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BulletSim: partial addition of BSShape class code preparing for 

different physical mesh representations (simplified convex meshes)
and avatar mesh.
user_profiles
Robert Adams 2013-04-24 08:05:42 -07:00
parent e324f6f3f0
commit c22a2ab7d2
2 changed files with 195 additions and 56 deletions
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28
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
View File

@ -612,7 +612,7 @@ public sealed class BSShapeCollection : IDisposable
newShape = CreatePhysicalMesh(prim, newMeshKey, prim.BaseShape, prim.Size, lod);
// Take evasive action if the mesh was not constructed.
newShape = VerifyMeshCreated(newShape, prim);
newShape = VerifyMeshCreated(PhysicsScene, newShape, prim);
ReferenceShape(newShape);
@ -719,7 +719,7 @@ public sealed class BSShapeCollection : IDisposable
newShape = CreatePhysicalHull(prim, newHullKey, prim.BaseShape, prim.Size, lod);
// It might not have been created if we're waiting for an asset.
newShape = VerifyMeshCreated(newShape, prim);
newShape = VerifyMeshCreated(PhysicsScene, newShape, prim);
ReferenceShape(newShape);
@ -923,7 +923,7 @@ public sealed class BSShapeCollection : IDisposable
// Create a hash of all the shape parameters to be used as a key
// for this particular shape.
private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
public static System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
{
// level of detail based on size and type of the object
float lod = BSParam.MeshLOD;
@ -944,7 +944,7 @@ public sealed class BSShapeCollection : IDisposable
return pbs.GetMeshKey(size, lod);
}
// For those who don't want the LOD
private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs)
public static System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs)
{
float lod;
return ComputeShapeKey(size, pbs, out lod);
@ -957,7 +957,7 @@ public sealed class BSShapeCollection : IDisposable
// us to not loop forever.
// Called after creating a physical mesh or hull. If the physical shape was created,
// just return.
private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim)
public static BulletShape VerifyMeshCreated(BSScene physicsScene, BulletShape newShape, BSPhysObject prim)
{
// If the shape was successfully created, nothing more to do
if (newShape.HasPhysicalShape)
@ -969,7 +969,7 @@ public sealed class BSShapeCollection : IDisposable
if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
{
prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
PhysicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. {1}, texture={2}",
physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. {1}, texture={2}",
LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture);
}
else
@ -981,14 +981,14 @@ public sealed class BSShapeCollection : IDisposable
&& prim.BaseShape.SculptTexture != OMV.UUID.Zero
)
{
DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset", prim.LocalID);
physicsScene.DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset", prim.LocalID);
// Multiple requestors will know we're waiting for this asset
prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Waiting;
BSPhysObject xprim = prim;
Util.FireAndForget(delegate
{
RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
RequestAssetDelegate assetProvider = physicsScene.RequestAssetMethod;
if (assetProvider != null)
{
BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
@ -1016,7 +1016,7 @@ public sealed class BSShapeCollection : IDisposable
yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched;
else
yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
DetailLog("{0},BSShapeCollection,fetchAssetCallback,found={1},isSculpt={2},ids={3}",
physicsScene.DetailLog("{0},BSShapeCollection,fetchAssetCallback,found={1},isSculpt={2},ids={3}",
yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs );
});
@ -1024,8 +1024,8 @@ public sealed class BSShapeCollection : IDisposable
else
{
xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
PhysicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}",
LogHeader, PhysicsScene.Name);
physicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}",
LogHeader, physicsScene.Name);
}
});
}
@ -1033,15 +1033,15 @@ public sealed class BSShapeCollection : IDisposable
{
if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed)
{
PhysicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. obj={1}, texture={2}",
physicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. obj={1}, texture={2}",
LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture);
}
}
}
// While we wait for the mesh defining asset to be loaded, stick in a simple box for the object.
BulletShape fillinShape = BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
DetailLog("{0},BSShapeCollection.VerifyMeshCreated,boxTempShape", prim.LocalID);
BulletShape fillinShape = physicsScene.Shapes.BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
physicsScene.DetailLog("{0},BSShapeCollection.VerifyMeshCreated,boxTempShape", prim.LocalID);
return fillinShape;
}

223
OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
View File

@ -29,6 +29,9 @@ using System;
using System.Collections.Generic;
using System.Text;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
@ -37,11 +40,19 @@ public abstract class BSShape
{
public int referenceCount { get; set; }
public DateTime lastReferenced { get; set; }
public BulletShape physShapeInfo { get; set; }
public BSShape()
{
referenceCount = 0;
lastReferenced = DateTime.Now;
physShapeInfo = new BulletShape();
}
public BSShape(BulletShape pShape)
{
referenceCount = 0;
lastReferenced = DateTime.Now;
physShapeInfo = pShape;
}
// Get a reference to a physical shape. Create if it doesn't exist
@ -79,21 +90,30 @@ public abstract class BSShape
return ret;
}
public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
private static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
BSShapeMesh.GetReference(physicsScene, forceRebuild, prim);
BSShapeHull.GetReference(physicsScene, forceRebuild, prim);
return null;
}
public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
// Called when this shape is being used again.
public virtual void IncrementReference()
{
return null;
referenceCount++;
lastReferenced = DateTime.Now;
}
// Called when this shape is being used again.
public virtual void DecrementReference()
{
referenceCount--;
lastReferenced = DateTime.Now;
}
// Release the use of a physical shape.
public abstract void Dereference(BSScene physicsScene);
// All shapes have a static call to get a reference to the physical shape
// protected abstract static BSShape GetReference();
// Returns a string for debugging that uniquily identifies the memory used by this instance
public virtual string AddrString
{
@ -112,6 +132,7 @@ public abstract class BSShape
}
}
// ============================================================================================================
public class BSShapeNull : BSShape
{
public BSShapeNull() : base()
@ -121,23 +142,39 @@ public class BSShapeNull : BSShape
public override void Dereference(BSScene physicsScene) { /* The magic of garbage collection will make this go away */ }
}
// ============================================================================================================
public class BSShapeNative : BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE NATIVE]";
public BSShapeNative() : base()
public BSShapeNative(BulletShape pShape) : base(pShape)
{
}
public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim,
BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
{
// Native shapes are not shared and are always built anew.
//return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
return null;
}
private BSShapeNative(BSScene physicsScene, BSPhysObject prim,
BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim,
BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
{
// Native shapes are not shared and are always built anew.
return new BSShapeNative(CreatePhysicalNativeShape(physicsScene, prim, shapeType, shapeKey));
}
// Make this reference to the physical shape go away since native shapes are not shared.
public override void Dereference(BSScene physicsScene)
{
// Native shapes are not tracked and are released immediately
if (physShapeInfo.HasPhysicalShape)
{
physicsScene.DetailLog("{0},BSShapeNative.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
physicsScene.PE.DeleteCollisionShape(physicsScene.World, physShapeInfo);
}
physShapeInfo.Clear();
// Garbage collection will free up this instance.
}
private static BulletShape CreatePhysicalNativeShape(BSScene physicsScene, BSPhysObject prim,
BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
{
BulletShape newShape;
ShapeData nativeShapeData = new ShapeData();
nativeShapeData.Type = shapeType;
nativeShapeData.ID = prim.LocalID;
@ -146,63 +183,164 @@ public class BSShapeNative : BSShape
nativeShapeData.MeshKey = (ulong)shapeKey;
nativeShapeData.HullKey = (ulong)shapeKey;
/*
if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
{
ptr = PhysicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale);
physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
newShape = physicsScene.PE.BuildCapsuleShape(physicsScene.World, 1f, 1f, prim.Scale);
physicsScene.DetailLog("{0},BSShapeNative,capsule,scale={1}", prim.LocalID, prim.Scale);
}
else
{
ptr = PhysicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData);
newShape = physicsScene.PE.BuildNativeShape(physicsScene.World, nativeShapeData);
}
if (ptr == IntPtr.Zero)
if (!newShape.HasPhysicalShape)
{
physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
LogHeader, prim.LocalID, shapeType);
}
type = shapeType;
key = (UInt64)shapeKey;
*/
}
// Make this reference to the physical shape go away since native shapes are not shared.
public override void Dereference(BSScene physicsScene)
{
/*
// Native shapes are not tracked and are released immediately
physicsScene.DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,shape={1}", BSScene.DetailLogZero, this);
PhysicsScene.PE.DeleteCollisionShape(physicsScene.World, this);
ptr = IntPtr.Zero;
// Garbage collection will free up this instance.
*/
newShape.type = shapeType;
newShape.isNativeShape = true;
newShape.shapeKey = (UInt64)shapeKey;
return newShape;
}
}
// ============================================================================================================
public class BSShapeMesh : BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE MESH]";
private static Dictionary<System.UInt64, BSShapeMesh> Meshes = new Dictionary<System.UInt64, BSShapeMesh>();
public BSShapeMesh() : base()
public BSShapeMesh(BulletShape pShape) : base(pShape)
{
}
public static BSShape GetReference() { return new BSShapeNull(); }
public override void Dereference(BSScene physicsScene) { }
public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
float lod;
System.UInt64 newMeshKey = BSShapeCollection.ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
physicsScene.DetailLog("{0},BSShapeMesh,create,oldKey={1},newKey={2},size={3},lod={4}",
prim.LocalID, prim.PhysShape.shapeKey.ToString("X"), newMeshKey.ToString("X"), prim.Size, lod);
BSShapeMesh retMesh;
lock (Meshes)
{
if (Meshes.TryGetValue(newMeshKey, out retMesh))
{
// The mesh has already been created. Return a new reference to same.
retMesh.IncrementReference();
}
else
{
// An instance of this mesh has not been created. Build and remember same.
BulletShape newShape = CreatePhysicalMesh(physicsScene, prim, newMeshKey, prim.BaseShape, prim.Size, lod);
// Take evasive action if the mesh was not constructed.
newShape = BSShapeCollection.VerifyMeshCreated(physicsScene, newShape, prim);
retMesh = new BSShapeMesh(newShape);
Meshes.Add(newMeshKey, retMesh);
}
}
return retMesh;
}
public override void Dereference(BSScene physicsScene)
{
lock (Meshes)
{
this.DecrementReference();
// TODO: schedule aging and destruction of unused meshes.
}
}
private static BulletShape CreatePhysicalMesh(BSScene physicsScene, BSPhysObject prim, System.UInt64 newMeshKey,
PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{
BulletShape newShape = null;
IMesh meshData = physicsScene.mesher.CreateMesh(prim.PhysObjectName, pbs, size, lod,
false, // say it is not physical so a bounding box is not built
false // do not cache the mesh and do not use previously built versions
);
if (meshData != null)
{
int[] indices = meshData.getIndexListAsInt();
int realIndicesIndex = indices.Length;
float[] verticesAsFloats = meshData.getVertexListAsFloat();
if (BSParam.ShouldRemoveZeroWidthTriangles)
{
// Remove degenerate triangles. These are triangles with two of the vertices
// are the same. This is complicated by the problem that vertices are not
// made unique in sculpties so we have to compare the values in the vertex.
realIndicesIndex = 0;
for (int tri = 0; tri < indices.Length; tri += 3)
{
// Compute displacements into vertex array for each vertex of the triangle
int v1 = indices[tri + 0] * 3;
int v2 = indices[tri + 1] * 3;
int v3 = indices[tri + 2] * 3;
// Check to see if any two of the vertices are the same
if (!( ( verticesAsFloats[v1 + 0] == verticesAsFloats[v2 + 0]
&& verticesAsFloats[v1 + 1] == verticesAsFloats[v2 + 1]
&& verticesAsFloats[v1 + 2] == verticesAsFloats[v2 + 2])
|| ( verticesAsFloats[v2 + 0] == verticesAsFloats[v3 + 0]
&& verticesAsFloats[v2 + 1] == verticesAsFloats[v3 + 1]
&& verticesAsFloats[v2 + 2] == verticesAsFloats[v3 + 2])
|| ( verticesAsFloats[v1 + 0] == verticesAsFloats[v3 + 0]
&& verticesAsFloats[v1 + 1] == verticesAsFloats[v3 + 1]
&& verticesAsFloats[v1 + 2] == verticesAsFloats[v3 + 2]) )
)
{
// None of the vertices of the triangles are the same. This is a good triangle;
indices[realIndicesIndex + 0] = indices[tri + 0];
indices[realIndicesIndex + 1] = indices[tri + 1];
indices[realIndicesIndex + 2] = indices[tri + 2];
realIndicesIndex += 3;
}
}
}
physicsScene.DetailLog("{0},BSShapeCollection.CreatePhysicalMesh,origTri={1},realTri={2},numVerts={3}",
BSScene.DetailLogZero, indices.Length / 3, realIndicesIndex / 3, verticesAsFloats.Length / 3);
if (realIndicesIndex != 0)
{
newShape = physicsScene.PE.CreateMeshShape(physicsScene.World,
realIndicesIndex, indices, verticesAsFloats.Length / 3, verticesAsFloats);
}
else
{
physicsScene.Logger.DebugFormat("{0} All mesh triangles degenerate. Prim {1} at {2} in {3}",
LogHeader, prim.PhysObjectName, prim.RawPosition, physicsScene.Name);
}
}
newShape.shapeKey = newMeshKey;
return newShape;
}
}
// ============================================================================================================
public class BSShapeHull : BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE HULL]";
private static Dictionary<System.UInt64, BSShapeHull> Hulls = new Dictionary<System.UInt64, BSShapeHull>();
public BSShapeHull() : base()
public BSShapeHull(BulletShape pShape) : base(pShape)
{
}
public static BSShape GetReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
return new BSShapeNull();
}
public override void Dereference(BSScene physicsScene)
{
}
public static BSShape GetReference() { return new BSShapeNull(); }
public override void Dereference(BSScene physicsScene) { }
}
// ============================================================================================================
public class BSShapeCompound : BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE COMPOUND]";
@ -216,6 +354,7 @@ public class BSShapeCompound : BSShape
public override void Dereference(BSScene physicsScene) { }
}
// ============================================================================================================
public class BSShapeAvatar : BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE AVATAR]";