Revert "Revert "BulletSim: move collision processing for linksets from BSPrimLinkable""

Found that the vehicle movement problem was not caused by these physics changes.

This reverts commit c45659863d.

OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs

@@ -1001,7 +1001,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             else if (newVelocityLengthSq < 0.001f)
                 VehicleVelocity = Vector3.Zero;
 
-            VDetailLog("{0},  MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.IsColliding, VehicleVelocity );
+            VDetailLog("{0},  MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, VehicleVelocity );
 
         } // end MoveLinear()
 
@@ -1062,7 +1062,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 Vector3 linearDeflectionW = linearDeflectionV * VehicleOrientation;
 
                 // Optionally, if not colliding, don't effect world downward velocity. Let falling things fall.
-                if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.IsColliding)
+                if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.HasSomeCollision)
                 {
                     linearDeflectionW.Z = 0f;
                 }
@@ -1222,7 +1222,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
                 distanceAboveGround = VehiclePosition.Z - targetHeight;
                 // Not colliding if the vehicle is off the ground
-                if (!Prim.IsColliding)
+                if (!Prim.HasSomeCollision)
                 {
                     // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale);
                     VehicleVelocity += new Vector3(0, 0, -distanceAboveGround);
@@ -1233,12 +1233,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 //     be computed with a motor.
                 // TODO: add interaction with banking.
                 VDetailLog("{0},  MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
-                                Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret);
+                                Prim.LocalID, distanceAboveGround, Prim.HasSomeCollision, ret);
                  */
 
                 // 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 (!ControllingPrim.IsColliding && VehicleVelocity.Z > 0.1)
+                if (!ControllingPrim.HasSomeCollision && VehicleVelocity.Z > 0.1)
                 {
                     // Get rid of any of the velocity vector that is pushing us up.
                     float upVelocity = VehicleVelocity.Z;
@@ -1260,7 +1260,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     }
                         */
                     VDetailLog("{0},  MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}",
-                                    ControllingPrim.LocalID, ControllingPrim.IsColliding, upVelocity, VehicleVelocity);
+                                    ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, upVelocity, VehicleVelocity);
                 }
             }
         }
@@ -1270,14 +1270,14 @@ 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 (ControllingPrim.IsColliding && IsGroundVehicle)
+            if (ControllingPrim.HasSomeCollision && IsGroundVehicle)
                 appliedGravity *= BSParam.VehicleGroundGravityFudge;
 
             VehicleAddForce(appliedGravity);
 
             VDetailLog("{0},  MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={5}",
                             ControllingPrim.LocalID, m_VehicleGravity,
-                            ControllingPrim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity);
+                            ControllingPrim.HasSomeCollision, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity);
         }
 
         // =======================================================================

OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs

@@ -203,6 +203,33 @@ public abstract class BSLinkset
         return ret;
     }
 
+    // Called after a simulation step to post a collision with this object.
+    // Return 'true' if linkset processed the collision. 'false' says the linkset didn't have
+    //     anything to add for the collision and it should be passed through normal processing.
+    // Default processing for a linkset.
+    public virtual bool HandleCollide(uint collidingWith, BSPhysObject collidee,
+                                OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
+    {
+        bool ret = false;
+
+        // prims in the same linkset cannot collide with each other
+        BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
+        if (convCollidee != null && (LinksetID == convCollidee.Linkset.LinksetID))
+        {
+            // By returning 'true', we tell the caller the collision has been 'handled' so it won't
+            //     do anything about this collision and thus, effectivily, ignoring the collision.
+            ret = true;
+        }
+        else
+        {
+            // Not a collision between members of the linkset. Must be a real collision.
+            // So the linkset root can know if there is a collision anywhere in the linkset.
+            LinksetRoot.SomeCollisionSimulationStep = m_physicsScene.SimulationStep;
+        }
+
+        return ret;
+    }
+
     // I am the root of a linkset and a new child is being added
     // Called while LinkActivity is locked.
     protected abstract void AddChildToLinkset(BSPrimLinkable child);
@@ -250,6 +277,53 @@ public abstract class BSLinkset
     // Called at taint-time!!
     public abstract bool RemoveDependencies(BSPrimLinkable child);
 
+    // ================================================================
+    // Some physical setting happen to all members of the linkset
+    public virtual void SetPhysicalFriction(float friction)
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                    m_physicsScene.PE.SetFriction(member.PhysBody, friction);
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
+    public virtual void SetPhysicalRestitution(float restitution)
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                    m_physicsScene.PE.SetRestitution(member.PhysBody, restitution);
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
+    public virtual void SetPhysicalGravity(OMV.Vector3 gravity)
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                    m_physicsScene.PE.SetGravity(member.PhysBody, gravity);
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
+    public virtual void ComputeLocalInertia()
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                {
+                    OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass);
+                    member.Inertia = inertia * BSParam.VehicleInertiaFactor;
+                    m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia);
+                    m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
+                }
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
     // ================================================================
     protected virtual float ComputeLinksetMass()
     {
@@ -311,6 +385,5 @@ public abstract class BSLinkset
         if (m_physicsScene.PhysicsLogging.Enabled)
             m_physicsScene.DetailLog(msg, args);
     }
-
 }
 }

OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs

@@ -353,6 +353,16 @@ public abstract class BSPhysObject : PhysicsActor
                 CollidingStep = BSScene.NotASimulationStep;
             }
     }
+    // Complex objects (like linksets) need to know if there is a collision on any part of
+    //    their shape. 'IsColliding' has an existing definition of reporting a collision on
+    //    only this specific prim or component of linksets.
+    // 'HasSomeCollision' is defined as reporting if there is a collision on any part of
+    //    the complex body that this prim is the root of.
+    public virtual bool HasSomeCollision
+    {
+        get { return IsColliding; }
+        set { IsColliding = value; }
+    }
     public override bool CollidingGround {
         get { return (CollidingGroundStep == PhysScene.SimulationStep); }
         set
@@ -386,6 +396,7 @@ public abstract class BSPhysObject : PhysicsActor
     // Return 'true' if a collision was processed and should be sent up.
     // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision.
     // Called at taint time from within the Step() function
+    public delegate bool CollideCall(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
     public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
                     OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -495,8 +495,8 @@ public class BSPrim : BSPhysObject
         }
     }
 
-        // Find and return a handle to the current vehicle actor.
+    // Find and return a handle to the current vehicle actor.
-        // Return 'null' if there is no vehicle actor.
+    // Return 'null' if there is no vehicle actor.
     public BSDynamics GetVehicleActor()
     {
         BSDynamics ret = null;
@@ -507,6 +507,7 @@ public class BSPrim : BSPhysObject
         }
         return ret;
     }
+
     public override int VehicleType {
         get {
             int ret = (int)Vehicle.TYPE_NONE;

OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs

@@ -200,20 +200,38 @@ public class BSPrimLinkable : BSPrimDisplaced
     }
 
     // Called after a simulation step to post a collision with this object.
+    // This returns 'true' if the collision has been queued and the SendCollisions call must
+    //     be made at the end of the simulation step.
     public override bool Collide(uint collidingWith, BSPhysObject collidee,
                     OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
     {
-        // prims in the same linkset cannot collide with each other
+        bool ret = false;
-        BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
+        // Ask the linkset if it wants to handle the collision
-        if (convCollidee != null && (this.Linkset.LinksetID == convCollidee.Linkset.LinksetID))
+        if (!Linkset.HandleCollide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth))
         {
-            return false;
+            // The linkset didn't handle it so pass the collision through normal processing
+            ret = base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
         }
+        return ret;
+    }
 
-        // TODO: handle collisions of other objects with with children of linkset.
+    // A linkset reports any collision on any part of the linkset.
-        //    This is a problem for LinksetCompound since the children are packed into the root.
+    public long SomeCollisionSimulationStep = 0;
+    public override bool HasSomeCollision
+    {
+        get
+        {
+            return (SomeCollisionSimulationStep == PhysScene.SimulationStep) || base.IsColliding;
+        }
+        set
+        {
+            if (value)
+                SomeCollisionSimulationStep = PhysScene.SimulationStep;
+            else
+                SomeCollisionSimulationStep = 0;
 
-        return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
+            base.HasSomeCollision = value;
+        }
     }
 }
 }