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BulletSim: move collision processing for linksets from BSPrimLinkable 

into the linkset implementation classes.
Add HasSomeCollision attribute that remembers of any component of
   a linkset has a collision.
Update vehicle code (BSDynamic) to use the HasSomeCollision in place of
   IsColliding to make constraint based linksets properly notice the ground.
Add linkset functions to change physical attributes of all the members
   of a linkset.
TeleportWork
Robert Adams 2013-07-11 14:33:03 -07:00
parent 13a4a80b38
commit b4c3a791aa
5 changed files with 121 additions and 18 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

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

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

75
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
View File

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

11
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
View File

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

5
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

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

32
OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
View File

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