBodyDependencies + public override void RemoveBodyDependencies() { Refresh(); - return IsActive; + } + + // BSActor.Release() + public override void Dispose() + { + UnregisterForSceneEvents(); + Type = Vehicle.TYPE_NONE; + Enabled = false; + return; + } + + private void RegisterForSceneEvents() + { + if (!m_haveRegisteredForSceneEvents) + { + m_physicsScene.BeforeStep += this.Step; + m_physicsScene.AfterStep += this.PostStep; + ControllingPrim.OnPreUpdateProperty += this.PreUpdateProperty; + m_haveRegisteredForSceneEvents = true; + } + } + + private void UnregisterForSceneEvents() + { + if (m_haveRegisteredForSceneEvents) + { + m_physicsScene.BeforeStep -= this.Step; + m_physicsScene.AfterStep -= this.PostStep; + ControllingPrim.OnPreUpdateProperty -= this.PreUpdateProperty; + m_haveRegisteredForSceneEvents = false; + } + } + + private void PreUpdateProperty(ref EntityProperties entprop) + { + // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet + // TODO: handle physics introduced by Bullet with computed vehicle physics. + if (IsActive) + { + entprop.RotationalVelocity = Vector3.Zero; + } } #region Known vehicle value functions @@ -686,14 +739,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (m_knownChanged != 0) { if ((m_knownChanged & m_knownChangedPosition) != 0) - Prim.ForcePosition = m_knownPosition; + ControllingPrim.ForcePosition = m_knownPosition; if ((m_knownChanged & m_knownChangedOrientation) != 0) - Prim.ForceOrientation = m_knownOrientation; + ControllingPrim.ForceOrientation = m_knownOrientation; if ((m_knownChanged & m_knownChangedVelocity) != 0) { - Prim.ForceVelocity = m_knownVelocity; + ControllingPrim.ForceVelocity = m_knownVelocity; // Fake out Bullet by making it think the velocity is the same as last time. // Bullet does a bunch of smoothing for changing parameters. // Since the vehicle is demanding this setting, we override Bullet's smoothing @@ -702,28 +755,28 @@ namespace OpenSim.Region.Physics.BulletSPlugin } if ((m_knownChanged & m_knownChangedForce) != 0) - Prim.AddForce((Vector3)m_knownForce, false /*pushForce*/, true /*inTaintTime*/); + ControllingPrim.AddForce((Vector3)m_knownForce, false /*pushForce*/, true /*inTaintTime*/); if ((m_knownChanged & m_knownChangedForceImpulse) != 0) - Prim.AddForceImpulse((Vector3)m_knownForceImpulse, false /*pushforce*/, true /*inTaintTime*/); + ControllingPrim.AddForceImpulse((Vector3)m_knownForceImpulse, false /*pushforce*/, true /*inTaintTime*/); if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) { - Prim.ForceRotationalVelocity = m_knownRotationalVelocity; + ControllingPrim.ForceRotationalVelocity = m_knownRotationalVelocity; // PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity); } if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0) - Prim.ApplyTorqueImpulse((Vector3)m_knownRotationalImpulse, true /*inTaintTime*/); + ControllingPrim.ApplyTorqueImpulse((Vector3)m_knownRotationalImpulse, true /*inTaintTime*/); if ((m_knownChanged & m_knownChangedRotationalForce) != 0) { - Prim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/); + ControllingPrim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/); } // 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. - PhysicsScene.PE.PushUpdate(Prim.PhysBody); + m_physicsScene.PE.PushUpdate(ControllingPrim.PhysBody); } m_knownChanged = 0; } @@ -736,7 +789,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos) { lastRememberedHeightPos = pos; - m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); + m_knownTerrainHeight = ControllingPrim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); m_knownHas |= m_knownChangedTerrainHeight; } return m_knownTerrainHeight; @@ -748,7 +801,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if ((m_knownHas & m_knownChangedWaterLevel) == 0) { - m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos); + m_knownWaterLevel = ControllingPrim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos); m_knownHas |= m_knownChangedWaterLevel; } return (float)m_knownWaterLevel; @@ -760,7 +813,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if ((m_knownHas & m_knownChangedPosition) == 0) { - m_knownPosition = Prim.ForcePosition; + m_knownPosition = ControllingPrim.ForcePosition; m_knownHas |= m_knownChangedPosition; } return m_knownPosition; @@ -779,7 +832,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if ((m_knownHas & m_knownChangedOrientation) == 0) { - m_knownOrientation = Prim.ForceOrientation; + m_knownOrientation = ControllingPrim.ForceOrientation; m_knownHas |= m_knownChangedOrientation; } return m_knownOrientation; @@ -798,7 +851,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if ((m_knownHas & m_knownChangedVelocity) == 0) { - m_knownVelocity = Prim.ForceVelocity; + m_knownVelocity = ControllingPrim.ForceVelocity; m_knownHas |= m_knownChangedVelocity; } return m_knownVelocity; @@ -839,7 +892,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if ((m_knownHas & m_knownChangedRotationalVelocity) == 0) { - m_knownRotationalVelocity = Prim.ForceRotationalVelocity; + m_knownRotationalVelocity = ControllingPrim.ForceRotationalVelocity; m_knownHas |= m_knownChangedRotationalVelocity; } return (Vector3)m_knownRotationalVelocity; @@ -914,11 +967,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // for the physics engine to note the changes so an UpdateProperties event will happen. PushKnownChanged(); - if (PhysicsScene.VehiclePhysicalLoggingEnabled) - PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody); + if (m_physicsScene.VehiclePhysicalLoggingEnabled) + m_physicsScene.PE.DumpRigidBody(m_physicsScene.World, ControllingPrim.PhysBody); VDetailLog("{0},BSDynamics.Step,done,pos={1}, force={2},velocity={3},angvel={4}", - Prim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity); + ControllingPrim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity); } // Called after the simulation step @@ -926,8 +979,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin { if (!IsActive) return; - if (PhysicsScene.VehiclePhysicalLoggingEnabled) - PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody); + if (m_physicsScene.VehiclePhysicalLoggingEnabled) + m_physicsScene.PE.DumpRigidBody(m_physicsScene.World, ControllingPrim.PhysBody); } // Apply the effect of the linear motor and other linear motions (like hover and float). @@ -967,12 +1020,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleVelocity /= VehicleVelocity.Length(); VehicleVelocity *= BSParam.VehicleMaxLinearVelocity; VDetailLog("{0}, MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}", - Prim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity); + ControllingPrim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity); } else if (newVelocityLengthSq < 0.001f) VehicleVelocity = Vector3.Zero; - VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", Prim.LocalID, Prim.IsColliding, VehicleVelocity ); + VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.IsColliding, VehicleVelocity ); } // end MoveLinear() @@ -997,7 +1050,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleVelocity += linearMotorVelocityW; VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5}", - Prim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity); + ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity); } public void ComputeLinearTerrainHeightCorrection(float pTimestep) @@ -1011,7 +1064,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f; VehiclePosition = newPosition; VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}", - Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition); + ControllingPrim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition); } } @@ -1050,7 +1103,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin pos.Z = m_VhoverTargetHeight; VehiclePosition = pos; - VDetailLog("{0}, MoveLinear,hover,pos={1},lockHoverHeight", Prim.LocalID, pos); + VDetailLog("{0}, MoveLinear,hover,pos={1},lockHoverHeight", ControllingPrim.LocalID, pos); } } else @@ -1079,7 +1132,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin */ VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corr={7}", - Prim.LocalID, VehiclePosition, m_VhoverEfficiency, + ControllingPrim.LocalID, VehiclePosition, m_VhoverEfficiency, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight, verticalError, verticalCorrection); } @@ -1124,7 +1177,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { VehiclePosition = pos; VDetailLog("{0}, MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", - Prim.LocalID, m_BlockingEndPoint, posChange, pos); + ControllingPrim.LocalID, m_BlockingEndPoint, posChange, pos); } } return changed; @@ -1164,7 +1217,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Another approach is to measure if we're going up. If going up and not colliding, // the vehicle is in the air. Fix that by pushing down. - if (!Prim.IsColliding && VehicleVelocity.Z > 0.1) + if (!ControllingPrim.IsColliding && VehicleVelocity.Z > 0.1) { // Get rid of any of the velocity vector that is pushing us up. float upVelocity = VehicleVelocity.Z; @@ -1186,7 +1239,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin } */ VDetailLog("{0}, MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}", - Prim.LocalID, Prim.IsColliding, upVelocity, VehicleVelocity); + ControllingPrim.LocalID, ControllingPrim.IsColliding, upVelocity, VehicleVelocity); } } } @@ -1196,14 +1249,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass; // Hack to reduce downward force if the vehicle is probably sitting on the ground - if (Prim.IsColliding && IsGroundVehicle) + if (ControllingPrim.IsColliding && IsGroundVehicle) appliedGravity *= BSParam.VehicleGroundGravityFudge; VehicleAddForce(appliedGravity); VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={3}", - Prim.LocalID, m_VehicleGravity, - Prim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity); + ControllingPrim.LocalID, m_VehicleGravity, + ControllingPrim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity); } // ======================================================================= @@ -1227,11 +1280,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // The vehicle is not adding anything angular wise. VehicleRotationalVelocity = Vector3.Zero; - VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID); + VDetailLog("{0}, MoveAngular,done,zero", ControllingPrim.LocalID); } else { - VDetailLog("{0}, MoveAngular,done,nonZero,angVel={1}", Prim.LocalID, VehicleRotationalVelocity); + VDetailLog("{0}, MoveAngular,done,nonZero,angVel={1}", ControllingPrim.LocalID, VehicleRotationalVelocity); } // ================================================================== @@ -1262,7 +1315,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin torqueFromOffset.Z = 0; VehicleAddAngularForce(torqueFromOffset * m_vehicleMass); - VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); + VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", ControllingPrim.LocalID, torqueFromOffset); } } @@ -1288,7 +1341,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // } VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation; - VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContributionV); + VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", ControllingPrim.LocalID, angularMotorContributionV); } // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: @@ -1334,7 +1387,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleRotationalVelocity += vertContributionV; VDetailLog("{0}, MoveAngular,verticalAttraction,diffAxis={1},diffAng={2},corrRot={3},contrib={4}", - Prim.LocalID, + ControllingPrim.LocalID, differenceAxis, differenceAngle, correctionRotation, @@ -1433,9 +1486,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleRotationalVelocity += deflectContributionV * VehicleOrientation; VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", - Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV); + ControllingPrim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV); VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}", - Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale); + ControllingPrim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale); } } @@ -1501,7 +1554,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}", - Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV); + ControllingPrim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV); } } @@ -1540,7 +1593,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (rotq != m_rot) { VehicleOrientation = m_rot; - VDetailLog("{0}, LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); + VDetailLog("{0}, LimitRotation,done,orig={1},new={2}", ControllingPrim.LocalID, rotq, m_rot); } } @@ -1554,8 +1607,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Invoke the detailed logger and output something if it's enabled. private void VDetailLog(string msg, params Object[] args) { - if (Prim.PhysicsScene.VehicleLoggingEnabled) - Prim.PhysicsScene.DetailLog(msg, args); + if (ControllingPrim.PhysicsScene.VehicleLoggingEnabled) + ControllingPrim.PhysicsScene.DetailLog(msg, args); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 6bb88c77f3..98ea833366 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -78,6 +78,9 @@ public abstract class BSPhysObject : PhysicsActor Name = name; // PhysicsActor also has the name of the object. Someday consolidate. TypeName = typeName; + // The collection of things that push me around + PhysicalActors = new BSActorCollection(PhysicsScene); + // Initialize variables kept in base. GravModifier = 1.0f; Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity); @@ -109,6 +112,10 @@ public abstract class BSPhysObject : PhysicsActor { UnRegisterAllPreStepActions(); UnRegisterAllPostStepActions(); + PhysicsScene.TaintedObject("BSPhysObject.Destroy", delegate() + { + PhysicalActors.Release(); + }); } public BSScene PhysicsScene { get; protected set; } @@ -180,7 +187,7 @@ public abstract class BSPhysObject : PhysicsActor Friction = matAttrib.friction; Restitution = matAttrib.restitution; Density = matAttrib.density / BSParam.DensityScaleFactor; - DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density); + // DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density); } // Stop all physical motion. @@ -230,6 +237,7 @@ public abstract class BSPhysObject : PhysicsActor public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free. public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free + public readonly String LockedAxisActorName = "BSPrim.LockedAxis"; #region Collisions @@ -413,6 +421,9 @@ public abstract class BSPhysObject : PhysicsActor #endregion // Collisions #region Per Simulation Step actions + + public BSActorCollection PhysicalActors; + // There are some actions that must be performed for a physical object before each simulation step. // These actions are optional so, rather than scanning all the physical objects and asking them // if they have anything to do, a physical object registers for an event call before the step is performed. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 6a5461a4e8..e56276a9d9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -72,7 +72,8 @@ public class BSPrim : BSPhysObject private int CrossingFailures { get; set; } - public BSDynamics VehicleController { get; private set; } + public BSDynamics VehicleActor; + public string VehicleActorName = "BasicVehicle"; private BSVMotor _targetMotor; private OMV.Vector3 _PIDTarget; @@ -100,11 +101,12 @@ public class BSPrim : BSPhysObject _isPhysical = pisPhysical; _isVolumeDetect = false; - VehicleController = new BSDynamics(PhysicsScene, this); // add vehicleness + VehicleActor = new BSDynamics(PhysicsScene, this, VehicleActorName); + PhysicalActors.Add(VehicleActorName, VehicleActor); _mass = CalculateMass(); - DetailLog("{0},BSPrim.constructor,call", LocalID); + // DetailLog("{0},BSPrim.constructor,call", LocalID); // do the actual object creation at taint time PhysicsScene.TaintedObject("BSPrim.create", delegate() { @@ -126,7 +128,7 @@ public class BSPrim : BSPhysObject // Undo any vehicle properties this.VehicleType = (int)Vehicle.TYPE_NONE; - PhysicsScene.TaintedObject("BSPrim.destroy", delegate() + PhysicsScene.TaintedObject("BSPrim.Destroy", delegate() { DetailLog("{0},BSPrim.Destroy,taint,", LocalID); // If there are physical body and shape, release my use of same. @@ -257,98 +259,32 @@ public class BSPrim : BSPhysObject }); } - bool TryExperimentalLockAxisCode = false; - BSConstraint LockAxisConstraint = null; public override void LockAngularMotion(OMV.Vector3 axis) { DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); // "1" means free, "0" means locked - OMV.Vector3 locking = new OMV.Vector3(1f, 1f, 1f); + OMV.Vector3 locking = LockedAxisFree; if (axis.X != 1) locking.X = 0f; if (axis.Y != 1) locking.Y = 0f; if (axis.Z != 1) locking.Z = 0f; LockedAxis = locking; - if (TryExperimentalLockAxisCode && LockedAxis != LockedAxisFree) + if (LockedAxis != LockedAxisFree) { - // 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 - PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate() { - CleanUpLockAxisPhysicals(true /* inTaintTime */); - - BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, PhysBody, - OMV.Vector3.Zero, OMV.Quaternion.Inverse(RawOrientation), - true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */); - LockAxisConstraint = axisConstrainer; - PhysicsScene.Constraints.AddConstraint(LockAxisConstraint); - - // The constraint is tied to the world and oriented to the prim. - - // Free to move linearly - OMV.Vector3 linearLow = OMV.Vector3.Zero; - OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize; - axisConstrainer.SetLinearLimits(linearLow, linearHigh); - - // Angular with some axis locked - float f2PI = (float)Math.PI * 2f; - OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI); - OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI); - if (LockedAxis.X != 1f) + // If there is not already an axis locker, make one + if (!PhysicalActors.HasActor(LockedAxisActorName)) { - angularLow.X = 0f; - angularHigh.X = 0f; + DetailLog("{0},BSPrim.LockAngularMotion,taint,registeringLockAxisActor", LocalID); + PhysicalActors.Add(LockedAxisActorName, new BSActorLockAxis(PhysicsScene, this, LockedAxisActorName)); } - if (LockedAxis.Y != 1f) - { - angularLow.Y = 0f; - angularHigh.Y = 0f; - } - if (LockedAxis.Z != 1f) - { - angularLow.Z = 0f; - angularHigh.Z = 0f; - } - axisConstrainer.SetAngularLimits(angularLow, angularHigh); - - DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}", - 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(RawMass); + UpdatePhysicalParameters(); }); } - else - { - // Everything seems unlocked - CleanUpLockAxisPhysicals(false /* inTaintTime */); - } - return; } - // Get rid of any constraint built for LockAxis - // Most often the constraint is removed when the constraint collection is cleaned for this prim. - private void CleanUpLockAxisPhysicals(bool inTaintTime) - { - if (LockAxisConstraint != null) - { - PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CleanUpLockAxisPhysicals", delegate() - { - if (LockAxisConstraint != null) - { - PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint); - LockAxisConstraint = null; - DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", LocalID); - } - }); - } - } public override OMV.Vector3 RawPosition { @@ -604,7 +540,7 @@ public class BSPrim : BSPhysObject public override int VehicleType { get { - return (int)VehicleController.Type; // if we are a vehicle, return that type + return (int)VehicleActor.Type; // if we are a vehicle, return that type } set { Vehicle type = (Vehicle)value; @@ -613,20 +549,8 @@ public class BSPrim : BSPhysObject { // 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. - VehicleController.ProcessTypeChange(type); + VehicleActor.ProcessTypeChange(type); ActivateIfPhysical(false); - - // If an active vehicle, register the vehicle code to be called before each step - if (VehicleController.Type == Vehicle.TYPE_NONE) - { - UnRegisterPreStepAction("BSPrim.Vehicle", LocalID); - UnRegisterPostStepAction("BSPrim.Vehicle", LocalID); - } - else - { - RegisterPreStepAction("BSPrim.Vehicle", LocalID, VehicleController.Step); - RegisterPostStepAction("BSPrim.Vehicle", LocalID, VehicleController.PostStep); - } }); } } @@ -634,7 +558,7 @@ public class BSPrim : BSPhysObject { PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() { - VehicleController.ProcessFloatVehicleParam((Vehicle)param, value); + VehicleActor.ProcessFloatVehicleParam((Vehicle)param, value); ActivateIfPhysical(false); }); } @@ -642,7 +566,7 @@ public class BSPrim : BSPhysObject { PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() { - VehicleController.ProcessVectorVehicleParam((Vehicle)param, value); + VehicleActor.ProcessVectorVehicleParam((Vehicle)param, value); ActivateIfPhysical(false); }); } @@ -650,7 +574,7 @@ public class BSPrim : BSPhysObject { PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() { - VehicleController.ProcessRotationVehicleParam((Vehicle)param, rotation); + VehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation); ActivateIfPhysical(false); }); } @@ -658,7 +582,7 @@ public class BSPrim : BSPhysObject { PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate() { - VehicleController.ProcessVehicleFlags(param, remove); + VehicleActor.ProcessVehicleFlags(param, remove); }); } @@ -915,7 +839,8 @@ public class BSPrim : BSPhysObject MakeDynamic(IsStatic); // Update vehicle specific parameters (after MakeDynamic() so can change physical parameters) - VehicleController.Refresh(); + VehicleActor.Refresh(); + PhysicalActors.Refresh(); // Arrange for collision events if the simulator wants them EnableCollisions(SubscribedEvents()); @@ -1721,9 +1646,9 @@ public class BSPrim : BSPhysObject volume *= (profileEnd - profileBegin); returnMass = Density * BSParam.DensityScaleFactor * volume; - DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass); returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass); + // DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass); return returnMass; }// end CalculateMass @@ -1752,7 +1677,8 @@ public class BSPrim : BSPhysObject protected virtual void RemoveBodyDependencies() { - VehicleController.RemoveBodyDependencies(this); + VehicleActor.RemoveBodyDependencies(); + PhysicalActors.RemoveBodyDependencies(); } // The physics engine says that properties have updated. Update same and inform @@ -1761,13 +1687,6 @@ public class BSPrim : BSPhysObject { TriggerPreUpdatePropertyAction(ref entprop); - // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet - // TODO: handle physics introduced by Bullet with computed vehicle physics. - if (VehicleController.IsActive) - { - entprop.RotationalVelocity = OMV.Vector3.Zero; - } - // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG // Assign directly to the local variables so the normal set actions do not happen diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index e6aefd52ec..9818b054fc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -463,7 +463,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (!m_initialized) return null; - DetailLog("{0},BSScene.AddPrimShape,call", localID); + // DetailLog("{0},BSScene.AddPrimShape,call", localID); BSPhysObject prim = new BSPrimLinkable(localID, primName, this, position, size, rotation, pbs, isPhysical); lock (PhysObjects) PhysObjects.Add(localID, prim); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index b2fb8354ac..cd15850f79 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -199,15 +199,8 @@ public sealed class BSTerrainManager : IDisposable if (MegaRegionParentPhysicsScene is BSScene) { DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", BSScene.DetailLogZero, m_worldOffset, m_worldMax); - // This looks really odd but this region is passing its terrain to its mega-region root region - // and the creation of the terrain must happen on the root region's taint thread and not - // my taint thread. - ((BSScene)MegaRegionParentPhysicsScene).PostTaintObject("TerrainManager.SetTerrain.Mega-" + m_worldOffset.ToString(), 0, delegate() - { - ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateTerrain( - BSScene.CHILDTERRAIN_ID, localHeightMap, - m_worldOffset, m_worldOffset + DefaultRegionSize, true /* inTaintTime */); - }); + ((BSScene)MegaRegionParentPhysicsScene).TerrainManager.AddMegaRegionChildTerrain( + BSScene.CHILDTERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize); } } else @@ -215,12 +208,23 @@ public sealed class BSTerrainManager : IDisposable // If not doing the mega-prim thing, just change the terrain DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero); - UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap, - m_worldOffset, m_worldOffset + DefaultRegionSize, true /* inTaintTime */); + UpdateTerrain(BSScene.TERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize); } }); } + // Another region is calling this region passing a terrain. + // A region that is not the mega-region root will pass its terrain to the root region so the root region + // physics engine will have all the terrains. + private void AddMegaRegionChildTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) + { + // Since we are called by another region's thread, the action must be rescheduled onto our processing thread. + PhysicsScene.PostTaintObject("TerrainManager.AddMegaRegionChild" + m_worldOffset.ToString(), 0, delegate() + { + UpdateTerrain(id, heightMap, minCoords, maxCoords); + }); + } + // If called for terrain has has not been previously allocated, a new terrain will be built // based on the passed information. The 'id' should be either the terrain id or // BSScene.CHILDTERRAIN_ID. If the latter, a new child terrain ID will be allocated and used. @@ -230,11 +234,10 @@ public sealed class BSTerrainManager : IDisposable // This call is most often used to update the heightMap and parameters of the terrain. // (The above does suggest that some simplification/refactoring is in order.) // Called during taint-time. - private void UpdateTerrain(uint id, float[] heightMap, - Vector3 minCoords, Vector3 maxCoords, bool inTaintTime) + private void UpdateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords) { - DetailLog("{0},BSTerrainManager.UpdateTerrain,call,id={1},minC={2},maxC={3},inTaintTime={4}", - BSScene.DetailLogZero, id, minCoords, maxCoords, inTaintTime); + DetailLog("{0},BSTerrainManager.UpdateTerrain,call,id={1},minC={2},maxC={3}", + BSScene.DetailLogZero, id, minCoords, maxCoords); // Find high and low points of passed heightmap. // The min and max passed in is usually the area objects can be in (maximum diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs index 33232bdb7a..b040e21280 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs @@ -114,9 +114,9 @@ public class BasicVehicles : OpenSimTestCase // Instead the appropriate values are set and calls are made just the parts of the // controller we want to exercise. Stepping the physics engine then applies // the actions of that one feature. - TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency); - TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale); - TestVehicle.VehicleController.enableAngularVerticalAttraction = true; + TestVehicle.VehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency); + TestVehicle.VehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale); + TestVehicle.VehicleActor.enableAngularVerticalAttraction = true; TestVehicle.IsPhysical = true; PhysicsScene.ProcessTaints(); @@ -124,9 +124,9 @@ public class BasicVehicles : OpenSimTestCase // Step the simulator a bunch of times and vertical attraction should orient the vehicle up for (int ii = 0; ii < simSteps; ii++) { - TestVehicle.VehicleController.ForgetKnownVehicleProperties(); - TestVehicle.VehicleController.ComputeAngularVerticalAttraction(); - TestVehicle.VehicleController.PushKnownChanged(); + TestVehicle.VehicleActor.ForgetKnownVehicleProperties(); + TestVehicle.VehicleActor.ComputeAngularVerticalAttraction(); + TestVehicle.VehicleActor.PushKnownChanged(); PhysicsScene.Simulate(simulationTimeStep); } diff --git a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs index 17243ab134..dd70f5900f 100644 --- a/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs +++ b/OpenSim/Region/ScriptEngine/XEngine/XEngine.cs @@ -609,7 +609,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine if (!(MainConsole.Instance.ConsoleScene == null || MainConsole.Instance.ConsoleScene == m_Scene)) return; - MainConsole.Instance.OutputFormat(GetStatusReport()); + MainConsole.Instance.Output(GetStatusReport()); } public string GetStatusReport() @@ -708,7 +708,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine sb.AppendFormat("Containing part UUID: {0}\n", instance.ObjectID); sb.AppendFormat("Position : {0}\n", sop.AbsolutePosition); - MainConsole.Instance.OutputFormat(sb.ToString()); + MainConsole.Instance.Output(sb.ToString()); } private void HandleSuspendScript(IScriptInstance instance) diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll index 689b34f99d..5432813a50 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 b8c813e345..286d930864 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 33c4d08bf4..dca711603a 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 79207fedc9..b63feb3ae6 100755 Binary files a/bin/lib64/libBulletSim.so and b/bin/lib64/libBulletSim.so differ