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BulletSim: finish the post step event for physical object actions. Modify vehicle to use post step event for logging.

user_profiles
Robert Adams 2013-01-25 10:17:20 -08:00
parent 776cc33541
commit c44a8e9f92
3 changed files with 73 additions and 13 deletions
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14
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -583,6 +583,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Some of the properties of this prim may have changed.
// Do any updating needed for a vehicle
Vector3 m_physicsLinearFactor = new Vector3(0.2f, 0.2f, 0.2f); // DEBUG DEBUG
Vector3 m_physicsAngularFactor = new Vector3(0.2f, 0.2f, 0.2f); // DEBUG DEBUG
public void Refresh()
{
if (IsActive)
@ -599,6 +601,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Maybe compute linear and angular factor and damping from params.
float angularDamping = BSParam.VehicleAngularDamping;
PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, angularDamping);
PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, m_physicsLinearFactor); // DEBUG DEBUG
PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, m_physicsAngularFactor); // DEBUG DEBUG
// Vehicles report collision events so we know when it's on the ground
PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
@ -898,9 +902,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
if (!IsActive) return;
if (PhysicsScene.VehiclePhysicalLoggingEnabled)
PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
ForgetKnownVehicleProperties();
MoveLinear(pTimestep);
@ -922,6 +923,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Prim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity);
}
// Called after the simulation step
internal void PostStep(float pTimestep)
{
if (PhysicsScene.VehiclePhysicalLoggingEnabled)
PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
}
// Apply the effect of the linear motor and other linear motions (like hover and float).
private void MoveLinear(float pTimestep)
{

66
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
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@ -101,6 +101,7 @@ public abstract class BSPhysObject : PhysicsActor
public virtual void Destroy()
{
UnRegisterAllPreStepActions();
UnRegisterAllPostStepActions();
}
public BSScene PhysicsScene { get; protected set; }
@ -393,17 +394,18 @@ public abstract class BSPhysObject : PhysicsActor
// These actions are optional so, rather than scanning all the physical objects and asking them
// if they have anything to do, a physical object registers for an event call before the step is performed.
// This bookkeeping makes it easy to add, remove and clean up after all these registrations.
private Dictionary<string, BSScene.PreStepAction> RegisteredActions = new Dictionary<string, BSScene.PreStepAction>();
private Dictionary<string, BSScene.PreStepAction> RegisteredPrestepActions = new Dictionary<string, BSScene.PreStepAction>();
private Dictionary<string, BSScene.PostStepAction> RegisteredPoststepActions = new Dictionary<string, BSScene.PostStepAction>();
protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn)
{
string identifier = op + "-" + id.ToString();
lock (RegisteredActions)
lock (RegisteredPrestepActions)
{
// Clean out any existing action
UnRegisterPreStepAction(op, id);
RegisteredActions[identifier] = actn;
RegisteredPrestepActions[identifier] = actn;
}
PhysicsScene.BeforeStep += actn;
DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
@ -414,12 +416,12 @@ public abstract class BSPhysObject : PhysicsActor
{
string identifier = op + "-" + id.ToString();
bool removed = false;
lock (RegisteredActions)
lock (RegisteredPrestepActions)
{
if (RegisteredActions.ContainsKey(identifier))
if (RegisteredPrestepActions.ContainsKey(identifier))
{
PhysicsScene.BeforeStep -= RegisteredActions[identifier];
RegisteredActions.Remove(identifier);
PhysicsScene.BeforeStep -= RegisteredPrestepActions[identifier];
RegisteredPrestepActions.Remove(identifier);
removed = true;
}
}
@ -428,17 +430,61 @@ public abstract class BSPhysObject : PhysicsActor
protected void UnRegisterAllPreStepActions()
{
lock (RegisteredActions)
lock (RegisteredPrestepActions)
{
foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredPrestepActions)
{
PhysicsScene.BeforeStep -= kvp.Value;
}
RegisteredActions.Clear();
RegisteredPrestepActions.Clear();
}
DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
}
protected void RegisterPostStepAction(string op, uint id, BSScene.PostStepAction actn)
{
string identifier = op + "-" + id.ToString();
lock (RegisteredPoststepActions)
{
// Clean out any existing action
UnRegisterPostStepAction(op, id);
RegisteredPoststepActions[identifier] = actn;
}
PhysicsScene.AfterStep += actn;
DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier);
}
// Unregister a pre step action. Safe to call if the action has not been registered.
protected void UnRegisterPostStepAction(string op, uint id)
{
string identifier = op + "-" + id.ToString();
bool removed = false;
lock (RegisteredPoststepActions)
{
if (RegisteredPoststepActions.ContainsKey(identifier))
{
PhysicsScene.AfterStep -= RegisteredPoststepActions[identifier];
RegisteredPoststepActions.Remove(identifier);
removed = true;
}
}
DetailLog("{0},BSPhysObject.UnRegisterPostStepAction,id={1},removed={2}", LocalID, identifier, removed);
}
protected void UnRegisterAllPostStepActions()
{
lock (RegisteredPoststepActions)
{
foreach (KeyValuePair<string, BSScene.PostStepAction> kvp in RegisteredPoststepActions)
{
PhysicsScene.AfterStep -= kvp.Value;
}
RegisteredPoststepActions.Clear();
}
DetailLog("{0},BSPhysObject.UnRegisterAllPostStepActions,", LocalID);
}
#endregion // Per Simulation Step actions

6
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -527,9 +527,15 @@ public sealed class BSPrim : BSPhysObject
// If an active vehicle, register the vehicle code to be called before each step
if (_vehicle.Type == Vehicle.TYPE_NONE)
{
UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
PhysicsScene.AfterStep -= _vehicle.PostStep;
}
else
{
RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step);
PhysicsScene.AfterStep += _vehicle.PostStep;
}
});
}
}