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

0.7.5-pf-bulletsim
BlueWall 2012-12-12 16:15:32 -05:00
parent d7c4f16928 bb6eeb5429
commit c5d333c16c
18 changed files with 352 additions and 110 deletions
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36
OpenSim/Region/CoreModules/Framework/InventoryAccess/HGAssetMapper.cs
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@ -71,7 +71,7 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
#region Internal functions
public AssetMetadata FetchMetadata(string url, UUID assetID)
private AssetMetadata FetchMetadata(string url, UUID assetID)
{
if (!url.EndsWith("/") && !url.EndsWith("="))
url = url + "/";
@ -86,6 +86,27 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
return meta;
}
private AssetBase FetchAsset(string url, UUID assetID)
{
// Test if it's already here
AssetBase asset = m_scene.AssetService.Get(assetID.ToString());
if (asset == null)
{
if (!url.EndsWith("/") && !url.EndsWith("="))
url = url + "/";
asset = m_scene.AssetService.Get(url + assetID.ToString());
//if (asset != null)
// m_log.DebugFormat("[HG ASSET MAPPER]: Fetched asset {0} of type {1} from {2} ", assetID, asset.Metadata.Type, url);
//else
// m_log.DebugFormat("[HG ASSET MAPPER]: Unable to fetch asset {0} from {1} ", assetID, url);
}
return asset;
}
public bool PostAsset(string url, AssetBase asset)
{
if (asset != null)
@ -228,11 +249,22 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess
if (meta == null)
return;
// The act of gathering UUIDs downloads the assets from the remote server
// The act of gathering UUIDs downloads some assets from the remote server
// but not all...
Dictionary<UUID, AssetType> ids = new Dictionary<UUID, AssetType>();
HGUuidGatherer uuidGatherer = new HGUuidGatherer(m_scene.AssetService, userAssetURL);
uuidGatherer.GatherAssetUuids(assetID, (AssetType)meta.Type, ids);
m_log.DebugFormat("[HG ASSET MAPPER]: Preparing to get {0} assets", ids.Count);
bool success = true;
foreach (UUID uuid in ids.Keys)
if (FetchAsset(userAssetURL, uuid) == null)
success = false;
// maybe all pieces got here...
if (!success)
m_log.DebugFormat("[HG ASSET MAPPER]: Problems getting item {0} from asset server {1}", assetID, userAssetURL);
else
m_log.DebugFormat("[HG ASSET MAPPER]: Successfully got item {0} from asset server {1}", assetID, userAssetURL);
}

10
OpenSim/Region/Framework/Scenes/Scene.Inventory.cs
View File

@ -688,12 +688,10 @@ namespace OpenSim.Region.Framework.Scenes
itemCopy.SalePrice = item.SalePrice;
itemCopy.SaleType = item.SaleType;
if (AddInventoryItem(itemCopy))
{
IInventoryAccessModule invAccess = RequestModuleInterface<IInventoryAccessModule>();
if (invAccess != null)
invAccess.TransferInventoryAssets(itemCopy, senderId, recipient);
}
IInventoryAccessModule invAccess = RequestModuleInterface<IInventoryAccessModule>();
if (invAccess != null)
invAccess.TransferInventoryAssets(itemCopy, senderId, recipient);
AddInventoryItem(itemCopy);
if (!Permissions.BypassPermissions())
{

62
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
View File

@ -124,7 +124,9 @@ public sealed class BSCharacter : BSPhysObject
PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
{
PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
PhysBody.Clear();
PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
PhysShape.Clear();
});
}
@ -194,8 +196,11 @@ public sealed class BSCharacter : BSPhysObject
PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
{
BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
UpdatePhysicalMassProperties(RawMass);
if (PhysShape.HasPhysicalShape)
{
BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
UpdatePhysicalMassProperties(RawMass);
}
});
}
@ -236,7 +241,8 @@ public sealed class BSCharacter : BSPhysObject
// Zero some other properties directly into the physics engine
PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
{
BulletSimAPI.ClearAllForces2(PhysBody.ptr);
if (PhysBody.HasPhysicalBody)
BulletSimAPI.ClearAllForces2(PhysBody.ptr);
});
}
public override void ZeroAngularMotion(bool inTaintTime)
@ -245,10 +251,13 @@ public sealed class BSCharacter : BSPhysObject
PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate()
{
BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
// The next also get rid of applied linear force but the linear velocity is untouched.
BulletSimAPI.ClearForces2(PhysBody.ptr);
if (PhysBody.HasPhysicalBody)
{
BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero);
// The next also get rid of applied linear force but the linear velocity is untouched.
BulletSimAPI.ClearForces2(PhysBody.ptr);
}
});
}
@ -273,7 +282,8 @@ public sealed class BSCharacter : BSPhysObject
PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
{
DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
if (PhysBody.HasPhysicalBody)
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
});
}
}
@ -332,7 +342,8 @@ public sealed class BSCharacter : BSPhysObject
PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
{
DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
if (PhysBody.HasPhysicalBody)
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
});
ret = true;
}
@ -359,7 +370,8 @@ public sealed class BSCharacter : BSPhysObject
PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
{
DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
if (PhysBody.HasPhysicalBody)
BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
});
}
}
@ -398,7 +410,8 @@ public sealed class BSCharacter : BSPhysObject
if (_currentFriction != PhysicsScene.Params.avatarStandingFriction)
{
_currentFriction = PhysicsScene.Params.avatarStandingFriction;
BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
if (PhysBody.HasPhysicalBody)
BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
}
}
else
@ -406,7 +419,8 @@ public sealed class BSCharacter : BSPhysObject
if (_currentFriction != PhysicsScene.Params.avatarFriction)
{
_currentFriction = PhysicsScene.Params.avatarFriction;
BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
if (PhysBody.HasPhysicalBody)
BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
}
}
_velocity = value;
@ -443,8 +457,11 @@ public sealed class BSCharacter : BSPhysObject
// m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
{
// _position = BulletSimAPI.GetPosition2(BSBody.ptr);
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
if (PhysBody.HasPhysicalBody)
{
// _position = BulletSimAPI.GetPosition2(BSBody.ptr);
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
}
});
}
}
@ -517,10 +534,13 @@ public sealed class BSCharacter : BSPhysObject
_floatOnWater = value;
PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
{
if (_floatOnWater)
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
else
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
if (PhysBody.HasPhysicalBody)
{
if (_floatOnWater)
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
else
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
}
});
}
}
@ -553,7 +573,8 @@ public sealed class BSCharacter : BSPhysObject
DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
// Buoyancy is faked by changing the gravity applied to the object
float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
if (PhysBody.HasPhysicalBody)
BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
}
}
@ -599,7 +620,8 @@ public sealed class BSCharacter : BSPhysObject
PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
{
DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
if (PhysBody.HasPhysicalBody)
BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
});
}
else

4
OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
View File

@ -57,7 +57,7 @@ public abstract class BSConstraint : IDisposable
if (m_enabled)
{
m_enabled = false;
if (m_constraint.ptr != IntPtr.Zero)
if (m_constraint.HasPhysicalConstraint)
{
bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}",
@ -65,7 +65,7 @@ public abstract class BSConstraint : IDisposable
m_body1.ID, m_body1.ptr.ToString("X"),
m_body2.ID, m_body2.ptr.ToString("X"),
success);
m_constraint.ptr = System.IntPtr.Zero;
m_constraint.Clear();
}
}
}

4
OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs
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@ -65,7 +65,7 @@ public sealed class BSConstraint6Dof : BSConstraint
m_world = world;
m_body1 = obj1;
m_body2 = obj2;
if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero)
if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody)
{
world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID,
@ -83,7 +83,7 @@ public sealed class BSConstraint6Dof : BSConstraint
world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"),
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
if (m_constraint.ptr == IntPtr.Zero)
if (!m_constraint.HasPhysicalConstraint)
{
world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
LogHeader, obj1.ID, obj2.ID);

21
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -570,8 +570,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr);
VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}",
Prim.LocalID, friction, localInertia, angularDamping);
VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}",
Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping);
}
else
{
@ -818,6 +818,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
+ hoverContribution
+ limitMotorUpContribution;
Vector3 newForce = buoyancyContribution;
// If not changing some axis, reduce out velocity
if ((m_flags & (VehicleFlag.NO_X)) != 0)
newVelocity.X = 0;
@ -845,7 +847,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
VehicleVelocity = newVelocity;
// Other linear forces are applied as forces.
Vector3 totalDownForce = buoyancyContribution * m_vehicleMass;
Vector3 totalDownForce = newForce * m_vehicleMass;
if (!totalDownForce.ApproxEquals(Vector3.Zero, 0.01f))
{
VehicleAddForce(totalDownForce);
@ -991,8 +993,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
{
// If the vehicle is motoring into the sky, get it going back down.
float distanceAboveGround = VehiclePosition.Z - GetTerrainHeight(VehiclePosition);
float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
float distanceAboveGround = VehiclePosition.Z - targetHeight;
// Not colliding if the vehicle is off the ground
if (!Prim.IsColliding)
{
@ -1005,8 +1007,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// has a decay factor. This says this force should
// be computed with a motor.
// TODO: add interaction with banking.
VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},downForce={2}",
Prim.LocalID, distanceAboveGround, ret);
VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret);
}
return ret;
}
@ -1055,7 +1057,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// TODO: Should this be applied as an angular force (torque)?
if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f))
{
Vector3 scaledCorrection = m_lastAngularCorrection * pTimestep;
// DEBUG DEBUG DEBUG: optionally scale the angular velocity. Debugging SL vs ODE turning functions.
Vector3 scaledCorrection = m_lastAngularCorrection;
if (PhysicsScene.VehicleScaleAngularVelocityByTimestep)
scaledCorrection *= pTimestep;
VehicleRotationalVelocity = scaledCorrection;
VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}",

8
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
View File

@ -32,6 +32,14 @@ using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
// A BSPrim can get individual information about its linkedness attached
// to it through an instance of a subclass of LinksetInfo.
// Each type of linkset will define the information needed for its type.
public abstract class BSLinksetInfo
{
}
public abstract class BSLinkset
{
// private static string LogHeader = "[BULLETSIM LINKSET]";

125
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
View File

@ -32,6 +32,31 @@ using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
// When a child is linked, the relationship position of the child to the parent
// is remembered so the child's world position can be recomputed when it is
// removed from the linkset.
sealed class BSLinksetCompoundInfo : BSLinksetInfo
{
public OMV.Vector3 OffsetPos;
public OMV.Quaternion OffsetRot;
public BSLinksetCompoundInfo(OMV.Vector3 p, OMV.Quaternion r)
{
OffsetPos = p;
OffsetRot = r;
}
public override string ToString()
{
StringBuilder buff = new StringBuilder();
buff.Append("<p=");
buff.Append(OffsetPos.ToString());
buff.Append(",r=");
buff.Append(OffsetRot.ToString());
buff.Append(">");
return buff.ToString();
}
};
public sealed class BSLinksetCompound : BSLinkset
{
private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
@ -44,6 +69,7 @@ public sealed class BSLinksetCompound : BSLinkset
// For compound implimented linksets, if there are children, use compound shape for the root.
public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
{
// Returning 'unknown' means we don't have a preference.
BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
if (IsRoot(requestor) && HasAnyChildren)
{
@ -63,10 +89,10 @@ public sealed class BSLinksetCompound : BSLinkset
// InternalRefresh(requestor);
}
// Schedule a refresh to happen after all the other taint processing.
private void InternalRefresh(BSPhysObject requestor)
{
DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1}", LinksetRoot.LocalID, requestor.LocalID);
// Queue to happen after all the other taint processing
PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate()
{
if (IsRoot(requestor) && HasAnyChildren)
@ -84,12 +110,19 @@ public sealed class BSLinksetCompound : BSLinkset
{
bool ret = false;
DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
if (!IsRoot(child))
if (IsRoot(child))
{
// The root is going dynamic. Make sure mass is properly set.
m_mass = ComputeLinksetMass();
}
else
{
// The origional prims are removed from the world as the shape of the root compound
// shape takes over.
BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
// We don't want collisions from the old linkset children.
BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
ret = true;
}
return ret;
@ -108,7 +141,7 @@ public sealed class BSLinksetCompound : BSLinkset
{
// The non-physical children can come back to life.
BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
// Don't force activation so setting of DISABLE_SIMULATION can stay.
// Don't force activation so setting of DISABLE_SIMULATION can stay if used.
BulletSimAPI.Activate2(child.PhysBody.ptr, false);
ret = true;
}
@ -146,6 +179,10 @@ public sealed class BSLinksetCompound : BSLinkset
if (!IsRoot(child))
{
// Because it is a convenient time, recompute child world position and rotation based on
// its position in the linkset.
RecomputeChildWorldPosition(child, true);
// Cause the current shape to be freed and the new one to be built.
InternalRefresh(LinksetRoot);
ret = true;
@ -154,6 +191,42 @@ public sealed class BSLinksetCompound : BSLinkset
return ret;
}
// When the linkset is built, the child shape is added
// to the compound shape relative to the root shape. The linkset then moves around but
// this does not move the actual child prim. The child prim's location must be recomputed
// based on the location of the root shape.
private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime)
{
BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo;
if (lci != null)
{
if (inTaintTime)
{
OMV.Vector3 oldPos = child.RawPosition;
child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetPos;
child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot;
DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}",
child.LocalID, oldPos, lci, child.RawPosition);
}
else
{
// TaintedObject is not used here so the raw position is set now and not at taint-time.
child.Position = LinksetRoot.RawPosition + lci.OffsetPos;
child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot;
}
}
else
{
// This happens when children have been added to the linkset but the linkset
// has not been constructed yet. So like, at taint time, adding children to a linkset
// and then changing properties of the children (makePhysical, for instance)
// but the post-print action of actually rebuilding the linkset has not yet happened.
// PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}",
// LogHeader, child.LocalID);
DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID);
}
}
// Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
// this routine will restore the removed constraints.
// Called at taint-time!!
@ -192,6 +265,7 @@ public sealed class BSLinksetCompound : BSLinkset
child.LocalID, child.PhysBody.ptr.ToString("X"));
// Cause the child's body to be rebuilt and thus restored to normal operation
RecomputeChildWorldPosition(child, false);
child.ForceBodyShapeRebuild(false);
if (!HasAnyChildren)
@ -226,42 +300,57 @@ public sealed class BSLinksetCompound : BSLinkset
{
if (!IsRoot(cPrim))
{
// Each child position and rotation is given relative to the root.
OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
// Compute the displacement of the child from the root of the linkset.
// This info is saved in the child prim so the relationship does not
// change over time and the new child position can be computed
// when the linkset is being disassembled (the linkset may have moved).
BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo;
if (lci == null)
{
// Each child position and rotation is given relative to the root.
OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
// Save relative position for recomputing child's world position after moving linkset.
lci = new BSLinksetCompoundInfo(displacementPos, displacementRot);
cPrim.LinksetInfo = lci;
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci);
}
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}",
LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, displacementPos, displacementRot);
LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot);
if (cPrim.PhysShape.isNativeShape)
{
// Native shapes are not shared so we need to create a new one.
// A mesh or hull is created because scale is not available on a native shape.
// (TODO: Bullet does have a btScaledCollisionShape. Can that be used?)
// A native shape is turning into a hull collision shape because native
// shapes are not shared so we have to hullify it so it will be tracked
// and freed at the correct time. This also solves the scaling problem
// (native shapes scaled but hull/meshes are assumed to not be).
// TODO: decide of the native shape can just be used in the compound shape.
// Use call to CreateGeomNonSpecial().
BulletShape saveShape = cPrim.PhysShape;
cPrim.PhysShape.ptr = IntPtr.Zero; // Don't let the create free the child's shape
cPrim.PhysShape.Clear(); // Don't let the create free the child's shape
// PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null);
PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
BulletShape newShape = cPrim.PhysShape;
cPrim.PhysShape = saveShape;
BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot);
BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos , lci.OffsetRot);
}
else
{
// For the shared shapes (meshes and hulls), just use the shape in the child.
// The reference count added here will be decremented when the compound shape
// is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced).
if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape))
{
PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
}
BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, displacementPos, displacementRot);
BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos , lci.OffsetRot);
}
}
// TODO: need to phantomize the child prims left behind.
// Maybe just destroy the children bodies and shapes and have them rebuild on unlink.
// Selection/deselection might cause way too many build/destructions esp. for LARGE linksets.
return false; // 'false' says to move onto the next child in the list
});

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

@ -65,7 +65,7 @@ public abstract class BSMotor
// Can all the incremental stepping be replaced with motor classes?
// Motor which moves CurrentValue to TargetValue over TimeScale seconds.
// The TargetValue is decays in TargetValueDecayTimeScale and
// The TargetValue decays in TargetValueDecayTimeScale and
// the CurrentValue will be held back by FrictionTimeScale.
// TimeScale and TargetDelayTimeScale may be 'infinite' which means go decay.

26
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
View File

@ -60,6 +60,9 @@ public abstract class BSPhysObject : PhysicsActor
Linkset = BSLinkset.Factory(PhysicsScene, this);
LastAssetBuildFailed = false;
// Default material type
Material = MaterialAttributes.Material.Wood;
CollisionCollection = new CollisionEventUpdate();
SubscribedEventsMs = 0;
CollidingStep = 0;
@ -72,6 +75,7 @@ public abstract class BSPhysObject : PhysicsActor
public string TypeName { get; protected set; }
public BSLinkset Linkset { get; set; }
public BSLinksetInfo LinksetInfo { get; set; }
// Return the object mass without calculating it or having side effects
public abstract float RawMass { get; }
@ -109,6 +113,13 @@ public abstract class BSPhysObject : PhysicsActor
public abstract bool IsSolid { get; }
public abstract bool IsStatic { get; }
// Materialness
public MaterialAttributes.Material Material { get; private set; }
public override void SetMaterial(int material)
{
Material = (MaterialAttributes.Material)material;
}
// Stop all physical motion.
public abstract void ZeroMotion(bool inTaintTime);
public abstract void ZeroAngularMotion(bool inTaintTime);
@ -128,6 +139,17 @@ public abstract class BSPhysObject : PhysicsActor
public abstract OMV.Quaternion RawOrientation { get; set; }
public abstract OMV.Quaternion ForceOrientation { get; set; }
// The system is telling us the velocity it wants to move at.
protected OMV.Vector3 m_targetVelocity;
public override OMV.Vector3 TargetVelocity
{
get { return m_targetVelocity; }
set
{
m_targetVelocity = value;
Velocity = value;
}
}
public abstract OMV.Vector3 ForceVelocity { get; set; }
public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
@ -243,7 +265,9 @@ public abstract class BSPhysObject : PhysicsActor
SubscribedEventsMs = 0;
PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
{
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
// Make sure there is a body there because sometimes destruction happens in an un-ideal order.
if (PhysBody.HasPhysicalBody)
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
});
}
// Return 'true' if the simulator wants collision events

83
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -108,8 +108,8 @@ public sealed class BSPrim : BSPhysObject
_mass = CalculateMass();
// No body or shape yet
PhysBody = new BulletBody(LocalID, IntPtr.Zero);
PhysShape = new BulletShape(IntPtr.Zero);
PhysBody = new BulletBody(LocalID);
PhysShape = new BulletShape();
DetailLog("{0},BSPrim.constructor,call", LocalID);
// do the actual object creation at taint time
@ -143,7 +143,9 @@ public sealed class BSPrim : BSPhysObject
DetailLog("{0},BSPrim.Destroy,taint,", LocalID);
// If there are physical body and shape, release my use of same.
PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null);
PhysBody.Clear();
PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null);
PhysShape.Clear();
});
}
@ -189,7 +191,8 @@ public sealed class BSPrim : BSPhysObject
}
}
public override bool Selected {
set {
set
{
if (value != _isSelected)
{
_isSelected = value;
@ -247,7 +250,8 @@ public sealed class BSPrim : BSPhysObject
// Zero some other properties in the physics engine
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
{
BulletSimAPI.ClearAllForces2(PhysBody.ptr);
if (PhysBody.HasPhysicalBody)
BulletSimAPI.ClearAllForces2(PhysBody.ptr);
});
}
public override void ZeroAngularMotion(bool inTaintTime)
@ -257,8 +261,11 @@ public sealed class BSPrim : BSPhysObject
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate()
{
// DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
if (PhysBody.HasPhysicalBody)
{
BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
}
});
}
@ -295,8 +302,11 @@ public sealed class BSPrim : BSPhysObject
PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
{
// DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
ActivateIfPhysical(false);
if (PhysBody.HasPhysicalBody)
{
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
ActivateIfPhysical(false);
}
});
}
}
@ -322,12 +332,12 @@ public sealed class BSPrim : BSPhysObject
float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
OMV.Vector3 upForce = OMV.Vector3.Zero;
if (Position.Z < terrainHeight)
if (RawPosition.Z < terrainHeight)
{
DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
float targetHeight = terrainHeight + (Size.Z / 2f);
// Upforce proportional to the distance away from the terrain. Correct the error in 1 sec.
upForce.Z = (terrainHeight - Position.Z) * 1f;
upForce.Z = (terrainHeight - RawPosition.Z) * 1f;
ret = true;
}
@ -335,10 +345,10 @@ public sealed class BSPrim : BSPhysObject
{
float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position);
// TODO: a floating motor so object will bob in the water
if (Math.Abs(Position.Z - waterHeight) > 0.1f)
if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f)
{
// Upforce proportional to the distance away from the water. Correct the error in 1 sec.
upForce.Z = (waterHeight - Position.Z) * 1f;
upForce.Z = (waterHeight - RawPosition.Z) * 1f;
ret = true;
}
}
@ -413,7 +423,8 @@ public sealed class BSPrim : BSPhysObject
PhysicsScene.TaintedObject("BSPrim.setForce", delegate()
{
// DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force);
BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
if (PhysBody.HasPhysicalBody)
BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force);
});
}
}
@ -507,7 +518,8 @@ public sealed class BSPrim : BSPhysObject
PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate()
{
// DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity);
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
if (PhysBody.HasPhysicalBody)
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
});
}
}
@ -556,9 +568,12 @@ public sealed class BSPrim : BSPhysObject
// TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint?
PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
{
// _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
// DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
if (PhysBody.HasPhysicalBody)
{
// _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr);
// DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
}
});
}
}
@ -683,8 +698,9 @@ public sealed class BSPrim : BSPhysObject
ZeroMotion(true);
// Set various physical properties so other object interact properly
BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction);
BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution);
MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
// Mass is zero which disables a bunch of physics stuff in Bullet
UpdatePhysicalMassProperties(0f);
@ -711,9 +727,10 @@ public sealed class BSPrim : BSPhysObject
// Not a Bullet static object
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
// Set various physical properties so internal dynamic properties will get computed correctly as they are set
BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction);
BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution);
// Set various physical properties so other object interact properly
MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction);
BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
// per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
// Since this can be called multiple times, only zero forces when becoming physical
@ -861,7 +878,8 @@ public sealed class BSPrim : BSPhysObject
PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
{
DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
if (PhysBody.HasPhysicalBody)
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
});
}
}
@ -896,8 +914,11 @@ public sealed class BSPrim : BSPhysObject
_buoyancy = value;
// DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
// Buoyancy is faked by changing the gravity applied to the object
float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
if (PhysBody.HasPhysicalBody)
{
float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
}
}
}
@ -965,7 +986,8 @@ public sealed class BSPrim : BSPhysObject
}
DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum);
if (fSum != OMV.Vector3.Zero)
BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
if (PhysBody.HasPhysicalBody)
BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
});
}
@ -976,7 +998,8 @@ public sealed class BSPrim : BSPhysObject
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyForceImpulse", delegate()
{
DetailLog("{0},BSPrim.ApplyForceImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse);
if (PhysBody.HasPhysicalBody)
BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse);
});
}
@ -1012,7 +1035,8 @@ public sealed class BSPrim : BSPhysObject
DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
if (fSum != OMV.Vector3.Zero)
{
BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum);
if (PhysBody.HasPhysicalBody)
BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum);
_torque = fSum;
}
});
@ -1026,7 +1050,8 @@ public sealed class BSPrim : BSPhysObject
OMV.Vector3 applyImpulse = impulse;
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
{
BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
if (PhysBody.HasPhysicalBody)
BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
});
}

12
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -188,6 +188,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
private bool m_physicsLoggingDoFlush;
// 'true' of the vehicle code is to log lots of details
public bool VehicleLoggingEnabled { get; private set; }
public bool VehiclePhysicalLoggingEnabled { get; private set; }
public bool VehicleScaleAngularVelocityByTimestep { get; private set; }
#region Construction and Initialization
public BSScene(string identifier)
@ -297,6 +299,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
// Very detailed logging for vehicle debugging
VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
// Do any replacements in the parameters
m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
@ -501,7 +504,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
try
{
if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG
if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG
if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
@ -510,7 +513,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}",
DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG
if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG
}
catch (Exception e)
{
@ -1226,6 +1229,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
(s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].vehicleAngularDamping; },
(s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ),
new ParameterDefn("VehicleScaleAngularVelocityByTimestep", "If true, scale angular turning by timestep",
ConfigurationParameters.numericFalse,
(s,cf,p,v) => { s.VehicleScaleAngularVelocityByTimestep = cf.GetBoolean(p, s.BoolNumeric(v)); },
(s) => { return s.NumericBool(s.VehicleScaleAngularVelocityByTimestep); },
(s,p,l,v) => { s.VehicleScaleAngularVelocityByTimestep = s.BoolNumeric(v); } ),
new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
0f,

18
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
View File

@ -149,7 +149,7 @@ public sealed class BSShapeCollection : IDisposable
// Called when releasing use of a BSBody. BSShape is handled separately.
public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback )
{
if (body.ptr == IntPtr.Zero)
if (!body.HasPhysicalBody)
return;
lock (m_collectionActivityLock)
@ -243,12 +243,12 @@ public sealed class BSShapeCollection : IDisposable
// Release the usage of a shape.
public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
{
if (shape.ptr == IntPtr.Zero)
if (!shape.HasPhysicalShape)
return;
PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate()
{
if (shape.ptr != IntPtr.Zero)
if (shape.HasPhysicalShape)
{
if (shape.isNativeShape)
{
@ -440,7 +440,7 @@ public sealed class BSShapeCollection : IDisposable
}
// Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'.
private bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
{
bool ret = false;
bool haveShape = false;
@ -573,7 +573,7 @@ public sealed class BSShapeCollection : IDisposable
// Native shapes are scaled in Bullet so set the scaling to the size
newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType);
}
if (newShape.ptr == IntPtr.Zero)
if (!newShape.HasPhysicalShape)
{
PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
LogHeader, prim.LocalID, shapeType);
@ -590,7 +590,7 @@ public sealed class BSShapeCollection : IDisposable
// Called at taint-time!
private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback)
{
BulletShape newShape = new BulletShape(IntPtr.Zero);
BulletShape newShape = new BulletShape();
float lod;
System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod);
@ -793,7 +793,7 @@ public sealed class BSShapeCollection : IDisposable
BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL);
newShape.shapeKey = newHullKey;
return newShape; // 'true' means a new shape has been added to this prim
return newShape;
}
// Callback from convex hull creater with a newly created hull.
@ -860,7 +860,7 @@ public sealed class BSShapeCollection : IDisposable
private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim)
{
// If the shape was successfully created, nothing more to do
if (newShape.ptr != IntPtr.Zero)
if (newShape.HasPhysicalShape)
return newShape;
// If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
@ -919,7 +919,7 @@ public sealed class BSShapeCollection : IDisposable
bool ret = false;
// the mesh, hull or native shape must have already been created in Bullet
bool mustRebuild = (prim.PhysBody.ptr == IntPtr.Zero);
bool mustRebuild = !prim.PhysBody.HasPhysicalBody;
// If there is an existing body, verify it's of an acceptable type.
// If not a solid object, body is a GhostObject. Otherwise a RigidBody.

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

@ -136,7 +136,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
{
if (m_mapInfo != null)
{
if (m_mapInfo.terrainBody.ptr != IntPtr.Zero)
if (m_mapInfo.terrainBody.HasPhysicalBody)
{
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
// Frees both the body and the shape.

4
OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
View File

@ -151,13 +151,13 @@ public sealed class BSTerrainManager
// Release all the terrain structures we might have allocated
public void ReleaseGroundPlaneAndTerrain()
{
if (m_groundPlane.ptr != IntPtr.Zero)
if (m_groundPlane.HasPhysicalBody)
{
if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr))
{
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr);
}
m_groundPlane.ptr = IntPtr.Zero;
m_groundPlane.Clear();
}
ReleaseTerrain();

6
OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
View File

@ -94,7 +94,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
indicesCount, indices, verticesCount, vertices),
BSPhysicsShapeType.SHAPE_MESH);
if (m_terrainShape.ptr == IntPtr.Zero)
if (!m_terrainShape.HasPhysicalShape)
{
// DISASTER!!
PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID);
@ -107,7 +107,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
Quaternion rot = Quaternion.Identity;
m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot));
if (m_terrainBody.ptr == IntPtr.Zero)
if (!m_terrainBody.HasPhysicalBody)
{
// DISASTER!!
physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase);
@ -140,7 +140,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys
public override void Dispose()
{
if (m_terrainBody.ptr != IntPtr.Zero)
if (m_terrainBody.HasPhysicalBody)
{
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr);
// Frees both the body and the shape.

23
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
View File

@ -53,6 +53,9 @@ public struct BulletSim
// An allocated Bullet btRigidBody
public struct BulletBody
{
public BulletBody(uint id) : this(id, IntPtr.Zero)
{
}
public BulletBody(uint id, IntPtr xx)
{
ID = id;
@ -64,6 +67,13 @@ public struct BulletBody
public uint ID;
public CollisionFilterGroups collisionGroup;
public CollisionFilterGroups collisionMask;
public void Clear()
{
ptr = IntPtr.Zero;
}
public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } }
public override string ToString()
{
StringBuilder buff = new StringBuilder();
@ -103,6 +113,13 @@ public struct BulletShape
public BSPhysicsShapeType type;
public System.UInt64 shapeKey;
public bool isNativeShape;
public void Clear()
{
ptr = IntPtr.Zero;
}
public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } }
public override string ToString()
{
StringBuilder buff = new StringBuilder();
@ -140,6 +157,12 @@ public struct BulletConstraint
ptr = xx;
}
public IntPtr ptr;
public void Clear()
{
ptr = IntPtr.Zero;
}
public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } }
}
// An allocated HeightMapThing which holds various heightmap info.

14
OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
View File

@ -11,12 +11,14 @@ CRASHES
VEHICLES TODO LIST:
=================================================
Neb car jiggling left and right
Happens on terrain and any other mesh object. Flat cubes are much smoother.
Neb vehicle taking > 25ms of physics time!!
Vehicles (Move smoothly)
Add vehicle collisions so IsColliding is properly reported.
Needed for banking, limitMotorUp, movementLimiting, ...
Some vehicles should not be able to turn if no speed or off ground.
Neb car jiggling left and right
Happens on terrain and any other mesh object. Flat cubes are much smoother.
This has been reduced but not eliminated.
For limitMotorUp, use raycast down to find if vehicle is in the air.
Implement function efficiency for lineaar and angular motion.
Should vehicle angular/linear movement friction happen after all the components
@ -30,6 +32,9 @@ Border crossing with linked vehicle causes crash
BULLETSIM TODO LIST:
=================================================
Avatar height off after unsitting (float off ground)
Editting appearance then moving restores.
Must not be initializing height when recreating capsule after unsit.
Duplicating a physical prim causes old prim to jump away
Dup a phys prim and the original become unselected and thus interacts w/ selected prim.
Disable activity of passive linkset children.
@ -38,7 +43,8 @@ Disable activity of passive linkset children.
Scenes with hundred of thousands of static objects take a lot of physics CPU time.
BSPrim.Force should set a continious force on the prim. The force should be
applied each tick. Some limits?
Single prim vehicles don't seem to properly vehiclize.
Linksets should allow collisions to individual children
Add LocalID to children shapes in LinksetCompound and create events for individuals
Gun sending shooter flying.
Collision margin (gap between physical objects lying on each other)
Boundry checking (crashes related to crossing boundry)
@ -146,3 +152,5 @@ Light cycle falling over when driving (Resolution: implemented VerticalAttractor
Light cycle not banking (Resolution: It doesn't. Banking is roll adding yaw.)
Package Bullet source mods for Bullet internal stats output
(Resolution: move code into WorldData.h rather than relying on patches)
Single prim vehicles don't seem to properly vehiclize.
(Resolution: mass was not getting set properly for single prim linksets)