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Merge branch 'master' of /home/opensim/var/repo/opensim

integration
BlueWall 2012-09-18 08:23:35 -04:00
parent 286a9adcb2 91312daeb2
commit b1a42f4257
25 changed files with 891 additions and 496 deletions
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19
OpenSim/Region/CoreModules/Framework/EntityTransfer/EntityTransferModule.cs
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@ -323,6 +323,14 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
return; return;
} }
// Validate assorted conditions
string reason = string.Empty;
if (!ValidateGenericConditions(sp, reg, finalDestination, teleportFlags, out reason))
{
sp.ControllingClient.SendTeleportFailed(reason);
return;
}
// //
// This is it // This is it
// //
@ -354,6 +362,13 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
} }
} }
// Nothing to validate here
protected virtual bool ValidateGenericConditions(ScenePresence sp, GridRegion reg, GridRegion finalDestination, uint teleportFlags, out string reason)
{
reason = String.Empty;
return true;
}
/// <summary> /// <summary>
/// Determines whether this instance is within the max transfer distance. /// Determines whether this instance is within the max transfer distance.
/// </summary> /// </summary>
@ -568,7 +583,7 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
//sp.ControllingClient.SendTeleportProgress(teleportFlags, "Updating agent..."); //sp.ControllingClient.SendTeleportProgress(teleportFlags, "Updating agent...");
if (!UpdateAgent(reg, finalDestination, agent)) if (!UpdateAgent(reg, finalDestination, agent, sp))
{ {
// Region doesn't take it // Region doesn't take it
m_log.WarnFormat( m_log.WarnFormat(
@ -695,7 +710,7 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
return success; return success;
} }
protected virtual bool UpdateAgent(GridRegion reg, GridRegion finalDestination, AgentData agent) protected virtual bool UpdateAgent(GridRegion reg, GridRegion finalDestination, AgentData agent, ScenePresence sp)
{ {
return Scene.SimulationService.UpdateAgent(finalDestination, agent); return Scene.SimulationService.UpdateAgent(finalDestination, agent);
} }

182
OpenSim/Region/CoreModules/Framework/EntityTransfer/HGEntityTransferModule.cs
View File

@ -54,6 +54,60 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
private GatekeeperServiceConnector m_GatekeeperConnector; private GatekeeperServiceConnector m_GatekeeperConnector;
protected bool m_RestrictAppearanceAbroad;
protected string m_AccountName;
protected List<AvatarAppearance> m_ExportedAppearances;
protected List<AvatarAttachment> m_Attachs;
protected List<AvatarAppearance> ExportedAppearance
{
get
{
if (m_ExportedAppearances != null)
return m_ExportedAppearances;
m_ExportedAppearances = new List<AvatarAppearance>();
m_Attachs = new List<AvatarAttachment>();
string[] names = m_AccountName.Split(new char[] { ',' }, StringSplitOptions.RemoveEmptyEntries);
foreach (string name in names)
{
string[] parts = name.Trim().Split();
if (parts.Length != 2)
{
m_log.WarnFormat("[HG ENTITY TRANSFER MODULE]: Wrong user account name format {0}. Specify 'First Last'", name);
return null;
}
UserAccount account = Scene.UserAccountService.GetUserAccount(UUID.Zero, parts[0], parts[1]);
if (account == null)
{
m_log.WarnFormat("[HG ENTITY TRANSFER MODULE]: Unknown account {0}", m_AccountName);
return null;
}
AvatarAppearance a = Scene.AvatarService.GetAppearance(account.PrincipalID);
if (a != null)
m_log.DebugFormat("[HG ENTITY TRANSFER MODULE]: Successfully retrieved appearance for {0}", name);
foreach (AvatarAttachment att in a.GetAttachments())
{
InventoryItemBase item = new InventoryItemBase(att.ItemID, account.PrincipalID);
item = Scene.InventoryService.GetItem(item);
if (item != null)
a.SetAttachment(att.AttachPoint, att.ItemID, item.AssetID);
else
m_log.WarnFormat("[HG ENTITY TRANSFER MODULE]: Unable to retrieve item {0} from inventory {1}", att.ItemID, name);
}
m_ExportedAppearances.Add(a);
m_Attachs.AddRange(a.GetAttachments());
}
return m_ExportedAppearances;
}
}
#region ISharedRegionModule #region ISharedRegionModule
public override string Name public override string Name
@ -72,8 +126,18 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
{ {
IConfig transferConfig = source.Configs["EntityTransfer"]; IConfig transferConfig = source.Configs["EntityTransfer"];
if (transferConfig != null) if (transferConfig != null)
{
m_levelHGTeleport = transferConfig.GetInt("LevelHGTeleport", 0); m_levelHGTeleport = transferConfig.GetInt("LevelHGTeleport", 0);
m_RestrictAppearanceAbroad = transferConfig.GetBoolean("RestrictAppearanceAbroad", false);
if (m_RestrictAppearanceAbroad)
{
m_AccountName = transferConfig.GetString("AccountForAppearance", string.Empty);
if (m_AccountName == string.Empty)
m_log.WarnFormat("[HG ENTITY TRANSFER MODULE]: RestrictAppearanceAbroad is on, but no account has been given for avatar appearance!");
}
}
InitialiseCommon(source); InitialiseCommon(source);
m_log.DebugFormat("[HG ENTITY TRANSFER MODULE]: {0} enabled.", Name); m_log.DebugFormat("[HG ENTITY TRANSFER MODULE]: {0} enabled.", Name);
} }
@ -195,6 +259,124 @@ namespace OpenSim.Region.CoreModules.Framework.EntityTransfer
return base.CreateAgent(sp, reg, finalDestination, agentCircuit, teleportFlags, out reason, out logout); return base.CreateAgent(sp, reg, finalDestination, agentCircuit, teleportFlags, out reason, out logout);
} }
protected override bool ValidateGenericConditions(ScenePresence sp, GridRegion reg, GridRegion finalDestination, uint teleportFlags, out string reason)
{
reason = "Please wear your grid's allowed appearance before teleporting to another grid";
if (!m_RestrictAppearanceAbroad)
return true;
// The rest is only needed for controlling appearance
int flags = Scene.GridService.GetRegionFlags(Scene.RegionInfo.ScopeID, reg.RegionID);
if (flags == -1 /* no region in DB */ || (flags & (int)OpenSim.Data.RegionFlags.Hyperlink) != 0)
{
// this user is going to another grid
if (Scene.UserManagementModule.IsLocalGridUser(sp.UUID))
{
m_log.DebugFormat("[HG ENTITY TRANSFER MODULE]: RestrictAppearanceAbroad is ON. Checking generic appearance");
// Check wearables
for (int i = 0; i < AvatarWearable.MAX_WEARABLES; i++)
{
for (int j = 0; j < sp.Appearance.Wearables[i].Count; j++)
{
if (sp.Appearance.Wearables[i] == null)
continue;
bool found = false;
foreach (AvatarAppearance a in ExportedAppearance)
if (a.Wearables[i] != null)
{
found = true;
break;
}
if (!found)
{
m_log.DebugFormat("[HG ENTITY TRANSFER MODULE]: Wearable not allowed to go outside {0}", i);
return false;
}
found = false;
foreach (AvatarAppearance a in ExportedAppearance)
if (sp.Appearance.Wearables[i][j].AssetID == a.Wearables[i][j].AssetID)
{
found = true;
break;
}
if (!found)
{
m_log.DebugFormat("[HG ENTITY TRANSFER MODULE]: Wearable not allowed to go outside {0}", i);
return false;
}
}
}
// Check attachments
foreach (AvatarAttachment att in sp.Appearance.GetAttachments())
{
bool found = false;
foreach (AvatarAttachment att2 in m_Attachs)
{
if (att2.AssetID == att.AssetID)
{
found = true;
break;
}
}
if (!found)
{
m_log.DebugFormat("[HG ENTITY TRANSFER MODULE]: Attachment not allowed to go outside {0}", att.AttachPoint);
return false;
}
}
}
}
reason = string.Empty;
return true;
}
//protected override bool UpdateAgent(GridRegion reg, GridRegion finalDestination, AgentData agentData, ScenePresence sp)
//{
// int flags = Scene.GridService.GetRegionFlags(Scene.RegionInfo.ScopeID, reg.RegionID);
// if (flags == -1 /* no region in DB */ || (flags & (int)OpenSim.Data.RegionFlags.Hyperlink) != 0)
// {
// // this user is going to another grid
// if (m_RestrictAppearanceAbroad && Scene.UserManagementModule.IsLocalGridUser(agentData.AgentID))
// {
// // We need to strip the agent off its appearance
// m_log.DebugFormat("[HG ENTITY TRANSFER MODULE]: RestrictAppearanceAbroad is ON. Sending generic appearance");
// // Delete existing npc attachments
// Scene.AttachmentsModule.DeleteAttachmentsFromScene(sp, false);
// // XXX: We can't just use IAvatarFactoryModule.SetAppearance() yet since it doesn't transfer attachments
// AvatarAppearance newAppearance = new AvatarAppearance(ExportedAppearance, true);
// sp.Appearance = newAppearance;
// // Rez needed npc attachments
// Scene.AttachmentsModule.RezAttachments(sp);
// IAvatarFactoryModule module = Scene.RequestModuleInterface<IAvatarFactoryModule>();
// //module.SendAppearance(sp.UUID);
// module.RequestRebake(sp, false);
// Scene.AttachmentsModule.CopyAttachments(sp, agentData);
// agentData.Appearance = sp.Appearance;
// }
// }
// foreach (AvatarAttachment a in agentData.Appearance.GetAttachments())
// m_log.DebugFormat("[XXX]: {0}-{1}", a.ItemID, a.AssetID);
// return base.UpdateAgent(reg, finalDestination, agentData, sp);
//}
public override void TeleportHome(UUID id, IClientAPI client) public override void TeleportHome(UUID id, IClientAPI client)
{ {
m_log.DebugFormat( m_log.DebugFormat(

31
OpenSim/Region/OptionalModules/Scripting/ScriptModuleComms/ScriptModuleCommsModule.cs → OpenSim/Region/CoreModules/Scripting/ScriptModuleComms/ScriptModuleCommsModule.cs
View File

@ -211,6 +211,23 @@ namespace OpenSim.Region.OptionalModules.Scripting.ScriptModuleComms
RegisterScriptInvocation(target, mi); RegisterScriptInvocation(target, mi);
} }
} }
public void RegisterScriptInvocations(IRegionModuleBase target)
{
foreach(MethodInfo method in target.GetType().GetMethods(
BindingFlags.Public | BindingFlags.Instance |
BindingFlags.Static))
{
if(method.GetCustomAttributes(
typeof(ScriptInvocationAttribute), true).Any())
{
if(method.IsStatic)
RegisterScriptInvocation(target.GetType(), method);
else
RegisterScriptInvocation(target, method);
}
}
}
public Delegate[] GetScriptInvocationList() public Delegate[] GetScriptInvocationList()
{ {
@ -313,6 +330,20 @@ namespace OpenSim.Region.OptionalModules.Scripting.ScriptModuleComms
} }
} }
public void RegisterConstants(IRegionModuleBase target)
{
foreach (FieldInfo field in target.GetType().GetFields(
BindingFlags.Public | BindingFlags.Static |
BindingFlags.Instance))
{
if (field.GetCustomAttributes(
typeof(ScriptConstantAttribute), true).Any())
{
RegisterConstant(field.Name, field.GetValue(target));
}
}
}
/// <summary> /// <summary>
/// Operation to check for a registered constant /// Operation to check for a registered constant
/// </summary> /// </summary>

7
OpenSim/Region/CoreModules/ServiceConnectorsOut/Asset/LocalAssetServiceConnector.cs
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@ -204,8 +204,11 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Asset
public byte[] GetData(string id) public byte[] GetData(string id)
{ {
// m_log.DebugFormat("[LOCAL ASSET SERVICES CONNECTOR]: Requesting data for asset {0}", id); // m_log.DebugFormat("[LOCAL ASSET SERVICES CONNECTOR]: Requesting data for asset {0}", id);
AssetBase asset = m_Cache.Get(id); AssetBase asset = null;
if (m_Cache != null)
asset = m_Cache.Get(id);
if (asset != null) if (asset != null)
return asset.Data; return asset.Data;

136
OpenSim/Region/CoreModules/ServiceConnectorsOut/Asset/Tests/AssetConnectorTests.cs Normal file
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@ -0,0 +1,136 @@
/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using System.Collections.Generic;
using System.IO;
using System.Reflection;
using System.Threading;
using log4net.Config;
using Nini.Config;
using NUnit.Framework;
using OpenMetaverse;
using OpenSim.Framework;
using OpenSim.Region.Framework.Scenes;
using OpenSim.Region.CoreModules.ServiceConnectorsOut.Asset;
using OpenSim.Tests.Common;
namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Asset.Tests
{
[TestFixture]
public class AssetConnectorsTests : OpenSimTestCase
{
[Test]
public void TestAddAsset()
{
TestHelpers.InMethod();
// TestHelpers.EnableLogging();
IConfigSource config = new IniConfigSource();
config.AddConfig("Modules");
config.Configs["Modules"].Set("AssetServices", "LocalAssetServicesConnector");
config.AddConfig("AssetService");
config.Configs["AssetService"].Set("LocalServiceModule", "OpenSim.Services.AssetService.dll:AssetService");
config.Configs["AssetService"].Set("StorageProvider", "OpenSim.Tests.Common.dll");
LocalAssetServicesConnector lasc = new LocalAssetServicesConnector();
lasc.Initialise(config);
AssetBase a1 = AssetHelpers.CreateNotecardAsset();
lasc.Store(a1);
AssetBase retreivedA1 = lasc.Get(a1.ID);
Assert.That(retreivedA1.ID, Is.EqualTo(a1.ID));
Assert.That(retreivedA1.Metadata.ID, Is.EqualTo(a1.Metadata.ID));
Assert.That(retreivedA1.Data.Length, Is.EqualTo(a1.Data.Length));
AssetMetadata retrievedA1Metadata = lasc.GetMetadata(a1.ID);
Assert.That(retrievedA1Metadata.ID, Is.EqualTo(a1.ID));
byte[] retrievedA1Data = lasc.GetData(a1.ID);
Assert.That(retrievedA1Data.Length, Is.EqualTo(a1.Data.Length));
// TODO: Add cache and check that this does receive a copy of the asset
}
[Test]
public void TestAddTemporaryAsset()
{
TestHelpers.InMethod();
// TestHelpers.EnableLogging();
IConfigSource config = new IniConfigSource();
config.AddConfig("Modules");
config.Configs["Modules"].Set("AssetServices", "LocalAssetServicesConnector");
config.AddConfig("AssetService");
config.Configs["AssetService"].Set("LocalServiceModule", "OpenSim.Services.AssetService.dll:AssetService");
config.Configs["AssetService"].Set("StorageProvider", "OpenSim.Tests.Common.dll");
LocalAssetServicesConnector lasc = new LocalAssetServicesConnector();
lasc.Initialise(config);
AssetBase a1 = AssetHelpers.CreateNotecardAsset();
a1.Temporary = true;
lasc.Store(a1);
Assert.That(lasc.Get(a1.ID), Is.Null);
Assert.That(lasc.GetData(a1.ID), Is.Null);
Assert.That(lasc.GetMetadata(a1.ID), Is.Null);
// TODO: Add cache and check that this does receive a copy of the asset
}
[Test]
public void TestAddLocalAsset()
{
TestHelpers.InMethod();
// TestHelpers.EnableLogging();
IConfigSource config = new IniConfigSource();
config.AddConfig("Modules");
config.Configs["Modules"].Set("AssetServices", "LocalAssetServicesConnector");
config.AddConfig("AssetService");
config.Configs["AssetService"].Set("LocalServiceModule", "OpenSim.Services.AssetService.dll:AssetService");
config.Configs["AssetService"].Set("StorageProvider", "OpenSim.Tests.Common.dll");
LocalAssetServicesConnector lasc = new LocalAssetServicesConnector();
lasc.Initialise(config);
AssetBase a1 = AssetHelpers.CreateNotecardAsset();
a1.Local = true;
lasc.Store(a1);
Assert.That(lasc.Get(a1.ID), Is.Null);
Assert.That(lasc.GetData(a1.ID), Is.Null);
Assert.That(lasc.GetMetadata(a1.ID), Is.Null);
// TODO: Add cache and check that this does receive a copy of the asset
}
}
}

42
OpenSim/Region/Framework/Interfaces/IScriptModuleComms.cs
View File

@ -74,6 +74,14 @@ namespace OpenSim.Region.Framework.Interfaces
/// <param name="methods"></param> /// <param name="methods"></param>
void RegisterScriptInvocation(Type target, string[] methods); void RegisterScriptInvocation(Type target, string[] methods);
/// <summary>
/// Automatically register script invocations by checking for methods
/// with <see cref="ScriptInvocationAttribute"/>. Should only check
/// public methods.
/// </summary>
/// <param name="target"></param>
void RegisterScriptInvocations(IRegionModuleBase target);
/// <summary> /// <summary>
/// Returns an array of all registered script calls /// Returns an array of all registered script calls
/// </summary> /// </summary>
@ -96,11 +104,43 @@ namespace OpenSim.Region.Framework.Interfaces
/// <param name="key"></param> /// <param name="key"></param>
void DispatchReply(UUID scriptId, int code, string text, string key); void DispatchReply(UUID scriptId, int code, string text, string key);
/// For constants /// <summary>
/// Operation to for a region module to register a constant to be used
/// by the script engine
/// </summary>
/// <param name="cname">
/// The name of the constant. LSL convention is for constant names to
/// be uppercase.
/// </param>
/// <param name="value">
/// The value of the constant. Should be of a type that can be
/// converted to one of <see cref="OpenSim.Region.ScriptEngine.Shared.LSL_Types"/>
/// </param>
void RegisterConstant(string cname, object value); void RegisterConstant(string cname, object value);
/// <summary>
/// Automatically register all constants on a region module by
/// checking for fields with <see cref="ScriptConstantAttribute"/>.
/// </summary>
/// <param name="target"></param>
void RegisterConstants(IRegionModuleBase target);
/// <summary>
/// Operation to check for a registered constant
/// </summary>
/// <param name="cname">Name of constant</param>
/// <returns>Value of constant or null if none found.</returns>
object LookupModConstant(string cname); object LookupModConstant(string cname);
// For use ONLY by the script API // For use ONLY by the script API
void RaiseEvent(UUID script, string id, string module, string command, string key); void RaiseEvent(UUID script, string id, string module, string command, string key);
} }
[AttributeUsage(AttributeTargets.Method)]
public class ScriptInvocationAttribute : Attribute
{ }
[AttributeUsage(AttributeTargets.Field)]
public class ScriptConstantAttribute : Attribute
{ }
} }

3
OpenSim/Region/Framework/Scenes/Scene.cs
View File

@ -5527,6 +5527,9 @@ namespace OpenSim.Region.Framework.Scenes
public string GetExtraSetting(string name) public string GetExtraSetting(string name)
{ {
if (m_extraSettings == null)
return String.Empty;
string val; string val;
if (!m_extraSettings.TryGetValue(name, out val)) if (!m_extraSettings.TryGetValue(name, out val))

18
OpenSim/Region/OptionalModules/Avatar/Attachments/TempAttachmentsModule.cs
View File

@ -130,37 +130,37 @@ namespace OpenSim.Region.OptionalModules.Avatar.Attachments
SendConsoleOutput(agentID, String.Format("auto_grant_attach_perms set to {0}", val)); SendConsoleOutput(agentID, String.Format("auto_grant_attach_perms set to {0}", val));
} }
private void llAttachToAvatarTemp(UUID host, UUID script, int attachmentPoint) private int llAttachToAvatarTemp(UUID host, UUID script, int attachmentPoint)
{ {
SceneObjectPart hostPart = m_scene.GetSceneObjectPart(host); SceneObjectPart hostPart = m_scene.GetSceneObjectPart(host);
if (hostPart == null) if (hostPart == null)
return; return 0;
if (hostPart.ParentGroup.IsAttachment) if (hostPart.ParentGroup.IsAttachment)
return; return 0;
IAttachmentsModule attachmentsModule = m_scene.RequestModuleInterface<IAttachmentsModule>(); IAttachmentsModule attachmentsModule = m_scene.RequestModuleInterface<IAttachmentsModule>();
if (attachmentsModule == null) if (attachmentsModule == null)
return; return 0;
TaskInventoryItem item = hostPart.Inventory.GetInventoryItem(script); TaskInventoryItem item = hostPart.Inventory.GetInventoryItem(script);
if (item == null) if (item == null)
return; return 0;
if ((item.PermsMask & 32) == 0) // PERMISSION_ATTACH if ((item.PermsMask & 32) == 0) // PERMISSION_ATTACH
return; return 0;
ScenePresence target; ScenePresence target;
if (!m_scene.TryGetScenePresence(item.PermsGranter, out target)) if (!m_scene.TryGetScenePresence(item.PermsGranter, out target))
return; return 0;
if (target.UUID != hostPart.ParentGroup.OwnerID) if (target.UUID != hostPart.ParentGroup.OwnerID)
{ {
uint effectivePerms = hostPart.ParentGroup.GetEffectivePermissions(); uint effectivePerms = hostPart.ParentGroup.GetEffectivePermissions();
if ((effectivePerms & (uint)PermissionMask.Transfer) == 0) if ((effectivePerms & (uint)PermissionMask.Transfer) == 0)
return; return 0;
hostPart.ParentGroup.SetOwnerId(target.UUID); hostPart.ParentGroup.SetOwnerId(target.UUID);
hostPart.ParentGroup.SetRootPartOwner(hostPart.ParentGroup.RootPart, target.UUID, target.ControllingClient.ActiveGroupId); hostPart.ParentGroup.SetRootPartOwner(hostPart.ParentGroup.RootPart, target.UUID, target.ControllingClient.ActiveGroupId);
@ -183,7 +183,7 @@ namespace OpenSim.Region.OptionalModules.Avatar.Attachments
hostPart.ParentGroup.RootPart.ScheduleFullUpdate(); hostPart.ParentGroup.RootPart.ScheduleFullUpdate();
} }
attachmentsModule.AttachObject(target, hostPart.ParentGroup, (uint)attachmentPoint, false, true); return attachmentsModule.AttachObject(target, hostPart.ParentGroup, (uint)attachmentPoint, false, true) ? 1 : 0;
} }
} }
} }

21
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
View File

@ -131,8 +131,6 @@ public class BSCharacter : BSPhysObject
BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy); BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy);
BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(Scene.World.Ptr, LocalID)); BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(Scene.World.Ptr, LocalID));
// avatars get all collisions no matter what (makes walking on ground and such work)
BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
}); });
return; return;
@ -480,11 +478,10 @@ public class BSCharacter : BSPhysObject
// Stop collision events // Stop collision events
public override void UnSubscribeEvents() { public override void UnSubscribeEvents() {
_subscribedEventsMs = 0; _subscribedEventsMs = 0;
// Avatars get all their collision events Scene.TaintedObject("BSCharacter.UnSubscribeEvents", delegate()
// Scene.TaintedObject("BSCharacter.UnSubscribeEvents", delegate() {
// { BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
// BulletSimAPI.RemoveFromCollisionFlags2(Body.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); });
// });
} }
// Return 'true' if someone has subscribed to events // Return 'true' if someone has subscribed to events
public override bool SubscribedEvents() { public override bool SubscribedEvents() {
@ -532,20 +529,20 @@ public class BSCharacter : BSPhysObject
// The collision, if it should be reported to the character, is placed in a collection // The collision, if it should be reported to the character, is placed in a collection
// that will later be sent to the simulator when SendCollisions() is called. // that will later be sent to the simulator when SendCollisions() is called.
CollisionEventUpdate collisionCollection = null; CollisionEventUpdate collisionCollection = null;
public override void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth) public override bool Collide(uint collidingWith, BSPhysObject collidee, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth)
{ {
// m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith); bool ret = false;
// The following makes IsColliding() and IsCollidingGround() work // The following makes IsColliding() and IsCollidingGround() work
_collidingStep = Scene.SimulationStep; _collidingStep = Scene.SimulationStep;
if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID) if (collidingWith <= Scene.TerrainManager.HighestTerrainID)
{ {
_collidingGroundStep = Scene.SimulationStep; _collidingGroundStep = Scene.SimulationStep;
} }
// DetailLog("{0},BSCharacter.Collison,call,with={1}", LocalID, collidingWith); // DetailLog("{0},BSCharacter.Collison,call,with={1}", LocalID, collidingWith);
// throttle collisions to the rate specified in the subscription // throttle collisions to the rate specified in the subscription
if (_subscribedEventsMs != 0) { if (SubscribedEvents()) {
int nowTime = Scene.SimulationNowTime; int nowTime = Scene.SimulationNowTime;
if (nowTime >= _nextCollisionOkTime) { if (nowTime >= _nextCollisionOkTime) {
_nextCollisionOkTime = nowTime + _subscribedEventsMs; _nextCollisionOkTime = nowTime + _subscribedEventsMs;
@ -553,8 +550,10 @@ public class BSCharacter : BSPhysObject
if (collisionCollection == null) if (collisionCollection == null)
collisionCollection = new CollisionEventUpdate(); collisionCollection = new CollisionEventUpdate();
collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
ret = true;
} }
} }
return ret;
} }
public override void SendCollisions() public override void SendCollisions()

16
OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
View File

@ -74,6 +74,17 @@ public abstract class BSConstraint : IDisposable
return ret; return ret;
} }
public virtual bool SetSolverIterations(float cnt)
{
bool ret = false;
if (m_enabled)
{
BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.Ptr, cnt);
ret = true;
}
return ret;
}
public virtual bool CalculateTransforms() public virtual bool CalculateTransforms()
{ {
bool ret = false; bool ret = false;
@ -96,12 +107,9 @@ public abstract class BSConstraint : IDisposable
ret = CalculateTransforms(); ret = CalculateTransforms();
if (ret) if (ret)
{ {
// m_world.scene.PhysicsLogging.Write("{0},BSConstraint.RecomputeConstraintVariables,taint,enabling,A={1},B={2}",
// BSScene.DetailLogZero, Body1.ID, Body2.ID);
// Setting an object's mass to zero (making it static like when it's selected) // Setting an object's mass to zero (making it static like when it's selected)
// automatically disables the constraints. // automatically disables the constraints.
// If enabled, be sure to set the constraint itself to enabled. // If the link is enabled, be sure to set the constraint itself to enabled.
BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true)); BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true));
} }
else else

253
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
View File

@ -80,7 +80,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Linear properties // Linear properties
private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL
private Vector3 m_dir = Vector3.Zero; // velocity applied to body private Vector3 m_newVelocity = Vector3.Zero; // velocity computed to be applied to body
private Vector3 m_linearFrictionTimescale = Vector3.Zero; private Vector3 m_linearFrictionTimescale = Vector3.Zero;
private float m_linearMotorDecayTimescale = 0; private float m_linearMotorDecayTimescale = 0;
private float m_linearMotorTimescale = 0; private float m_linearMotorTimescale = 0;
@ -131,7 +131,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_type = Vehicle.TYPE_NONE; m_type = Vehicle.TYPE_NONE;
} }
internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue, float timestep) internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
{ {
VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
switch (pParam) switch (pParam)
@ -230,7 +230,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
} }
}//end ProcessFloatVehicleParam }//end ProcessFloatVehicleParam
internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue, float timestep) internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
{ {
VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
switch (pParam) switch (pParam)
@ -299,7 +299,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
} }
}//end ProcessVehicleFlags }//end ProcessVehicleFlags
internal void ProcessTypeChange(Vehicle pType, float stepSize) internal void ProcessTypeChange(Vehicle pType)
{ {
VDetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType); VDetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType);
// Set Defaults For Type // Set Defaults For Type
@ -478,29 +478,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin
MoveAngular(pTimestep); MoveAngular(pTimestep);
LimitRotation(pTimestep); LimitRotation(pTimestep);
// remember the position so next step we can limit absolute movement effects
m_lastPositionVector = m_prim.Position;
VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity);
}// end Step }// end Step
private void MoveLinear(float pTimestep) private void MoveLinear(float pTimestep)
{ {
// requested m_linearMotorDirection is significant // m_linearMotorDirection is the direction we are moving relative to the vehicle coordinates
// if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // m_lastLinearVelocityVector is the speed we are moving in that direction
if (m_linearMotorDirection.LengthSquared() > 0.0001f) if (m_linearMotorDirection.LengthSquared() > 0.001f)
{ {
Vector3 origDir = m_linearMotorDirection; Vector3 origDir = m_linearMotorDirection;
Vector3 origVel = m_lastLinearVelocityVector; Vector3 origVel = m_lastLinearVelocityVector;
// add drive to body // add drive to body
// Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); // Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale / pTimestep);
Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale); Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale / pTimestep);
// lastLinearVelocityVector is the current body velocity vector? // lastLinearVelocityVector is the current body velocity vector
// RA: Not sure what the *10 is for. A correction for pTimestep? // RA: Not sure what the *10 is for. A correction for pTimestep?
// m_lastLinearVelocityVector += (addAmount*10); // m_lastLinearVelocityVector += (addAmount*10);
m_lastLinearVelocityVector += addAmount; m_lastLinearVelocityVector += addAmount;
// This will work temporarily, but we really need to compare speed on an axis
// KF: Limit body velocity to applied velocity?
// Limit the velocity vector to less than the last set linear motor direction // Limit the velocity vector to less than the last set linear motor direction
if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X)) if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X; m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
@ -509,53 +510,108 @@ namespace OpenSim.Region.Physics.BulletSPlugin
if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z)) if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z; m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
// decay applied velocity
Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
/* /*
Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/m_linearMotorTimescale; // decay applied velocity
m_lastLinearVelocityVector += addAmount; Vector3 decayfraction = Vector3.One/(m_linearMotorDecayTimescale / pTimestep);
// (RA: do not know where the 0.5f comes from)
float decayfraction = (1.0f - 1.0f / m_linearMotorDecayTimescale); m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
m_linearMotorDirection *= decayfraction;
*/ */
float keepfraction = 1.0f - (1.0f / (m_linearMotorDecayTimescale / pTimestep));
m_linearMotorDirection *= keepfraction;
VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}", VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},notDecay={4},dir={5},vel={6}",
m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector); m_prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector);
} }
else else
{ {
// if what remains of applied is small, zero it. // if what remains of direction is very small, zero it.
// if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
// m_lastLinearVelocityVector = Vector3.Zero;
m_linearMotorDirection = Vector3.Zero; m_linearMotorDirection = Vector3.Zero;
m_lastLinearVelocityVector = Vector3.Zero; m_lastLinearVelocityVector = Vector3.Zero;
VDetailLog("{0},MoveLinear,zeroed", m_prim.LocalID);
} }
// convert requested object velocity to object relative vector // convert requested object velocity to object relative vector
Quaternion rotq = m_prim.Orientation; Quaternion rotq = m_prim.Orientation;
m_dir = m_lastLinearVelocityVector * rotq; m_newVelocity = m_lastLinearVelocityVector * rotq;
// Add the various forces into m_dir which will be our new direction vector (velocity) // Add the various forces into m_dir which will be our new direction vector (velocity)
// add Gravity and Buoyancy // add Gravity and Buoyancy
// KF: So far I have found no good method to combine a script-requested
// .Z velocity and gravity. Therefore only 0g will used script-requested
// .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
Vector3 grav = Vector3.Zero;
// There is some gravity, make a gravity force vector that is applied after object velocity. // There is some gravity, make a gravity force vector that is applied after object velocity.
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
grav.Z = m_prim.Scene.DefaultGravity.Z * m_prim.Mass * (1f - m_VehicleBuoyancy); Vector3 grav = m_prim.Scene.DefaultGravity * (m_prim.Mass * (1f - m_VehicleBuoyancy));
/*
* RA: Not sure why one would do this
// Preserve the current Z velocity // Preserve the current Z velocity
Vector3 vel_now = m_prim.Velocity; Vector3 vel_now = m_prim.Velocity;
m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
*/
Vector3 pos = m_prim.Position; Vector3 pos = m_prim.Position;
Vector3 posChange = pos;
// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); // Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
double Zchange = Math.Abs(posChange.Z);
// If below the terrain, move us above the ground a little.
float terrainHeight = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos);
// Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset.
// Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass.
// Vector3 rotatedSize = m_prim.Size * m_prim.Orientation;
// if (rotatedSize.Z < terrainHeight)
if (pos.Z < terrainHeight)
{
pos.Z = terrainHeight + 2;
m_prim.Position = pos;
VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", m_prim.LocalID, terrainHeight, pos);
}
// Check if hovering
if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
{
// We should hover, get the target height
if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{
m_VhoverTargetHeight = m_prim.Scene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
}
if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{
m_VhoverTargetHeight = terrainHeight + m_VhoverHeight;
}
if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
{
m_VhoverTargetHeight = m_VhoverHeight;
}
if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
{
// If body is aready heigher, use its height as target height
if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
}
if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
{
if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
{
m_prim.Position = pos;
}
}
else
{
float herr0 = pos.Z - m_VhoverTargetHeight;
// Replace Vertical speed with correction figure if significant
if (Math.Abs(herr0) > 0.01f)
{
m_newVelocity.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
//KF: m_VhoverEfficiency is not yet implemented
}
else
{
m_newVelocity.Z = 0f;
}
}
VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight);
}
Vector3 posChange = pos - m_lastPositionVector;
if (m_BlockingEndPoint != Vector3.Zero) if (m_BlockingEndPoint != Vector3.Zero)
{ {
bool changed = false; bool changed = false;
@ -592,125 +648,43 @@ namespace OpenSim.Region.Physics.BulletSPlugin
} }
} }
// If below the terrain, move us above the ground a little. float Zchange = Math.Abs(posChange.Z);
if (pos.Z < m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos))
{
pos.Z = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2;
m_prim.Position = pos;
VDetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos);
}
// Check if hovering
if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
{
// We should hover, get the target height
if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{
m_VhoverTargetHeight = m_prim.Scene.GetWaterLevel() + m_VhoverHeight;
}
if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{
m_VhoverTargetHeight = m_prim.Scene.TerrainManager.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
}
if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
{
m_VhoverTargetHeight = m_VhoverHeight;
}
if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
{
// If body is aready heigher, use its height as target height
if (pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z;
}
if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
{
if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
{
m_prim.Position = pos;
}
}
else
{
float herr0 = pos.Z - m_VhoverTargetHeight;
// Replace Vertical speed with correction figure if significant
if (Math.Abs(herr0) > 0.01f)
{
m_dir.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
//KF: m_VhoverEfficiency is not yet implemented
}
else
{
m_dir.Z = 0f;
}
}
VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_dir, m_VhoverHeight, m_VhoverTargetHeight);
// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
// m_VhoverTimescale = 0f; // time to acheive height
// pTimestep is time since last frame,in secs
}
if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
{ {
//Start Experimental Values
if (Zchange > .3) if (Zchange > .3)
{
grav.Z = (float)(grav.Z * 3); grav.Z = (float)(grav.Z * 3);
}
if (Zchange > .15) if (Zchange > .15)
{
grav.Z = (float)(grav.Z * 2); grav.Z = (float)(grav.Z * 2);
}
if (Zchange > .75) if (Zchange > .75)
{
grav.Z = (float)(grav.Z * 1.5); grav.Z = (float)(grav.Z * 1.5);
}
if (Zchange > .05) if (Zchange > .05)
{
grav.Z = (float)(grav.Z * 1.25); grav.Z = (float)(grav.Z * 1.25);
}
if (Zchange > .025) if (Zchange > .025)
{
grav.Z = (float)(grav.Z * 1.125); grav.Z = (float)(grav.Z * 1.125);
} float postemp = (pos.Z - terrainHeight);
float terraintemp = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos);
float postemp = (pos.Z - terraintemp);
if (postemp > 2.5f) if (postemp > 2.5f)
{
grav.Z = (float)(grav.Z * 1.037125); grav.Z = (float)(grav.Z * 1.037125);
}
VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav); VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav);
//End Experimental Values
} }
if ((m_flags & (VehicleFlag.NO_X)) != 0) if ((m_flags & (VehicleFlag.NO_X)) != 0)
{ m_newVelocity.X = 0;
m_dir.X = 0;
}
if ((m_flags & (VehicleFlag.NO_Y)) != 0) if ((m_flags & (VehicleFlag.NO_Y)) != 0)
{ m_newVelocity.Y = 0;
m_dir.Y = 0;
}
if ((m_flags & (VehicleFlag.NO_Z)) != 0) if ((m_flags & (VehicleFlag.NO_Z)) != 0)
{ m_newVelocity.Z = 0;
m_dir.Z = 0;
}
m_lastPositionVector = m_prim.Position;
// Apply velocity // Apply velocity
m_prim.Velocity = m_dir; m_prim.Velocity = m_newVelocity;
// apply gravity force // apply gravity force
// Why is this set here? The physics engine already does gravity. // Why is this set here? The physics engine already does gravity.
// m_prim.AddForce(grav, false); // m_prim.AddForce(grav, false);
// m_prim.Force = grav;
// Apply friction // Apply friction
Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep));
m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; m_lastLinearVelocityVector *= keepFraction;
VDetailLog("{0},MoveLinear,done,pos={1},vel={2},force={3},decay={4}", VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}",
m_prim.LocalID, m_lastPositionVector, m_dir, grav, decayamount); m_prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction);
} // end MoveLinear() } // end MoveLinear()
@ -735,17 +709,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// There are m_angularMotorApply steps. // There are m_angularMotorApply steps.
Vector3 origAngularVelocity = m_angularMotorVelocity; Vector3 origAngularVelocity = m_angularMotorVelocity;
// ramp up to new value // ramp up to new value
// current velocity += error / (time to get there / step interval) // current velocity += error / ( time to get there / step interval)
// requested speed - last motor speed // requested speed - last motor speed
m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep); m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep);
m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep);
m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep);
VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},origvel={2},dir={3},vel={4}", VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},dir={5},vel={6}",
m_prim.LocalID,m_angularMotorApply,origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); m_prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity);
m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected // This is done so that if script request rate is less than phys frame rate the expected
// velocity may still be acheived. // velocity may still be acheived.
m_angularMotorApply--;
} }
else else
{ {
@ -760,7 +735,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Vector3 vertattr = Vector3.Zero; Vector3 vertattr = Vector3.Zero;
if (m_verticalAttractionTimescale < 300) if (m_verticalAttractionTimescale < 300)
{ {
float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep); float VAservo = 0.2f / (m_verticalAttractionTimescale / pTimestep);
// get present body rotation // get present body rotation
Quaternion rotq = m_prim.Orientation; Quaternion rotq = m_prim.Orientation;
// make a vector pointing up // make a vector pointing up
@ -863,16 +838,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_rot.Y = 0; m_rot.Y = 0;
changed = true; changed = true;
} }
if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
{
m_rot.X = 0;
m_rot.Y = 0;
changed = true;
}
if (changed) if (changed)
{
m_prim.Orientation = m_rot; m_prim.Orientation = m_rot;
VDetailLog("{0},LimitRotation,done,orig={1},new={2}", m_prim.LocalID, rotq, m_rot);
}
VDetailLog("{0},LimitRotation,done,changed={1},orig={2},new={3}", m_prim.LocalID, changed, rotq, m_rot);
} }
// Invoke the detailed logger and output something if it's enabled. // Invoke the detailed logger and output something if it's enabled.

61
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
View File

@ -202,11 +202,33 @@ public class BSLinkset
return com; return com;
} }
// The object is going dynamic (physical). Do any setup necessary
// for a dynamic linkset.
// Only the state of the passed object can be modified. The rest of the linkset
// has not yet been fully constructed.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public bool MakeDynamic(BSPhysObject child)
{
bool ret = false;
return ret;
}
// The object is going static (non-physical). Do any setup necessary
// for a static linkset.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public bool MakeStatic(BSPhysObject child)
{
// What is done for each object in BSPrim is what we want.
return false;
}
// When physical properties are changed the linkset needs to recalculate // When physical properties are changed the linkset needs to recalculate
// its internal properties. // its internal properties.
public void Refresh(BSPhysObject requestor) public void Refresh(BSPhysObject requestor)
{ {
// If there are no children, there aren't any constraints to recompute // If there are no children, there can't be any constraints to recompute
if (!HasAnyChildren) if (!HasAnyChildren)
return; return;
@ -225,11 +247,12 @@ public class BSLinkset
// from a linkset to make sure the constraints know about the new mass and // from a linkset to make sure the constraints know about the new mass and
// geometry. // geometry.
// Must only be called at taint time!! // Must only be called at taint time!!
private bool RecomputeLinksetConstraintVariables() private void RecomputeLinksetConstraintVariables()
{ {
float linksetMass = LinksetMass; float linksetMass = LinksetMass;
lock (m_linksetActivityLock) lock (m_linksetActivityLock)
{ {
bool somethingMissing = false;
foreach (BSPhysObject child in m_children) foreach (BSPhysObject child in m_children)
{ {
BSConstraint constrain; BSConstraint constrain;
@ -241,16 +264,36 @@ public class BSLinkset
} }
else else
{ {
// Non-fatal error that can happen when children are being added to the linkset but // Non-fatal error that happens when children are being added to the linkset but
// their constraints have not been created yet. // their constraints have not been created yet.
// Caused by the fact that m_children is built at run time but building constraints // Caused by the fact that m_children is built at run time but building constraints
// happens at taint time. // happens at taint time.
// m_physicsScene.Logger.ErrorFormat("{0} RecomputeLinksetConstraintVariables: constraint not found for root={1}, child={2}", somethingMissing = true;
// LogHeader, m_linksetRoot.Body.ID, child.Body.ID); break;
} }
} }
// If the whole linkset is not here, doesn't make sense to recompute linkset wide values
if (!somethingMissing)
{
// If this is a multiple object linkset, set everybody's center of mass to the set's center of mass
OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity);
foreach (BSPhysObject child in m_children)
{
BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity);
}
/*
// The root prim takes on the weight of the whole linkset
OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(LinksetRoot.BSShape.Ptr, linksetMass);
BulletSimAPI.SetMassProps2(LinksetRoot.BSBody.Ptr, linksetMass, inertia);
OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity);
BulletSimAPI.UpdateInertiaTensor2(LinksetRoot.BSBody.Ptr);
*/
}
} }
return false; return;
} }
// I am the root of a linkset and a new child is being added // I am the root of a linkset and a new child is being added
@ -296,9 +339,9 @@ public class BSLinkset
DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID); DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
PhysicallyUnlinkAChildFromRoot(rootx, childx); PhysicallyUnlinkAChildFromRoot(rootx, childx);
RecomputeLinksetConstraintVariables();
}); });
RecomputeLinksetConstraintVariables();
} }
else else
{ {
@ -377,6 +420,10 @@ public class BSLinkset
PhysicsScene.Params.linkConstraintTransMotorMaxVel, PhysicsScene.Params.linkConstraintTransMotorMaxVel,
PhysicsScene.Params.linkConstraintTransMotorMaxForce); PhysicsScene.Params.linkConstraintTransMotorMaxForce);
constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP); constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP);
if (PhysicsScene.Params.linkConstraintSolverIterations != 0f)
{
constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
}
RecomputeLinksetConstraintVariables(); RecomputeLinksetConstraintVariables();
} }

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

@ -41,7 +41,7 @@ public abstract class BSPhysObject : PhysicsActor
{ {
public abstract BSLinkset Linkset { get; set; } public abstract BSLinkset Linkset { get; set; }
public abstract void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, public abstract bool Collide(uint collidingWith, BSPhysObject collidee,
OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth); OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
public abstract void SendCollisions(); public abstract void SendCollisions();

250
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -136,11 +136,11 @@ public sealed class BSPrim : BSPhysObject
Linkset = new BSLinkset(Scene, this); // a linkset of one Linkset = new BSLinkset(Scene, this); // a linkset of one
_vehicle = new BSDynamics(Scene, this); // add vehicleness _vehicle = new BSDynamics(Scene, this); // add vehicleness
_mass = CalculateMass(); _mass = CalculateMass();
// do the actual object creation at taint time
DetailLog("{0},BSPrim.constructor,call", LocalID); DetailLog("{0},BSPrim.constructor,call", LocalID);
// do the actual object creation at taint time
_scene.TaintedObject("BSPrim.create", delegate() _scene.TaintedObject("BSPrim.create", delegate()
{ {
RecreateGeomAndObject(); CreateGeomAndObject(true);
// Get the pointer to the physical body for this object. // Get the pointer to the physical body for this object.
// At the moment, we're still letting BulletSim manage the creation and destruction // At the moment, we're still letting BulletSim manage the creation and destruction
@ -186,9 +186,10 @@ public sealed class BSPrim : BSPhysObject
_scene.TaintedObject("BSPrim.setSize", delegate() _scene.TaintedObject("BSPrim.setSize", delegate()
{ {
_mass = CalculateMass(); // changing size changes the mass _mass = CalculateMass(); // changing size changes the mass
BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical); // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct
DetailLog("{0}: BSPrim.setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical); // scale and margins are set.
RecreateGeomAndObject(); CreateGeomAndObject(true);
DetailLog("{0}: BSPrim.setSize: size={1}, scale={2}, mass={3}, physical={4}", LocalID, _size, _scale, _mass, IsPhysical);
}); });
} }
} }
@ -198,7 +199,7 @@ public sealed class BSPrim : BSPhysObject
_scene.TaintedObject("BSPrim.setShape", delegate() _scene.TaintedObject("BSPrim.setShape", delegate()
{ {
_mass = CalculateMass(); // changing the shape changes the mass _mass = CalculateMass(); // changing the shape changes the mass
RecreateGeomAndObject(); CreateGeomAndObject(false);
}); });
} }
} }
@ -279,7 +280,7 @@ public sealed class BSPrim : BSPhysObject
get { get {
if (!Linkset.IsRoot(this)) if (!Linkset.IsRoot(this))
// child prims move around based on their parent. Need to get the latest location // child prims move around based on their parent. Need to get the latest location
_position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); _position = BulletSimAPI.GetPosition2(BSBody.Ptr);
// don't do the GetObjectPosition for root elements because this function is called a zillion times // don't do the GetObjectPosition for root elements because this function is called a zillion times
// _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
@ -291,7 +292,7 @@ public sealed class BSPrim : BSPhysObject
_scene.TaintedObject("BSPrim.setPosition", delegate() _scene.TaintedObject("BSPrim.setPosition", delegate()
{ {
DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation);
}); });
} }
} }
@ -302,7 +303,8 @@ public sealed class BSPrim : BSPhysObject
{ {
get get
{ {
return Linkset.LinksetMass; // return Linkset.LinksetMass;
return _mass;
} }
} }
@ -328,7 +330,6 @@ public sealed class BSPrim : BSPhysObject
_scene.TaintedObject("BSPrim.setForce", delegate() _scene.TaintedObject("BSPrim.setForce", delegate()
{ {
DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
// BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force); BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force);
}); });
} }
@ -345,7 +346,7 @@ public sealed class BSPrim : BSPhysObject
{ {
// Done at taint time so we're sure the physics engine is not using the variables // 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. // Vehicle code changes the parameters for this vehicle type.
_vehicle.ProcessTypeChange(type, Scene.LastSimulatedTimestep); _vehicle.ProcessTypeChange(type);
// Tell the scene about the vehicle so it will get processing each frame. // Tell the scene about the vehicle so it will get processing each frame.
_scene.VehicleInSceneTypeChanged(this, type); _scene.VehicleInSceneTypeChanged(this, type);
}); });
@ -355,14 +356,14 @@ public sealed class BSPrim : BSPhysObject
{ {
_scene.TaintedObject("BSPrim.VehicleFloatParam", delegate() _scene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
{ {
_vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
}); });
} }
public override void VehicleVectorParam(int param, OMV.Vector3 value) public override void VehicleVectorParam(int param, OMV.Vector3 value)
{ {
_scene.TaintedObject("BSPrim.VehicleVectorParam", delegate() _scene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
{ {
_vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
}); });
} }
public override void VehicleRotationParam(int param, OMV.Quaternion rotation) public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
@ -406,7 +407,7 @@ public sealed class BSPrim : BSPhysObject
_scene.TaintedObject("BSPrim.setVelocity", delegate() _scene.TaintedObject("BSPrim.setVelocity", delegate()
{ {
DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
BulletSimAPI.SetObjectVelocity(_scene.WorldID, LocalID, _velocity); BulletSimAPI.SetLinearVelocity2(BSBody.Ptr, _velocity);
}); });
} }
} }
@ -430,7 +431,7 @@ public sealed class BSPrim : BSPhysObject
if (!Linkset.IsRoot(this)) if (!Linkset.IsRoot(this))
{ {
// Children move around because tied to parent. Get a fresh value. // Children move around because tied to parent. Get a fresh value.
_orientation = BulletSimAPI.GetObjectOrientation(_scene.WorldID, LocalID); _orientation = BulletSimAPI.GetOrientation2(BSBody.Ptr);
} }
return _orientation; return _orientation;
} }
@ -441,7 +442,7 @@ public sealed class BSPrim : BSPhysObject
{ {
// _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID); // _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation); BulletSimAPI.SetTranslation2(BSBody.Ptr, _position, _orientation);
}); });
} }
} }
@ -483,31 +484,37 @@ public sealed class BSPrim : BSPhysObject
{ {
// If it's becoming dynamic, it will need hullness // If it's becoming dynamic, it will need hullness
VerifyCorrectPhysicalShape(); VerifyCorrectPhysicalShape();
UpdatePhysicalParameters();
}
private void UpdatePhysicalParameters()
{
/*
// Bullet wants static objects to have a mass of zero // Bullet wants static objects to have a mass of zero
float mass = IsStatic ? 0f : _mass; float mass = IsStatic ? 0f : _mass;
BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass); BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
/* */
BulletSimAPI.RemoveObjectFromWorld2(Scene.World.Ptr, BSBody.Ptr); BulletSimAPI.RemoveObjectFromWorld2(Scene.World.Ptr, BSBody.Ptr);
// Set up the object physicalness (static or dynamic) // Set up the object physicalness (does gravity and collisions move this object)
MakeDynamic(); MakeDynamic(IsStatic);
// Make solid or not and arrange for collisions, etc // Make solid or not (do things bounce off or pass through this object)
MakeSolid(); MakeSolid(IsSolid);
m_currentCollisionFlags = BulletSimAPI.GetCollisionFlags2(BSBody.Ptr); // Arrange for collisions events if the simulator wants them
EnableCollisions(SubscribedEvents());
BulletSimAPI.AddObjectToWorld2(Scene.World.Ptr, BSBody.Ptr); BulletSimAPI.AddObjectToWorld2(Scene.World.Ptr, BSBody.Ptr);
*/
// Recompute any linkset parameters. // Recompute any linkset parameters.
// When going from non-physical to physical, this re-enables the constraints that // When going from non-physical to physical, this re-enables the constraints that
// had been automatically disabled when the mass was set to zero. // had been automatically disabled when the mass was set to zero.
Linkset.Refresh(this); Linkset.Refresh(this);
DetailLog("{0},BSPrim.SetObjectDynamic,taint,static={1},solid={2},mass={3}, cf={4}", LocalID, IsStatic, IsSolid, mass, m_currentCollisionFlags); DetailLog("{0},BSPrim.UpdatePhysicalParameters,taint,static={1},solid={2},mass={3}, cf={4}",
LocalID, IsStatic, IsSolid, _mass, m_currentCollisionFlags);
} }
// "Making dynamic" means changing to and from static. // "Making dynamic" means changing to and from static.
@ -515,39 +522,84 @@ public sealed class BSPrim : BSPhysObject
// When dynamic, the object can fall and be pushed by others. // When dynamic, the object can fall and be pushed by others.
// This is independent of its 'solidness' which controls what passes through // This is independent of its 'solidness' which controls what passes through
// this object and what interacts with it. // this object and what interacts with it.
private void MakeDynamic() private void MakeDynamic(bool makeStatic)
{ {
if (IsStatic) if (makeStatic)
{ {
// Become a Bullet 'static' object type // Become a Bullet 'static' object type
BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
// Stop all movement // Stop all movement
BulletSimAPI.ClearAllForces2(BSBody.Ptr); BulletSimAPI.ClearAllForces2(BSBody.Ptr);
// Center of mass is at the center of the object
BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.Ptr, _position, _orientation);
// Mass is zero which disables a bunch of physics stuff in Bullet // Mass is zero which disables a bunch of physics stuff in Bullet
BulletSimAPI.SetMassProps2(BSBody.Ptr, 0f, OMV.Vector3.Zero); BulletSimAPI.SetMassProps2(BSBody.Ptr, 0f, OMV.Vector3.Zero);
// There is no inertia in a static object // There is no inertia in a static object
BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr); BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
// There can be special things needed for implementing linksets
Linkset.MakeStatic(this);
// The activation state is 'sleeping' so Bullet will not try to act on it // The activation state is 'sleeping' so Bullet will not try to act on it
BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING); BulletSimAPI.ForceActivationState2(BSBody.Ptr, ActivationState.ISLAND_SLEEPING);
} }
else else
{ {
// Not a Bullet static object // Not a Bullet static object
BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT); m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
// Set various physical properties so internal things will get computed correctly as they are set
BulletSimAPI.SetFriction2(BSBody.Ptr, Scene.Params.defaultFriction);
BulletSimAPI.SetRestitution2(BSBody.Ptr, Scene.Params.defaultRestitution);
// per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
BulletSimAPI.SetInterpolationLinearVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
BulletSimAPI.SetInterpolationAngularVelocity2(BSBody.Ptr, OMV.Vector3.Zero);
BulletSimAPI.SetInterpolationVelocity2(BSBody.Ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
// A dynamic object has mass // A dynamic object has mass
BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, OMV.Vector3.Zero);
// The shape is interesting and has mass and a center of gravity
IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr); IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.Ptr);
BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, _mass, OMV.Vector3.Zero); OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass);
BulletSimAPI.SetMassProps2(BSBody.Ptr, _mass, inertia);
// Inertia is based on our new mass // Inertia is based on our new mass
BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr); BulletSimAPI.UpdateInertiaTensor2(BSBody.Ptr);
// Various values for simulation limits
BulletSimAPI.SetDamping2(BSBody.Ptr, Scene.Params.linearDamping, Scene.Params.angularDamping);
BulletSimAPI.SetDeactivationTime2(BSBody.Ptr, Scene.Params.deactivationTime);
BulletSimAPI.SetSleepingThresholds2(BSBody.Ptr, Scene.Params.linearSleepingThreshold, Scene.Params.angularSleepingThreshold);
BulletSimAPI.SetContactProcessingThreshold2(BSBody.Ptr, Scene.Params.contactProcessingThreshold);
// There can be special things needed for implementing linksets
Linkset.MakeDynamic(this);
// Force activation of the object so Bullet will act on it. // Force activation of the object so Bullet will act on it.
BulletSimAPI.Activate2(BSBody.Ptr, true); BulletSimAPI.Activate2(BSBody.Ptr, true);
} }
} }
private void MakeSolid() // "Making solid" means that other object will not pass through this object.
private void MakeSolid(bool makeSolid)
{ {
if (makeSolid)
{
// Easy in Bullet -- just remove the object flag that controls collision response
m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
}
else
{
m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
}
}
// Turn on or off the flag controlling whether collision events are returned to the simulator.
private void EnableCollisions(bool wantsCollisionEvents)
{
if (wantsCollisionEvents)
{
m_currentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
}
else
{
m_currentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
}
} }
// prims don't fly // prims don't fly
@ -607,7 +659,7 @@ public sealed class BSPrim : BSPhysObject
_scene.TaintedObject("BSPrim.setRotationalVelocity", delegate() _scene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
{ {
DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
BulletSimAPI.SetObjectAngularVelocity(_scene.WorldID, LocalID, _rotationalVelocity); BulletSimAPI.SetAngularVelocity2(BSBody.Ptr, _rotationalVelocity);
}); });
} }
} }
@ -624,7 +676,10 @@ public sealed class BSPrim : BSPhysObject
_scene.TaintedObject("BSPrim.setBuoyancy", delegate() _scene.TaintedObject("BSPrim.setBuoyancy", delegate()
{ {
DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy); // Buoyancy is faked by changing the gravity applied to the object
float grav = Scene.Params.gravity * (1f - _buoyancy);
BulletSimAPI.SetGravity2(BSBody.Ptr, new OMV.Vector3(0f, 0f, grav));
// BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, _localID, _buoyancy);
}); });
} }
} }
@ -686,8 +741,8 @@ public sealed class BSPrim : BSPhysObject
} }
m_accumulatedForces.Clear(); m_accumulatedForces.Clear();
} }
DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, _force); DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
// For unknown reason, "ApplyCentralForce" is really additive. // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object.
BulletSimAPI.ApplyCentralForce2(BSBody.Ptr, fSum); BulletSimAPI.ApplyCentralForce2(BSBody.Ptr, fSum);
}); });
} }
@ -1023,36 +1078,44 @@ public sealed class BSPrim : BSPhysObject
}// end CalculateMass }// end CalculateMass
#endregion Mass Calculation #endregion Mass Calculation
// Create the geometry information in Bullet for later use // Create the geometry information in Bullet for later use.
// The objects needs a hull if it's physical otherwise a mesh is enough // The objects needs a hull if it's physical otherwise a mesh is enough.
// No locking here because this is done when we know physics is not simulating // No locking here because this is done when we know physics is not simulating.
// if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used // if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used.
// Returns 'true' if the geometry was rebuilt // Returns 'true' if the geometry was rebuilt.
// Called at taint-time!
private bool CreateGeom(bool forceRebuild) private bool CreateGeom(bool forceRebuild)
{ {
// the mesher thought this was too simple to mesh. Use a native Bullet collision shape.
bool ret = false; bool ret = false;
if (!_scene.NeedsMeshing(_pbs)) bool haveShape = false;
// If the prim attributes are simple, this could be a simple Bullet native shape
if ((_pbs.SculptEntry && !Scene.ShouldMeshSculptedPrim)
|| (_pbs.ProfileBegin == 0 && _pbs.ProfileEnd == 0
&& _pbs.ProfileHollow == 0
&& _pbs.PathTwist == 0 && _pbs.PathTwistBegin == 0
&& _pbs.PathBegin == 0 && _pbs.PathEnd == 0
&& _pbs.PathTaperX == 0 && _pbs.PathTaperY == 0
&& _pbs.PathScaleX == 100 && _pbs.PathScaleY == 100
&& _pbs.PathShearX == 0 && _pbs.PathShearY == 0) )
{ {
if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1) if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
{ {
// if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) haveShape = true;
// { if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE))
// m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); {
if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild);
{ _shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE;
DetailLog("{0},BSPrim.CreateGeom,sphere (force={1}", LocalID, forceRebuild); // Bullet native objects are scaled by the Bullet engine so pass the size in
_shapeType = ShapeData.PhysicsShapeType.SHAPE_SPHERE; _scale = _size;
// Bullet native objects are scaled by the Bullet engine so pass the size in // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
_scale = _size; ret = true;
// TODO: do we need to check for and destroy a mesh or hull that might have been left from before? }
ret = true;
}
// }
} }
else else
{ {
// m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size); // m_log.DebugFormat("{0}: CreateGeom: Defaulting to box. lid={1}, type={2}, size={3}", LogHeader, LocalID, _shapeType, _size);
haveShape = true;
if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX)) if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_BOX))
{ {
DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild); DetailLog("{0},BSPrim.CreateGeom,box (force={1})", LocalID, forceRebuild);
@ -1063,16 +1126,16 @@ public sealed class BSPrim : BSPhysObject
} }
} }
} }
else // If a simple shape isn't happening, create a mesh and possibly a hull
if (!haveShape)
{ {
if (IsPhysical) if (IsPhysical)
{ {
if (forceRebuild || _hullKey == 0) if (forceRebuild || _hullKey == 0)
{ {
// physical objects require a hull for interaction. // physical objects require a hull for interaction.
// This will create the mesh if it doesn't already exist // This also creates the mesh if it doesn't already exist
CreateGeomHull(); ret = CreateGeomHull();
ret = true;
} }
} }
else else
@ -1080,8 +1143,7 @@ public sealed class BSPrim : BSPhysObject
if (forceRebuild || _meshKey == 0) if (forceRebuild || _meshKey == 0)
{ {
// Static (non-physical) objects only need a mesh for bumping into // Static (non-physical) objects only need a mesh for bumping into
CreateGeomMesh(); ret = CreateGeomMesh();
ret = true;
} }
} }
} }
@ -1089,7 +1151,9 @@ public sealed class BSPrim : BSPhysObject
} }
// No locking here because this is done when we know physics is not simulating // No locking here because this is done when we know physics is not simulating
private void CreateGeomMesh() // Returns 'true' of a mesh was actually rebuild (we could also have one of these specs).
// Called at taint-time!
private bool CreateGeomMesh()
{ {
// level of detail based on size and type of the object // level of detail based on size and type of the object
float lod = _scene.MeshLOD; float lod = _scene.MeshLOD;
@ -1103,7 +1167,7 @@ public sealed class BSPrim : BSPhysObject
// m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _meshKey, newMeshKey); // m_log.DebugFormat("{0}: CreateGeomMesh: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _meshKey, newMeshKey);
// if this new shape is the same as last time, don't recreate the mesh // if this new shape is the same as last time, don't recreate the mesh
if (_meshKey == newMeshKey) return; if (_meshKey == newMeshKey) return false;
DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey); DetailLog("{0},BSPrim.CreateGeomMesh,create,key={1}", LocalID, newMeshKey);
// Since we're recreating new, get rid of any previously generated shape // Since we're recreating new, get rid of any previously generated shape
@ -1140,19 +1204,19 @@ public sealed class BSPrim : BSPhysObject
_shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH; _shapeType = ShapeData.PhysicsShapeType.SHAPE_MESH;
// meshes are already scaled by the meshmerizer // meshes are already scaled by the meshmerizer
_scale = new OMV.Vector3(1f, 1f, 1f); _scale = new OMV.Vector3(1f, 1f, 1f);
DetailLog("{0},BSPrim.CreateGeomMesh,done", LocalID); return true;
return;
} }
// No locking here because this is done when we know physics is not simulating // No locking here because this is done when we know physics is not simulating
private void CreateGeomHull() // Returns 'true' of a mesh was actually rebuild (we could also have one of these specs).
private bool CreateGeomHull()
{ {
float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD; float lod = _pbs.SculptEntry ? _scene.SculptLOD : _scene.MeshLOD;
ulong newHullKey = (ulong)_pbs.GetMeshKey(_size, lod); ulong newHullKey = (ulong)_pbs.GetMeshKey(_size, lod);
// m_log.DebugFormat("{0}: CreateGeomHull: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _hullKey, newHullKey); // m_log.DebugFormat("{0}: CreateGeomHull: lID={1}, oldKey={2}, newKey={3}", LogHeader, _localID, _hullKey, newHullKey);
// if the hull hasn't changed, don't rebuild it // if the hull hasn't changed, don't rebuild it
if (newHullKey == _hullKey) return; if (newHullKey == _hullKey) return false;
DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey); DetailLog("{0},BSPrim.CreateGeomHull,create,oldKey={1},newKey={2}", LocalID, _hullKey, newHullKey);
@ -1255,7 +1319,7 @@ public sealed class BSPrim : BSPhysObject
// meshes are already scaled by the meshmerizer // meshes are already scaled by the meshmerizer
_scale = new OMV.Vector3(1f, 1f, 1f); _scale = new OMV.Vector3(1f, 1f, 1f);
DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID); DetailLog("{0},BSPrim.CreateGeomHull,done", LocalID);
return; return true;
} }
// Callback from convex hull creater with a newly created hull. // Callback from convex hull creater with a newly created hull.
@ -1268,20 +1332,12 @@ public sealed class BSPrim : BSPhysObject
private void VerifyCorrectPhysicalShape() private void VerifyCorrectPhysicalShape()
{ {
if (IsStatic) if (!IsStatic)
{
// if static, we don't need a hull so, if there is one, rebuild without it
if (_hullKey != 0)
{
RecreateGeomAndObject();
}
}
else
{ {
// if not static, it will need a hull to efficiently collide with things // if not static, it will need a hull to efficiently collide with things
if (_hullKey == 0) if (_hullKey == 0)
{ {
RecreateGeomAndObject(); CreateGeomAndObject(false);
} }
} }
@ -1300,8 +1356,9 @@ public sealed class BSPrim : BSPhysObject
// m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type); // m_log.DebugFormat("{0}: CreateObject: lID={1}, shape={2}", LogHeader, _localID, shape.Type);
bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape); bool ret = BulletSimAPI.CreateObject(_scene.WorldID, shape);
// the CreateObject() may have recreated the rigid body. Make sure we have the latest. // the CreateObject() may have recreated the rigid body. Make sure we have the latest address.
BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID)); BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
BSShape = new BulletShape(BulletSimAPI.GetCollisionShape2(BSBody.Ptr));
return ret; return ret;
} }
@ -1325,15 +1382,20 @@ public sealed class BSPrim : BSPhysObject
shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
} }
// Rebuild the geometry and object. // Rebuild the geometry and object.
// This is called when the shape changes so we need to recreate the mesh/hull. // This is called when the shape changes so we need to recreate the mesh/hull.
// No locking here because this is done when the physics engine is not simulating // No locking here because this is done when the physics engine is not simulating
private void RecreateGeomAndObject() private void CreateGeomAndObject(bool forceRebuild)
{ {
// m_log.DebugFormat("{0}: RecreateGeomAndObject. lID={1}", LogHeader, _localID); // m_log.DebugFormat("{0}: CreateGeomAndObject. lID={1}, force={2}", LogHeader, _localID, forceRebuild);
if (CreateGeom(true)) // Create the geometry that will make up the object
if (CreateGeom(forceRebuild))
{
// Create the object and place it into the world
CreateObject(); CreateObject();
// Make sure the properties are set on the new object
UpdatePhysicalParameters();
}
return; return;
} }
@ -1414,12 +1476,14 @@ public sealed class BSPrim : BSPhysObject
DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
// BulletSimAPI.DumpRigidBody2(Scene.World.Ptr, BSBody.Ptr);
base.RequestPhysicsterseUpdate(); base.RequestPhysicsterseUpdate();
} }
/* /*
else else
{ {
// For debugging, we also report the movement of children // For debugging, we can also report the movement of children
DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}", DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
entprop.Acceleration, entprop.RotationalVelocity); entprop.Acceleration, entprop.RotationalVelocity);
@ -1430,15 +1494,15 @@ public sealed class BSPrim : BSPhysObject
// I've collided with something // I've collided with something
// Called at taint time from within the Step() function // Called at taint time from within the Step() function
CollisionEventUpdate collisionCollection; CollisionEventUpdate collisionCollection;
public override void Collide(uint collidingWith, BSPhysObject collidee, ActorTypes type, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) public override bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
{ {
// m_log.DebugFormat("{0}: Collide: ms={1}, id={2}, with={3}", LogHeader, _subscribedEventsMs, LocalID, collidingWith); bool ret = false;
// The following lines make IsColliding() and IsCollidingGround() work // The following lines make IsColliding() and IsCollidingGround() work
_collidingStep = _scene.SimulationStep; _collidingStep = Scene.SimulationStep;
if (collidingWith == BSScene.TERRAIN_ID || collidingWith == BSScene.GROUNDPLANE_ID) if (collidingWith <= Scene.TerrainManager.HighestTerrainID)
{ {
_collidingGroundStep = _scene.SimulationStep; _collidingGroundStep = Scene.SimulationStep;
} }
// DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith); // DetailLog("{0},BSPrim.Collison,call,with={1}", LocalID, collidingWith);
@ -1446,21 +1510,23 @@ public sealed class BSPrim : BSPhysObject
// prims in the same linkset cannot collide with each other // prims in the same linkset cannot collide with each other
if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID)) if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
{ {
return; return ret;
} }
// if someone has subscribed for collision events.... // if someone has subscribed for collision events....
if (SubscribedEvents()) { if (SubscribedEvents()) {
// throttle the collisions to the number of milliseconds specified in the subscription // throttle the collisions to the number of milliseconds specified in the subscription
int nowTime = _scene.SimulationNowTime; int nowTime = Scene.SimulationNowTime;
if (nowTime >= _nextCollisionOkTime) { if (nowTime >= _nextCollisionOkTime) {
_nextCollisionOkTime = nowTime + _subscribedEventsMs; _nextCollisionOkTime = nowTime + _subscribedEventsMs;
if (collisionCollection == null) if (collisionCollection == null)
collisionCollection = new CollisionEventUpdate(); collisionCollection = new CollisionEventUpdate();
collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
ret = true;
} }
} }
return ret;
} }
// The scene is telling us it's time to pass our collected collisions into the simulator // The scene is telling us it's time to pass our collected collisions into the simulator

232
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -56,7 +56,6 @@ using OpenMetaverse;
// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect // Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
// Implement LockAngularMotion // Implement LockAngularMotion
// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation) // Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
// Does NeedsMeshing() really need to exclude all the different shapes?
// Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet. // Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet.
// Add PID movement operations. What does ScenePresence.MoveToTarget do? // Add PID movement operations. What does ScenePresence.MoveToTarget do?
// Check terrain size. 128 or 127? // Check terrain size. 128 or 127?
@ -79,7 +78,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
private HashSet<BSPhysObject> m_objectsWithCollisions = new HashSet<BSPhysObject>(); private HashSet<BSPhysObject> m_objectsWithCollisions = new HashSet<BSPhysObject>();
// Following is a kludge and can be removed when avatar animation updating is // Following is a kludge and can be removed when avatar animation updating is
// moved to a better place. // moved to a better place.
private HashSet<BSCharacter> m_avatarsWithCollisions = new HashSet<BSCharacter>(); private HashSet<BSPhysObject> m_avatarsWithCollisions = new HashSet<BSPhysObject>();
// List of all the objects that have vehicle properties and should be called // List of all the objects that have vehicle properties and should be called
// to update each physics step. // to update each physics step.
@ -111,11 +110,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
private long m_simulationStep = 0; private long m_simulationStep = 0;
public long SimulationStep { get { return m_simulationStep; } } public long SimulationStep { get { return m_simulationStep; } }
// The length of the last timestep we were asked to simulate.
// This is used by the vehicle code. Since the vehicle code is called
// once per simulation step, its constants need to be scaled by this.
public float LastSimulatedTimestep { get; private set; }
// A value of the time now so all the collision and update routines do not have to get their own // A value of the time now so all the collision and update routines do not have to get their own
// Set to 'now' just before all the prims and actors are called for collisions and updates // Set to 'now' just before all the prims and actors are called for collisions and updates
public int SimulationNowTime { get; private set; } public int SimulationNowTime { get; private set; }
@ -132,8 +126,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
private EntityProperties[] m_updateArray; private EntityProperties[] m_updateArray;
private GCHandle m_updateArrayPinnedHandle; private GCHandle m_updateArrayPinnedHandle;
private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed public bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed
private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes public bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes
public float PID_D { get; private set; } // derivative public float PID_D { get; private set; } // derivative
public float PID_P { get; private set; } // proportional public float PID_P { get; private set; } // proportional
@ -153,6 +147,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
{ {
get { return new Vector3(0f, 0f, Params.gravity); } get { return new Vector3(0f, 0f, Params.gravity); }
} }
// Just the Z value of the gravity
public float DefaultGravityZ
{
get { return Params.gravity; }
}
public float MaximumObjectMass { get; private set; } public float MaximumObjectMass { get; private set; }
@ -171,8 +170,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
callback = c; callback = c;
} }
} }
private Object _taintLock = new Object(); // lock for using the next object
private List<TaintCallbackEntry> _taintedObjects; private List<TaintCallbackEntry> _taintedObjects;
private Object _taintLock = new Object();
// A pointer to an instance if this structure is passed to the C++ code // A pointer to an instance if this structure is passed to the C++ code
// Used to pass basic configuration values to the unmanaged code. // Used to pass basic configuration values to the unmanaged code.
@ -465,12 +464,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
int collidersCount = 0; int collidersCount = 0;
IntPtr collidersPtr; IntPtr collidersPtr;
LastSimulatedTimestep = timeStep;
// prevent simulation until we've been initialized // prevent simulation until we've been initialized
if (!m_initialized) return 10.0f; if (!m_initialized) return 5.0f;
int simulateStartTime = Util.EnvironmentTickCount();
// update the prim states while we know the physics engine is not busy // update the prim states while we know the physics engine is not busy
int numTaints = _taintedObjects.Count; int numTaints = _taintedObjects.Count;
@ -478,6 +473,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// Some of the prims operate with special vehicle properties // Some of the prims operate with special vehicle properties
ProcessVehicles(timeStep); ProcessVehicles(timeStep);
numTaints += _taintedObjects.Count;
ProcessTaints(); // the vehicles might have added taints ProcessTaints(); // the vehicles might have added taints
// step the physical world one interval // step the physical world one interval
@ -506,6 +502,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// Get a value for 'now' so all the collision and update routines don't have to get their own // Get a value for 'now' so all the collision and update routines don't have to get their own
SimulationNowTime = Util.EnvironmentTickCount(); SimulationNowTime = Util.EnvironmentTickCount();
// This is a kludge to get avatar movement updates.
// ODE sends collisions for avatars even if there are have been no collisions. This updates
// avatar animations and stuff.
// If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
m_objectsWithCollisions = new HashSet<BSPhysObject>(m_avatarsWithCollisions);
// If there were collisions, process them by sending the event to the prim. // If there were collisions, process them by sending the event to the prim.
// Collisions must be processed before updates. // Collisions must be processed before updates.
if (collidersCount > 0) if (collidersCount > 0)
@ -527,13 +529,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
bsp.SendCollisions(); bsp.SendCollisions();
m_objectsWithCollisions.Clear(); m_objectsWithCollisions.Clear();
// This is a kludge to get avatar movement updated.
// ODE sends collisions even if there are none and this is used to update
// avatar animations and stuff.
foreach (BSPhysObject bpo in m_avatarsWithCollisions)
bpo.SendCollisions();
// m_avatarsWithCollisions.Clear();
// If any of the objects had updated properties, tell the object it has been changed by the physics engine // If any of the objects had updated properties, tell the object it has been changed by the physics engine
if (updatedEntityCount > 0) if (updatedEntityCount > 0)
{ {
@ -544,7 +539,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
if (PhysObjects.TryGetValue(entprop.ID, out pobj)) if (PhysObjects.TryGetValue(entprop.ID, out pobj))
{ {
pobj.UpdateProperties(entprop); pobj.UpdateProperties(entprop);
continue;
} }
} }
} }
@ -558,18 +552,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
} }
} }
// this is a waste since the outside routine also calcuates the physics simulation // The physics engine returns the number of milliseconds it simulated this call.
// period. TODO: There should be a way of computing physics frames from simulator computation. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
// long simulateTotalTime = Util.EnvironmentTickCountSubtract(simulateStartTime); // Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS.
// return (timeStep * (float)simulateTotalTime); return numSubSteps * m_fixedTimeStep;
// TODO: FIX THIS: fps calculation possibly wrong.
// This calculation says 1/timeStep is the ideal frame rate. Any time added to
// that by the physics simulation gives a slower frame rate.
long totalSimulationTime = Util.EnvironmentTickCountSubtract(simulateStartTime);
if (totalSimulationTime >= timeStep)
return 0;
return 1f / (timeStep + totalSimulationTime);
} }
// Something has collided // Something has collided
@ -580,28 +566,25 @@ public class BSScene : PhysicsScene, IPhysicsParameters
return; // don't send collisions to the terrain return; // don't send collisions to the terrain
} }
BSPhysObject collider = PhysObjects[localID]; BSPhysObject collider;
// TODO: as of this code, terrain was not in the physical object list. if (!PhysObjects.TryGetValue(localID, out collider))
// When BSTerrain is created and it will be in the list, we can remove {
// the possibility that it's not there and just fetch the collidee. // If the object that is colliding cannot be found, just ignore the collision.
BSPhysObject collidee = null; return;
}
ActorTypes type = ActorTypes.Prim; // The terrain is not in the physical object list so 'collidee'
if (collidingWith <= TerrainManager.HighestTerrainID) // can be null when Collide() is called.
{ BSPhysObject collidee = null;
type = ActorTypes.Ground; PhysObjects.TryGetValue(collidingWith, out collidee);
}
else
{
collidee = PhysObjects[collidingWith];
if (collidee is BSCharacter)
type = ActorTypes.Agent;
}
// DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith); // DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
collider.Collide(collidingWith, collidee, type, collidePoint, collideNormal, penetration); if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
m_objectsWithCollisions.Add(collider); {
// If a collision was posted, remember to send it to the simulator
m_objectsWithCollisions.Add(collider);
}
return; return;
} }
@ -619,9 +602,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
public override void SetWaterLevel(float baseheight) public override void SetWaterLevel(float baseheight)
{ {
m_waterLevel = baseheight; m_waterLevel = baseheight;
// TODO: pass to physics engine so things will float?
} }
public float GetWaterLevel() // Someday....
public float GetWaterLevelAtXYZ(Vector3 loc)
{ {
return m_waterLevel; return m_waterLevel;
} }
@ -659,121 +642,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
public override bool IsThreaded { get { return false; } } public override bool IsThreaded { get { return false; } }
/// <summary>
/// Routine to figure out if we need to mesh this prim with our mesher
/// </summary>
/// <param name="pbs"></param>
/// <returns>true if the prim needs meshing</returns>
public bool NeedsMeshing(PrimitiveBaseShape pbs)
{
// most of this is redundant now as the mesher will return null if it cant mesh a prim
// but we still need to check for sculptie meshing being enabled so this is the most
// convenient place to do it for now...
// int iPropertiesNotSupportedDefault = 0;
if (pbs.SculptEntry && !_meshSculptedPrim)
{
// Render sculpties as boxes
return false;
}
// if it's a standard box or sphere with no cuts, hollows, twist or top shear, return false since Bullet
// can use an internal representation for the prim
if (!_forceSimplePrimMeshing)
{
if ((pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
|| (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1
&& pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z))
{
if (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
&& pbs.ProfileHollow == 0
&& pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
&& pbs.PathBegin == 0 && pbs.PathEnd == 0
&& pbs.PathTaperX == 0 && pbs.PathTaperY == 0
&& pbs.PathScaleX == 100 && pbs.PathScaleY == 100
&& pbs.PathShearX == 0 && pbs.PathShearY == 0)
{
return false;
}
}
}
/* TODO: verify that the mesher will now do all these shapes
if (pbs.ProfileHollow != 0)
iPropertiesNotSupportedDefault++;
if ((pbs.PathBegin != 0) || pbs.PathEnd != 0)
iPropertiesNotSupportedDefault++;
if ((pbs.PathTwistBegin != 0) || (pbs.PathTwist != 0))
iPropertiesNotSupportedDefault++;
if ((pbs.ProfileBegin != 0) || pbs.ProfileEnd != 0)
iPropertiesNotSupportedDefault++;
if ((pbs.PathScaleX != 100) || (pbs.PathScaleY != 100))
iPropertiesNotSupportedDefault++;
if ((pbs.PathShearX != 0) || (pbs.PathShearY != 0))
iPropertiesNotSupportedDefault++;
if (pbs.ProfileShape == ProfileShape.Circle && pbs.PathCurve == (byte)Extrusion.Straight)
iPropertiesNotSupportedDefault++;
if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1 && (pbs.Scale.X != pbs.Scale.Y || pbs.Scale.Y != pbs.Scale.Z || pbs.Scale.Z != pbs.Scale.X))
iPropertiesNotSupportedDefault++;
if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte) Extrusion.Curve1)
iPropertiesNotSupportedDefault++;
// test for torus
if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Square)
{
if (pbs.PathCurve == (byte)Extrusion.Curve1)
{
iPropertiesNotSupportedDefault++;
}
}
else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.Circle)
{
if (pbs.PathCurve == (byte)Extrusion.Straight)
{
iPropertiesNotSupportedDefault++;
}
// ProfileCurve seems to combine hole shape and profile curve so we need to only compare against the lower 3 bits
else if (pbs.PathCurve == (byte)Extrusion.Curve1)
{
iPropertiesNotSupportedDefault++;
}
}
else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.HalfCircle)
{
if (pbs.PathCurve == (byte)Extrusion.Curve1 || pbs.PathCurve == (byte)Extrusion.Curve2)
{
iPropertiesNotSupportedDefault++;
}
}
else if ((pbs.ProfileCurve & 0x07) == (byte)ProfileShape.EquilateralTriangle)
{
if (pbs.PathCurve == (byte)Extrusion.Straight)
{
iPropertiesNotSupportedDefault++;
}
else if (pbs.PathCurve == (byte)Extrusion.Curve1)
{
iPropertiesNotSupportedDefault++;
}
}
if (iPropertiesNotSupportedDefault == 0)
{
return false;
}
*/
return true;
}
// Calls to the PhysicsActors can't directly call into the physics engine // Calls to the PhysicsActors can't directly call into the physics engine
// because it might be busy. We delay changes to a known time. // because it might be busy. We delay changes to a known time.
// We rely on C#'s closure to save and restore the context for the delegate. // We rely on C#'s closure to save and restore the context for the delegate.
@ -782,7 +650,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
if (!m_initialized) return; if (!m_initialized) return;
lock (_taintLock) lock (_taintLock)
{
_taintedObjects.Add(new TaintCallbackEntry(ident, callback)); _taintedObjects.Add(new TaintCallbackEntry(ident, callback));
}
return; return;
} }
@ -919,14 +790,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
{ {
new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties", new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties",
ConfigurationParameters.numericTrue, ConfigurationParameters.numericTrue,
(s,cf,p,v) => { s._meshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); }, (s,cf,p,v) => { s.ShouldMeshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); },
(s) => { return s.NumericBool(s._meshSculptedPrim); }, (s) => { return s.NumericBool(s.ShouldMeshSculptedPrim); },
(s,p,l,v) => { s._meshSculptedPrim = s.BoolNumeric(v); } ), (s,p,l,v) => { s.ShouldMeshSculptedPrim = s.BoolNumeric(v); } ),
new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects", new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
ConfigurationParameters.numericFalse, ConfigurationParameters.numericFalse,
(s,cf,p,v) => { s._forceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); }, (s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); },
(s) => { return s.NumericBool(s._forceSimplePrimMeshing); }, (s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); },
(s,p,l,v) => { s._forceSimplePrimMeshing = s.BoolNumeric(v); } ), (s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ),
new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
8f, 8f,
@ -1162,8 +1033,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
(s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; }, (s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; },
(s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ), (s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ),
new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=none, 1=all. Default=0", new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
0.0f, 0.1f,
(s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].linkConstraintCFM; }, (s) => { return s.m_params[0].linkConstraintCFM; },
(s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ), (s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ),
@ -1172,6 +1043,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
(s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].linkConstraintERP; }, (s) => { return s.m_params[0].linkConstraintERP; },
(s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ), (s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ),
new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
40,
(s,cf,p,v) => { s.m_params[0].linkConstraintSolverIterations = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].linkConstraintSolverIterations; },
(s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ),
new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)", new ParameterDefn("DetailedStats", "Frames between outputting detailed phys stats. (0 is off)",
0f, 0f,

60
OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
View File

@ -154,27 +154,31 @@ public class BSTerrainManager
// The simulator wants to set a new heightmap for the terrain. // The simulator wants to set a new heightmap for the terrain.
public void SetTerrain(float[] heightMap) { public void SetTerrain(float[] heightMap) {
if (m_worldOffset != Vector3.Zero && m_parentScene != null) float[] localHeightMap = heightMap;
m_physicsScene.TaintedObject("TerrainManager.SetTerrain", delegate()
{ {
// If a child of a mega-region, we shouldn't have any terrain allocated for us if (m_worldOffset != Vector3.Zero && m_parentScene != null)
ReleaseGroundPlaneAndTerrain();
// If doing the mega-prim stuff and we are the child of the zero region,
// the terrain is added to our parent
if (m_parentScene is BSScene)
{ {
DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}", // If a child of a mega-region, we shouldn't have any terrain allocated for us
BSScene.DetailLogZero, m_worldOffset, m_worldMax); ReleaseGroundPlaneAndTerrain();
((BSScene)m_parentScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID, // If doing the mega-prim stuff and we are the child of the zero region,
heightMap, m_worldOffset, m_worldOffset+DefaultRegionSize, false); // the terrain is added to our parent
if (m_parentScene is BSScene)
{
DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}",
BSScene.DetailLogZero, m_worldOffset, m_worldMax);
((BSScene)m_parentScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID,
localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true);
}
} }
} else
else {
{ // If not doing the mega-prim thing, just change the terrain
// If not doing the mega-prim thing, just change the terrain DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
UpdateOrCreateTerrain(BSScene.TERRAIN_ID, heightMap, m_worldOffset, m_worldOffset+DefaultRegionSize, false); UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true);
} }
});
} }
// If called with no mapInfo for the terrain, this will create a new mapInfo and terrain // If called with no mapInfo for the terrain, this will create a new mapInfo and terrain
@ -319,6 +323,8 @@ public class BSTerrainManager
// Make sure the new shape is processed. // Make sure the new shape is processed.
BulletSimAPI.Activate2(mapInfo.terrainBody.Ptr, true); BulletSimAPI.Activate2(mapInfo.terrainBody.Ptr, true);
m_terrainModified = true;
}; };
// There is the option to do the changes now (we're already in 'taint time'), or // There is the option to do the changes now (we're already in 'taint time'), or
@ -357,6 +363,8 @@ public class BSTerrainManager
m_heightMaps.Add(terrainRegionBase, mapInfo); m_heightMaps.Add(terrainRegionBase, mapInfo);
// Build the terrain // Build the terrain
UpdateOrCreateTerrain(newTerrainID, heightMap, minCoords, maxCoords, true); UpdateOrCreateTerrain(newTerrainID, heightMap, minCoords, maxCoords, true);
m_terrainModified = true;
}; };
// If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time. // If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time.
@ -383,7 +391,7 @@ public class BSTerrainManager
private float lastHeightTX = 999999f; private float lastHeightTX = 999999f;
private float lastHeightTY = 999999f; private float lastHeightTY = 999999f;
private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT; private float lastHeight = HEIGHT_INITIAL_LASTHEIGHT;
public float GetTerrainHeightAtXY(float tX, float tY) private float GetTerrainHeightAtXY(float tX, float tY)
{ {
// You'd be surprized at the number of times this routine is called // You'd be surprized at the number of times this routine is called
// with the same parameters as last time. // with the same parameters as last time.
@ -403,11 +411,18 @@ public class BSTerrainManager
{ {
float regionX = tX - offsetX; float regionX = tX - offsetX;
float regionY = tY - offsetY; float regionY = tY - offsetY;
if (regionX >= mapInfo.sizeX || regionX < 0f) regionX = 0;
if (regionY >= mapInfo.sizeY || regionY < 0f) regionY = 0;
int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX; int mapIndex = (int)regionY * (int)mapInfo.sizeY + (int)regionX;
ret = mapInfo.heightMap[mapIndex]; try
m_terrainModified = false; {
ret = mapInfo.heightMap[mapIndex];
}
catch
{
// Sometimes they give us wonky values of X and Y. Give a warning and return something.
m_physicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}",
LogHeader, terrainBaseXY, regionX, regionY);
ret = HEIGHT_GETHEIGHT_RET;
}
// DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}", // DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXY,bX={1},baseY={2},szX={3},szY={4},regX={5},regY={6},index={7},ht={8}",
// BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret); // BSScene.DetailLogZero, offsetX, offsetY, mapInfo.sizeX, mapInfo.sizeY, regionX, regionY, mapIndex, ret);
} }
@ -416,6 +431,7 @@ public class BSTerrainManager
m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}", m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
LogHeader, m_physicsScene.RegionName, tX, tY); LogHeader, m_physicsScene.RegionName, tX, tY);
} }
m_terrainModified = false;
lastHeight = ret; lastHeight = ret;
return ret; return ret;
} }

47
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@ -213,6 +213,7 @@ public struct ConfigurationParameters
public float linkConstraintTransMotorMaxForce; public float linkConstraintTransMotorMaxForce;
public float linkConstraintERP; public float linkConstraintERP;
public float linkConstraintCFM; public float linkConstraintCFM;
public float linkConstraintSolverIterations;
public const float numericTrue = 1f; public const float numericTrue = 1f;
public const float numericFalse = 0f; public const float numericFalse = 0f;
@ -395,23 +396,6 @@ public static extern bool DestroyMesh(uint worldID, System.UInt64 meshKey);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool CreateObject(uint worldID, ShapeData shapeData); public static extern bool CreateObject(uint worldID, ShapeData shapeData);
/* Remove old functionality
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void CreateLinkset(uint worldID, int objectCount, ShapeData[] shapeDatas);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void AddConstraint(uint worldID, uint id1, uint id2,
Vector3 frame1, Quaternion frame1rot,
Vector3 frame2, Quaternion frame2rot,
Vector3 lowLinear, Vector3 hiLinear, Vector3 lowAngular, Vector3 hiAngular);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool RemoveConstraintByID(uint worldID, uint id1);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool RemoveConstraint(uint worldID, uint id1, uint id2);
*/
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetObjectPosition(uint WorldID, uint id); public static extern Vector3 GetObjectPosition(uint WorldID, uint id);
@ -538,15 +522,27 @@ public static extern IntPtr BuildHullShape2(IntPtr world, IntPtr meshShape);
public static extern IntPtr BuildNativeShape2(IntPtr world, public static extern IntPtr BuildNativeShape2(IntPtr world,
float shapeType, float collisionMargin, Vector3 scale); float shapeType, float collisionMargin, Vector3 scale);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool IsNativeShape2(IntPtr shape);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateCompoundShape2(IntPtr sim);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void AddChildToCompoundShape2(IntPtr cShape, IntPtr addShape, Vector3 pos, Quaternion rot);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, IntPtr constructionInfo);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape); public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot); public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, IntPtr constructionInfo);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot); public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot);
@ -561,9 +557,6 @@ public static extern void DestroyObject2(IntPtr sim, IntPtr obj);
// ===================================================================================== // =====================================================================================
// Terrain creation and helper routines // Terrain creation and helper routines
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpMapInfo(IntPtr sim, IntPtr manInfo);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords, public static extern IntPtr CreateHeightMapInfo2(IntPtr sim, uint id, Vector3 minCoords, Vector3 maxCoords,
[MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin); [MarshalAs(UnmanagedType.LPArray)] float[] heightMap, float collisionMargin);
@ -1010,7 +1003,7 @@ public static extern void SetLocalScaling2(IntPtr shape, Vector3 scale);
public static extern Vector3 GetLocalScaling2(IntPtr shape); public static extern Vector3 GetLocalScaling2(IntPtr shape);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void CalculateLocalInertia2(IntPtr shape, float mass, Vector3 inertia); public static extern Vector3 CalculateLocalInertia2(IntPtr shape, float mass);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern int GetShapeType2(IntPtr shape); public static extern int GetShapeType2(IntPtr shape);
@ -1026,6 +1019,12 @@ public static extern void SetCollisionFilterMask(IntPtr shape, uint filter, uint
// ===================================================================================== // =====================================================================================
// Debugging // Debugging
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpPhysicsStatistics2(IntPtr sim); public static extern void DumpPhysicsStatistics2(IntPtr sim);

4
OpenSim/Services/AssetService/AssetServiceBase.cs
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@ -84,7 +84,7 @@ namespace OpenSim.Services.AssetService
m_Database = LoadPlugin<IAssetDataPlugin>(dllName); m_Database = LoadPlugin<IAssetDataPlugin>(dllName);
if (m_Database == null) if (m_Database == null)
throw new Exception("Could not find a storage interface in the given module"); throw new Exception(string.Format("Could not find a storage interface in the module {0}", dllName));
m_Database.Initialise(connString); m_Database.Initialise(connString);
@ -96,7 +96,7 @@ namespace OpenSim.Services.AssetService
m_AssetLoader = LoadPlugin<IAssetLoader>(loaderName); m_AssetLoader = LoadPlugin<IAssetLoader>(loaderName);
if (m_AssetLoader == null) if (m_AssetLoader == null)
throw new Exception("Asset loader could not be loaded"); throw new Exception(string.Format("Asset loader could not be loaded from {0}", loaderName));
} }
} }
} }

1
OpenSim/Services/HypergridService/HGSuitcaseInventoryService.cs
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@ -573,6 +573,7 @@ namespace OpenSim.Services.HypergridService
private bool IsPartOfAppearance(UUID principalID, UUID itemID) private bool IsPartOfAppearance(UUID principalID, UUID itemID)
{ {
AvatarAppearance a = GetAppearance(principalID); AvatarAppearance a = GetAppearance(principalID);
if (a == null) if (a == null)
return false; return false;

1
bin/config-include/StandaloneHypergrid.ini
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@ -153,6 +153,7 @@
; For the InventoryServiceInConnector ; For the InventoryServiceInConnector
LocalServiceModule = "OpenSim.Services.HypergridService.dll:HGInventoryService" LocalServiceModule = "OpenSim.Services.HypergridService.dll:HGInventoryService"
UserAccountsService = "OpenSim.Services.UserAccountService.dll:UserAccountService" UserAccountsService = "OpenSim.Services.UserAccountService.dll:UserAccountService"
AvatarService = "OpenSim.Services.AvatarService.dll:AvatarService"
;; The interface that local users get when they are in other grids ;; The interface that local users get when they are in other grids
;; This restricts/filters the asset operations from the outside ;; This restricts/filters the asset operations from the outside

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bin/lib32/BulletSim.dll
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bin/lib32/libBulletSim.so
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bin/lib64/BulletSim.dll
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bin/lib64/libBulletSim.so
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1
prebuild.xml
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@ -3009,6 +3009,7 @@
<Match path="World/Media/Moap/Tests" pattern="*.cs" recurse="true"/> <Match path="World/Media/Moap/Tests" pattern="*.cs" recurse="true"/>
<Match path="World/Serialiser/Tests" pattern="*.cs" recurse="true"/> <Match path="World/Serialiser/Tests" pattern="*.cs" recurse="true"/>
<Match path="World/Terrain/Tests" pattern="*.cs" recurse="true"/> <Match path="World/Terrain/Tests" pattern="*.cs" recurse="true"/>
<Match path="ServiceConnectorsOut/Asset/Tests" pattern="*.cs" recurse="true"/>
<Match path="ServiceConnectorsOut/Grid/Tests" pattern="*.cs" recurse="true"/> <Match path="ServiceConnectorsOut/Grid/Tests" pattern="*.cs" recurse="true"/>
<Match path="ServiceConnectorsOut/Presence/Tests" pattern="*.cs" recurse="true"/> <Match path="ServiceConnectorsOut/Presence/Tests" pattern="*.cs" recurse="true"/>
</Files> </Files>