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Merge branch 'master' of melanie@opensimulator.org:/var/git/opensim

connector_plugin
Melanie 2012-10-02 23:02:53 +01:00
parent f1886c449c a1679517d3
commit ca5c0814f4
16 changed files with 599 additions and 310 deletions
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2
CONTRIBUTORS.txt
View File

@ -16,7 +16,7 @@ people that make the day to day of OpenSim happen.
* BlueWall (James Hughes) * BlueWall (James Hughes)
* Nebadon Izumi (Michael Cerquoni, OSgrid) * Nebadon Izumi (Michael Cerquoni, OSgrid)
* Snoopy Pfeffer * Snoopy Pfeffer
* Richard Adams (Intel) * Robert Adams (Intel)
= Core Developers Following the White Rabbit = = Core Developers Following the White Rabbit =
Core developers who have temporarily (we hope) gone chasing the white rabbit. Core developers who have temporarily (we hope) gone chasing the white rabbit.

11
OpenSim/Region/CoreModules/Avatar/Attachments/AttachmentsModule.cs
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@ -406,6 +406,11 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
} }
public void DetachSingleAttachmentToGround(IScenePresence sp, uint soLocalId) public void DetachSingleAttachmentToGround(IScenePresence sp, uint soLocalId)
{
DetachSingleAttachmentToGround(sp, soLocalId, sp.AbsolutePosition, Quaternion.Identity);
}
public void DetachSingleAttachmentToGround(IScenePresence sp, uint soLocalId, Vector3 absolutePos, Quaternion absoluteRot)
{ {
if (!Enabled) if (!Enabled)
return; return;
@ -448,7 +453,11 @@ namespace OpenSim.Region.CoreModules.Avatar.Attachments
so.FromItemID = UUID.Zero; so.FromItemID = UUID.Zero;
SceneObjectPart rootPart = so.RootPart; SceneObjectPart rootPart = so.RootPart;
so.AbsolutePosition = sp.AbsolutePosition; so.AbsolutePosition = absolutePos;
if (absoluteRot != Quaternion.Identity)
{
so.UpdateGroupRotationR(absoluteRot);
}
so.AttachedAvatar = UUID.Zero; so.AttachedAvatar = UUID.Zero;
rootPart.SetParentLocalId(0); rootPart.SetParentLocalId(0);
so.ClearPartAttachmentData(); so.ClearPartAttachmentData();

9
OpenSim/Region/CoreModules/Framework/Statistics/Logging/LogWriter.cs
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@ -111,6 +111,15 @@ namespace OpenSim.Region.CoreModules.Framework.Statistics.Logging
Write(String.Format(line, args)); Write(String.Format(line, args));
} }
public void Flush()
{
if (!Enabled) return;
if (m_logFile != null)
{
m_logFile.Flush();
}
}
public void Write(string line) public void Write(string line)
{ {
if (!Enabled) return; if (!Enabled) return;

9
OpenSim/Region/Framework/Interfaces/IAttachmentsModule.cs
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@ -108,6 +108,15 @@ namespace OpenSim.Region.Framework.Interfaces
/// <param name="objectLocalID"></param> /// <param name="objectLocalID"></param>
void DetachSingleAttachmentToGround(IScenePresence sp, uint objectLocalID); void DetachSingleAttachmentToGround(IScenePresence sp, uint objectLocalID);
/// <summary>
/// Detach the given item to the ground at the specified coordinates & rotation
/// </summary>
/// <param name="sp"></param>
/// <param name="objectLocalID"></param>
/// <param name="absolutePos"></param>
/// <param name="absoluteRot"></param>
void DetachSingleAttachmentToGround(IScenePresence sp, uint objectLocalID, Vector3 absolutePos, Quaternion absoluteRot);
/// <summary> /// <summary>
/// Detach the given attachment so that it remains in the user's inventory. /// Detach the given attachment so that it remains in the user's inventory.
/// </summary> /// </summary>

67
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -218,6 +218,18 @@ public class BSCharacter : BSPhysObject
}); });
} }
} }
public override OMV.Vector3 ForcePosition {
get {
_position = BulletSimAPI.GetPosition2(BSBody.ptr);
return _position;
}
set {
_position = value;
PositionSanityCheck();
BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
}
}
// Check that the current position is sane and, if not, modify the position to make it so. // Check that the current position is sane and, if not, modify the position to make it so.
// Check for being below terrain and being out of bounds. // Check for being below terrain and being out of bounds.
@ -234,6 +246,15 @@ public class BSCharacter : BSPhysObject
_position.Z = terrainHeight + 2.0f; _position.Z = terrainHeight + 2.0f;
ret = true; ret = true;
} }
if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
{
float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
if (Position.Z < waterHeight)
{
_position.Z = waterHeight;
ret = true;
}
}
// TODO: check for out of bounds // TODO: check for out of bounds
return ret; return ret;
@ -242,18 +263,22 @@ public class BSCharacter : BSPhysObject
// A version of the sanity check that also makes sure a new position value is // A version of the sanity check that also makes sure a new position value is
// pushed back to the physics engine. This routine would be used by anyone // pushed back to the physics engine. This routine would be used by anyone
// who is not already pushing the value. // who is not already pushing the value.
private bool PositionSanityCheck2() private bool PositionSanityCheck2(bool atTaintTime)
{ {
bool ret = false; bool ret = false;
if (PositionSanityCheck()) if (PositionSanityCheck())
{ {
// The new position value must be pushed into the physics engine but we can't // The new position value must be pushed into the physics engine but we can't
// just assign to "Position" because of potential call loops. // just assign to "Position" because of potential call loops.
PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", delegate() BSScene.TaintCallback sanityOperation = delegate()
{ {
DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
}); };
if (atTaintTime)
sanityOperation();
else
PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", sanityOperation);
ret = true; ret = true;
} }
return ret; return ret;
@ -333,6 +358,20 @@ public class BSCharacter : BSPhysObject
}); });
} }
} }
// Go directly to Bullet to get/set the value.
public override OMV.Quaternion ForceOrientation
{
get
{
_orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
return _orientation;
}
set
{
_orientation = value;
BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
}
}
public override int PhysicsActorType { public override int PhysicsActorType {
get { return _physicsActorType; } get { return _physicsActorType; }
set { _physicsActorType = value; set { _physicsActorType = value;
@ -378,7 +417,16 @@ public class BSCharacter : BSPhysObject
set { _collidingObj = value; } set { _collidingObj = value; }
} }
public override bool FloatOnWater { public override bool FloatOnWater {
set { _floatOnWater = value; } set {
_floatOnWater = value;
PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate()
{
if (_floatOnWater)
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
else
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
});
}
} }
public override OMV.Vector3 RotationalVelocity { public override OMV.Vector3 RotationalVelocity {
get { return _rotationalVelocity; } get { return _rotationalVelocity; }
@ -493,15 +541,14 @@ public class BSCharacter : BSPhysObject
_velocity = entprop.Velocity; _velocity = entprop.Velocity;
_acceleration = entprop.Acceleration; _acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity; _rotationalVelocity = entprop.RotationalVelocity;
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
PositionSanityCheck2(true);
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate(); // base.RequestPhysicsterseUpdate();
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds. DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
PositionSanityCheck2(); LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
float heightHere = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); // only for debug
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity, heightHere);
} }
} }
} }

147
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
View File

@ -92,7 +92,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
// private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
//Deflection properties //Deflection properties
// private float m_angularDeflectionEfficiency = 0; // private float m_angularDeflectionEfficiency = 0;
@ -138,74 +138,55 @@ namespace OpenSim.Region.Physics.BulletSPlugin
switch (pParam) switch (pParam)
{ {
case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
if (pValue < 0.01f) pValue = 0.01f; // m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f);
// m_angularDeflectionEfficiency = pValue;
break; break;
case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f; // m_angularDeflectionTimescale = Math.Max(pValue, 0.01f);
// m_angularDeflectionTimescale = pValue;
break; break;
case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f; m_angularMotorDecayTimescale = Math.Max(pValue, 0.01f);
m_angularMotorDecayTimescale = pValue;
break; break;
case Vehicle.ANGULAR_MOTOR_TIMESCALE: case Vehicle.ANGULAR_MOTOR_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f; m_angularMotorTimescale = Math.Max(pValue, 0.01f);
m_angularMotorTimescale = pValue;
break; break;
case Vehicle.BANKING_EFFICIENCY: case Vehicle.BANKING_EFFICIENCY:
if (pValue < 0.01f) pValue = 0.01f; // m_bankingEfficiency = Math.Max(pValue, 0.01f);
// m_bankingEfficiency = pValue;
break; break;
case Vehicle.BANKING_MIX: case Vehicle.BANKING_MIX:
if (pValue < 0.01f) pValue = 0.01f; // m_bankingMix = Math.Max(pValue, 0.01f);
// m_bankingMix = pValue;
break; break;
case Vehicle.BANKING_TIMESCALE: case Vehicle.BANKING_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f; // m_bankingTimescale = Math.Max(pValue, 0.01f);
// m_bankingTimescale = pValue;
break; break;
case Vehicle.BUOYANCY: case Vehicle.BUOYANCY:
if (pValue < -1f) pValue = -1f; m_VehicleBuoyancy = Math.Max(-1f, Math.Min(pValue, 1f));
if (pValue > 1f) pValue = 1f;
m_VehicleBuoyancy = pValue;
break; break;
// case Vehicle.HOVER_EFFICIENCY: // case Vehicle.HOVER_EFFICIENCY:
// if (pValue < 0f) pValue = 0f; // m_VhoverEfficiency = Math.Max(0f, Math.Min(pValue, 1f));
// if (pValue > 1f) pValue = 1f;
// m_VhoverEfficiency = pValue;
// break; // break;
case Vehicle.HOVER_HEIGHT: case Vehicle.HOVER_HEIGHT:
m_VhoverHeight = pValue; m_VhoverHeight = pValue;
break; break;
case Vehicle.HOVER_TIMESCALE: case Vehicle.HOVER_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f; m_VhoverTimescale = Math.Max(pValue, 0.01f);
m_VhoverTimescale = pValue;
break; break;
case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
if (pValue < 0.01f) pValue = 0.01f; // m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f);
// m_linearDeflectionEfficiency = pValue;
break; break;
case Vehicle.LINEAR_DEFLECTION_TIMESCALE: case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f; // m_linearDeflectionTimescale = Math.Max(pValue, 0.01f);
// m_linearDeflectionTimescale = pValue;
break; break;
case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f; m_linearMotorDecayTimescale = Math.Max(pValue, 0.01f);
m_linearMotorDecayTimescale = pValue;
break; break;
case Vehicle.LINEAR_MOTOR_TIMESCALE: case Vehicle.LINEAR_MOTOR_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f; m_linearMotorTimescale = Math.Max(pValue, 0.01f);
m_linearMotorTimescale = pValue;
break; break;
case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
if (pValue < 0.1f) pValue = 0.1f; // Less goes unstable m_verticalAttractionEfficiency = Math.Max(0.1f, Math.Min(pValue, 1f));
if (pValue > 1.0f) pValue = 1.0f;
m_verticalAttractionEfficiency = pValue;
break; break;
case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
if (pValue < 0.01f) pValue = 0.01f; m_verticalAttractionTimescale = Math.Max(pValue, 0.01f);
m_verticalAttractionTimescale = pValue;
break; break;
// These are vector properties but the engine lets you use a single float value to // These are vector properties but the engine lets you use a single float value to
@ -371,8 +352,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// m_bankingMix = 1; // m_bankingMix = 1;
// m_bankingTimescale = 1; // m_bankingTimescale = 1;
// m_referenceFrame = Quaternion.Identity; // m_referenceFrame = Quaternion.Identity;
m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | m_flags |= (VehicleFlag.NO_DEFLECTION_UP
VehicleFlag.LIMIT_MOTOR_UP); | VehicleFlag.LIMIT_ROLL_ONLY
| VehicleFlag.LIMIT_MOTOR_UP);
m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT);
m_flags |= (VehicleFlag.HOVER_UP_ONLY); m_flags |= (VehicleFlag.HOVER_UP_ONLY);
break; break;
@ -399,12 +381,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// m_bankingMix = 0.8f; // m_bankingMix = 0.8f;
// m_bankingTimescale = 1; // m_bankingTimescale = 1;
// m_referenceFrame = Quaternion.Identity; // m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY
VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); | VehicleFlag.HOVER_GLOBAL_HEIGHT
m_flags &= ~(VehicleFlag.LIMIT_ROLL_ONLY); | VehicleFlag.LIMIT_ROLL_ONLY
m_flags |= (VehicleFlag.NO_DEFLECTION_UP | | VehicleFlag.HOVER_UP_ONLY);
VehicleFlag.LIMIT_MOTOR_UP); m_flags |= (VehicleFlag.NO_DEFLECTION_UP
m_flags |= (VehicleFlag.HOVER_WATER_ONLY); | VehicleFlag.LIMIT_MOTOR_UP
| VehicleFlag.HOVER_WATER_ONLY);
break; break;
case Vehicle.TYPE_AIRPLANE: case Vehicle.TYPE_AIRPLANE:
m_linearFrictionTimescale = new Vector3(200, 10, 5); m_linearFrictionTimescale = new Vector3(200, 10, 5);
@ -429,9 +412,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// m_bankingMix = 0.7f; // m_bankingMix = 0.7f;
// m_bankingTimescale = 2; // m_bankingTimescale = 2;
// m_referenceFrame = Quaternion.Identity; // m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); | VehicleFlag.HOVER_TERRAIN_ONLY
m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); | VehicleFlag.HOVER_GLOBAL_HEIGHT
| VehicleFlag.HOVER_UP_ONLY
| VehicleFlag.NO_DEFLECTION_UP
| VehicleFlag.LIMIT_MOTOR_UP);
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
break; break;
case Vehicle.TYPE_BALLOON: case Vehicle.TYPE_BALLOON:
@ -457,11 +443,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// m_bankingMix = 0.7f; // m_bankingMix = 0.7f;
// m_bankingTimescale = 5; // m_bankingTimescale = 5;
// m_referenceFrame = Quaternion.Identity; // m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
VehicleFlag.HOVER_UP_ONLY); | VehicleFlag.HOVER_TERRAIN_ONLY
m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_MOTOR_UP); | VehicleFlag.HOVER_UP_ONLY
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); | VehicleFlag.NO_DEFLECTION_UP
m_flags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT); | VehicleFlag.LIMIT_MOTOR_UP);
m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY
| VehicleFlag.HOVER_GLOBAL_HEIGHT);
break; break;
} }
}//end SetDefaultsForType }//end SetDefaultsForType
@ -470,7 +458,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Do any updating needed for a vehicle // Do any updating needed for a vehicle
public void Refresh() public void Refresh()
{ {
if (Type == Vehicle.TYPE_NONE) return; if (!IsActive)
return;
// Set the prim's inertia to zero. The vehicle code handles that and this // Set the prim's inertia to zero. The vehicle code handles that and this
// removes the torque action introduced by Bullet. // removes the torque action introduced by Bullet.
@ -489,7 +478,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
LimitRotation(pTimestep); LimitRotation(pTimestep);
// remember the position so next step we can limit absolute movement effects // remember the position so next step we can limit absolute movement effects
m_lastPositionVector = Prim.Position; m_lastPositionVector = Prim.ForcePosition;
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}",
Prim.LocalID, Prim.Position, Prim.Force, Prim.Velocity, Prim.RotationalVelocity); Prim.LocalID, Prim.Position, Prim.Force, Prim.Velocity, Prim.RotationalVelocity);
@ -543,7 +532,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
} }
// convert requested object velocity to object relative vector // convert requested object velocity to object relative vector
Quaternion rotq = Prim.Orientation; Quaternion rotq = Prim.ForceOrientation;
m_newVelocity = 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)
@ -560,19 +549,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
*/ */
Vector3 pos = Prim.Position; Vector3 pos = Prim.ForcePosition;
// 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);
// If below the terrain, move us above the ground a little. // If below the terrain, move us above the ground a little.
float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); float terrainHeight = Prim.PhysicsScene.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. // 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. // Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass.
// Vector3 rotatedSize = m_prim.Size * m_prim.Orientation; // Vector3 rotatedSize = m_prim.Size * m_prim.ForceOrientation;
// if (rotatedSize.Z < terrainHeight) // if (rotatedSize.Z < terrainHeight)
if (pos.Z < terrainHeight) if (pos.Z < terrainHeight)
{ {
pos.Z = terrainHeight + 2; pos.Z = terrainHeight + 2;
Prim.Position = pos; Prim.ForcePosition = pos;
VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos); VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos);
} }
@ -602,7 +591,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{ {
if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2) if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
{ {
Prim.Position = pos; Prim.ForcePosition = pos;
} }
} }
else else
@ -654,12 +643,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
} }
if (changed) if (changed)
{ {
Prim.Position = pos; Prim.ForcePosition = pos;
VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
Prim.LocalID, m_BlockingEndPoint, posChange, pos); Prim.LocalID, m_BlockingEndPoint, posChange, pos);
} }
} }
// Limit absolute vertical change
float Zchange = Math.Abs(posChange.Z); float Zchange = Math.Abs(posChange.Z);
if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
{ {
@ -678,6 +668,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
grav.Z = (float)(grav.Z * 1.037125); grav.Z = (float)(grav.Z * 1.037125);
VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", Prim.LocalID, grav); VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", Prim.LocalID, grav);
} }
// If not changing some axis, reduce out velocity
if ((m_flags & (VehicleFlag.NO_X)) != 0) if ((m_flags & (VehicleFlag.NO_X)) != 0)
m_newVelocity.X = 0; m_newVelocity.X = 0;
if ((m_flags & (VehicleFlag.NO_Y)) != 0) if ((m_flags & (VehicleFlag.NO_Y)) != 0)
@ -720,19 +712,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// a newly set velocity, this routine steps the value from the previous // a newly set velocity, this routine steps the value from the previous
// value (m_angularMotorVelocity) to the requested value (m_angularMotorDirection). // value (m_angularMotorVelocity) to the requested value (m_angularMotorDirection).
// There are m_angularMotorApply steps. // There are m_angularMotorApply steps.
Vector3 origAngularVelocity = m_angularMotorVelocity; Vector3 origVel = m_angularMotorVelocity;
Vector3 origDir = m_angularMotorDirection;
// ramp up to new value // ramp up to new value
// current velocity += error / ( time to get there / step interval) // new 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},angTScale={2},timeStep={3},origvel={4},dir={5},vel={6}", VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},origDir={5},vel={6}",
Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity);
// This is done so that if script request rate is less than phys frame rate the expected
// velocity may still be acheived.
m_angularMotorApply--; m_angularMotorApply--;
} }
else else
@ -746,25 +738,32 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Vertical attractor section // Vertical attractor section
Vector3 vertattr = Vector3.Zero; Vector3 vertattr = Vector3.Zero;
if (m_verticalAttractionTimescale < 300) Vector3 deflection = Vector3.Zero;
Vector3 banking = Vector3.Zero;
if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero)
{ {
float VAservo = 0.2f / (m_verticalAttractionTimescale / pTimestep); float VAservo = 0.2f / (m_verticalAttractionTimescale / pTimestep);
VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
// get present body rotation // get present body rotation
Quaternion rotq = Prim.Orientation; Quaternion rotq = Prim.ForceOrientation;
// make a vector pointing up // vector pointing up
Vector3 verterr = Vector3.Zero; Vector3 verterr = Vector3.Zero;
verterr.Z = 1.0f; verterr.Z = 1.0f;
// rotate it to Body Angle // rotate it to Body Angle
verterr = verterr * rotq; verterr = verterr * rotq;
// verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1. // verterr.X and .Y are the World error amounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
// As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
// negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body. // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
// Error is 0 (no error) to +/- 2 (max error)
if (verterr.Z < 0.0f) if (verterr.Z < 0.0f)
{ {
verterr.X = 2.0f - verterr.X; verterr.X = 2.0f - verterr.X;
verterr.Y = 2.0f - verterr.Y; verterr.Y = 2.0f - verterr.Y;
} }
// Error is 0 (no error) to +/- 2 (max error)
// scale it by VAservo // scale it by VAservo
verterr = verterr * VAservo; verterr = verterr * VAservo;
@ -784,7 +783,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
} // else vertical attractor is off } // else vertical attractor is off
// m_lastVertAttractor = vertattr; m_lastVertAttractor = vertattr;
// Bank section tba // Bank section tba
@ -818,7 +817,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
internal void LimitRotation(float timestep) internal void LimitRotation(float timestep)
{ {
Quaternion rotq = Prim.Orientation; Quaternion rotq = Prim.ForceOrientation;
Quaternion m_rot = rotq; Quaternion m_rot = rotq;
bool changed = false; bool changed = false;
if (m_RollreferenceFrame != Quaternion.Identity) if (m_RollreferenceFrame != Quaternion.Identity)
@ -853,7 +852,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
} }
if (changed) if (changed)
{ {
Prim.Orientation = m_rot; Prim.ForceOrientation = m_rot;
VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
} }

20
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
View File

@ -34,7 +34,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{ {
public class BSLinkset public class BSLinkset
{ {
private static string LogHeader = "[BULLETSIM LINKSET]"; // private static string LogHeader = "[BULLETSIM LINKSET]";
public BSPhysObject LinksetRoot { get; protected set; } public BSPhysObject LinksetRoot { get; protected set; }
@ -331,21 +331,21 @@ public class BSLinkset
m_children.Add(child); m_children.Add(child);
BSPhysObject rootx = LinksetRoot; // capture the root and body as of now BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
BulletBody rootBodyx = LinksetRoot.BSBody;
BSPhysObject childx = child; BSPhysObject childx = child;
BulletBody childBodyx = child.BSBody;
DetailLog("{0},AddChildToLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", DetailLog("{0},AddChildToLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
rootx.LocalID, rootx.LocalID,
rootx.LocalID, rootBodyx.ptr.ToString("X"), rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
childx.LocalID, childBodyx.ptr.ToString("X")); childx.LocalID, childx.BSBody.ptr.ToString("X"));
PhysicsScene.TaintedObject("AddChildToLinkset", delegate() PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
{ {
DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID); DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID);
// build the physical binding between me and the child // build the physical binding between me and the child
m_taintChildren.Add(childx); m_taintChildren.Add(childx);
PhysicallyLinkAChildToRoot(rootx, rootBodyx, childx, childBodyx);
// Since this is taint-time, the body and shape could have changed for the child
PhysicallyLinkAChildToRoot(rootx, rootx.BSBody, childx, childx.BSBody);
}); });
} }
return; return;
@ -369,21 +369,19 @@ public class BSLinkset
if (m_children.Remove(child)) if (m_children.Remove(child))
{ {
BSPhysObject rootx = LinksetRoot; // capture the root and body as of now BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
BulletBody rootBodyx = LinksetRoot.BSBody;
BSPhysObject childx = child; BSPhysObject childx = child;
BulletBody childBodyx = child.BSBody;
DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
childx.LocalID, childx.LocalID,
rootx.LocalID, rootBodyx.ptr.ToString("X"), rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
childx.LocalID, childBodyx.ptr.ToString("X")); childx.LocalID, childx.BSBody.ptr.ToString("X"));
PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate() PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
{ {
if (m_taintChildren.Contains(childx)) if (m_taintChildren.Contains(childx))
m_taintChildren.Remove(childx); m_taintChildren.Remove(childx);
PhysicallyUnlinkAChildFromRoot(rootx, rootBodyx, childx, childBodyx); PhysicallyUnlinkAChildFromRoot(rootx, rootx.BSBody, childx, childx.BSBody);
RecomputeLinksetConstraintVariables(); RecomputeLinksetConstraintVariables();
}); });

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

@ -81,6 +81,10 @@ public abstract class BSPhysObject : PhysicsActor
// Tell the object to clean up. // Tell the object to clean up.
public abstract void Destroy(); public abstract void Destroy();
public abstract OMV.Vector3 ForcePosition { get; set; }
public abstract OMV.Quaternion ForceOrientation { get; set; }
#region Collisions #region Collisions
// Requested number of milliseconds between collision events. Zero means disabled. // Requested number of milliseconds between collision events. Zero means disabled.

133
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -46,19 +46,13 @@ public sealed class BSPrim : BSPhysObject
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private static readonly string LogHeader = "[BULLETS PRIM]"; private static readonly string LogHeader = "[BULLETS PRIM]";
private IMesh _mesh;
private PrimitiveBaseShape _pbs; private PrimitiveBaseShape _pbs;
private ShapeData.PhysicsShapeType _shapeType;
private ulong _meshKey;
private ulong _hullKey;
private List<ConvexResult> _hulls;
// _size is what the user passed. _scale is what we pass to the physics engine with the mesh. // _size is what the user passed. _scale is what we pass to the physics engine with the mesh.
// Often _scale is unity because the meshmerizer will apply _size when creating the mesh. // Often _scale is unity because the meshmerizer will apply _size when creating the mesh.
private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user
private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer
private bool _stopped;
private bool _grabbed; private bool _grabbed;
private bool _isSelected; private bool _isSelected;
private bool _isVolumeDetect; private bool _isVolumeDetect;
@ -109,8 +103,6 @@ public sealed class BSPrim : BSPhysObject
_buoyancy = 1f; _buoyancy = 1f;
_velocity = OMV.Vector3.Zero; _velocity = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero;
_hullKey = 0;
_meshKey = 0;
_pbs = pbs; _pbs = pbs;
_isPhysical = pisPhysical; _isPhysical = pisPhysical;
_isVolumeDetect = false; _isVolumeDetect = false;
@ -160,8 +152,9 @@ public sealed class BSPrim : BSPhysObject
}); });
} }
// No one uses this property.
public override bool Stopped { public override bool Stopped {
get { return _stopped; } get { return false; }
} }
public override OMV.Vector3 Size { public override OMV.Vector3 Size {
get { return _size; } get { return _size; }
@ -274,6 +267,7 @@ public sealed class BSPrim : BSPhysObject
set { set {
_position = value; _position = value;
// TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint?
PositionSanityCheck();
PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() PhysicsScene.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);
@ -281,6 +275,74 @@ public sealed class BSPrim : BSPhysObject
}); });
} }
} }
public override OMV.Vector3 ForcePosition {
get {
_position = BulletSimAPI.GetPosition2(BSBody.ptr);
return _position;
}
set {
_position = value;
PositionSanityCheck();
BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
}
}
// Check that the current position is sane and, if not, modify the position to make it so.
// Check for being below terrain and being out of bounds.
// Returns 'true' of the position was made sane by some action.
private bool PositionSanityCheck()
{
bool ret = false;
// If totally below the ground, move the prim up
// TODO: figure out the right solution for this... only for dynamic objects?
/*
float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
if (Position.Z < terrainHeight)
{
DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
_position.Z = terrainHeight + 2.0f;
ret = true;
}
*/
if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0)
{
float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position);
if (Position.Z < waterHeight)
{
_position.Z = waterHeight;
ret = true;
}
}
// TODO: check for out of bounds
return ret;
}
// A version of the sanity check that also makes sure a new position value is
// pushed back to the physics engine. This routine would be used by anyone
// who is not already pushing the value.
private bool PositionSanityCheck2(bool atTaintTime)
{
bool ret = false;
if (PositionSanityCheck())
{
// The new position value must be pushed into the physics engine but we can't
// just assign to "Position" because of potential call loops.
BSScene.TaintCallback sanityOperation = delegate()
{
DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
};
if (atTaintTime)
sanityOperation();
else
PhysicsScene.TaintedObject("BSPrim.PositionSanityCheck", sanityOperation);
ret = true;
}
return ret;
}
// Return the effective mass of the object. // Return the effective mass of the object.
// If there are multiple items in the linkset, add them together for the root // If there are multiple items in the linkset, add them together for the root
@ -326,14 +388,15 @@ public sealed class BSPrim : BSPhysObject
} }
set { set {
Vehicle type = (Vehicle)value; Vehicle type = (Vehicle)value;
BSPrim vehiclePrim = this;
// Tell the scene about the vehicle so it will get processing each frame.
PhysicsScene.VehicleInSceneTypeChanged(this, type);
PhysicsScene.TaintedObject("setVehicleType", delegate() PhysicsScene.TaintedObject("setVehicleType", delegate()
{ {
// 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); this._vehicle.ProcessTypeChange(type);
// Tell the scene about the vehicle so it will get processing each frame.
PhysicsScene.VehicleInSceneTypeChanged(this, type);
}); });
} }
} }
@ -371,8 +434,10 @@ public sealed class BSPrim : BSPhysObject
public override void StepVehicle(float timeStep) public override void StepVehicle(float timeStep)
{ {
if (IsPhysical) if (IsPhysical)
{
_vehicle.Step(timeStep); _vehicle.Step(timeStep);
} }
}
// Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
public override void SetVolumeDetect(int param) { public override void SetVolumeDetect(int param) {
@ -435,6 +500,20 @@ public sealed class BSPrim : BSPhysObject
}); });
} }
} }
// Go directly to Bullet to get/set the value.
public override OMV.Quaternion ForceOrientation
{
get
{
_orientation = BulletSimAPI.GetOrientation2(BSBody.ptr);
return _orientation;
}
set
{
_orientation = value;
BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
}
}
public override int PhysicsActorType { public override int PhysicsActorType {
get { return _physicsActorType; } get { return _physicsActorType; }
set { _physicsActorType = value; } set { _physicsActorType = value; }
@ -488,11 +567,10 @@ public sealed class BSPrim : BSPhysObject
// This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found). // This is a NOOP if the object is not in the world (BulletSim and Bullet ignore objects not found).
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr); BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
// Set up the object physicalness (does gravity and collisions move this object) // Set up the object physicalness (does gravity and collisions move this object)
MakeDynamic(IsStatic); MakeDynamic(IsStatic);
// Do any vehicle stuff // Update vehicle specific parameters
_vehicle.Refresh(); _vehicle.Refresh();
// Arrange for collision events if the simulator wants them // Arrange for collision events if the simulator wants them
@ -563,7 +641,6 @@ public sealed class BSPrim : BSPhysObject
// A dynamic object has mass // A dynamic object has mass
IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass); OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass);
// OMV.Vector3 inertia = OMV.Vector3.Zero;
BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
@ -573,7 +650,7 @@ public sealed class BSPrim : BSPhysObject
BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
// There can be special things needed for implementing linksets. // There might be special things needed for implementing linksets.
Linkset.MakeDynamic(this); 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.
@ -663,7 +740,16 @@ public sealed class BSPrim : BSPhysObject
} }
} }
public override bool FloatOnWater { public override bool FloatOnWater {
set { _floatOnWater = value; } set {
_floatOnWater = value;
PhysicsScene.TaintedObject("BSPrim.setFloatOnWater", delegate()
{
if (_floatOnWater)
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
else
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER);
});
}
} }
public override OMV.Vector3 RotationalVelocity { public override OMV.Vector3 RotationalVelocity {
get { get {
@ -1082,15 +1168,15 @@ public sealed class BSPrim : BSPhysObject
public void FillShapeInfo(out ShapeData shape) public void FillShapeInfo(out ShapeData shape)
{ {
shape.ID = LocalID; shape.ID = LocalID;
shape.Type = _shapeType; shape.Type = ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
shape.Position = _position; shape.Position = _position;
shape.Rotation = _orientation; shape.Rotation = _orientation;
shape.Velocity = _velocity; shape.Velocity = _velocity;
shape.Scale = _scale; shape.Scale = _scale;
shape.Mass = _isPhysical ? _mass : 0f; shape.Mass = _isPhysical ? _mass : 0f;
shape.Buoyancy = _buoyancy; shape.Buoyancy = _buoyancy;
shape.HullKey = _hullKey; shape.HullKey = 0;
shape.MeshKey = _meshKey; shape.MeshKey = 0;
shape.Friction = _friction; shape.Friction = _friction;
shape.Restitution = _restitution; shape.Restitution = _restitution;
shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse; shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
@ -1112,7 +1198,8 @@ public sealed class BSPrim : BSPhysObject
// Create the correct physical representation for this type of object. // Create the correct physical representation for this type of object.
// Updates BSBody and BSShape with the new information. // Updates BSBody and BSShape with the new information.
PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs, // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, _pbs,
null, delegate(BulletBody dBody) null, delegate(BulletBody dBody)
{ {
// Called if the current prim body is about to be destroyed. // Called if the current prim body is about to be destroyed.
@ -1205,6 +1292,8 @@ public sealed class BSPrim : BSPhysObject
_acceleration = entprop.Acceleration; _acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity; _rotationalVelocity = entprop.RotationalVelocity;
PositionSanityCheck2(true);
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);

22
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -493,6 +493,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// step the physical world one interval // step the physical world one interval
m_simulationStep++; m_simulationStep++;
int numSubSteps = 0; int numSubSteps = 0;
// Sometimes needed for debugging to find out what happened before the step
// PhysicsLogging.Flush();
try try
{ {
if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
@ -536,7 +540,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
} }
// This is a kludge to get avatar movement updates. // This is a kludge to get avatar movement updates.
// ODE sends collisions for avatars even if there are have been no collisions. This updates // the simulator expects collisions for avatars even if there are have been no collisions. This updates
// avatar animations and stuff. // avatar animations and stuff.
// If you fix avatar animation updates, remove this overhead and let normal collision processing happen. // If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
foreach (BSPhysObject bsp in m_avatars) foreach (BSPhysObject bsp in m_avatars)
@ -556,7 +560,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
} }
// Objects that are done colliding are removed from the ObjectsWithCollisions list. // Objects that are done colliding are removed from the ObjectsWithCollisions list.
// This can't be done by SendCollisions because it is inside an iteration of ObjectWithCollisions. // Not done above because it is inside an iteration of ObjectWithCollisions.
if (ObjectsWithNoMoreCollisions.Count > 0) if (ObjectsWithNoMoreCollisions.Count > 0)
{ {
foreach (BSPhysObject po in ObjectsWithNoMoreCollisions) foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
@ -725,12 +729,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
#region Vehicles #region Vehicles
public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType) public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType)
{
if (newType == Vehicle.TYPE_NONE)
{ {
RemoveVehiclePrim(vehic); RemoveVehiclePrim(vehic);
} if (newType != Vehicle.TYPE_NONE)
else
{ {
// make it so the scene will call us each tick to do vehicle things // make it so the scene will call us each tick to do vehicle things
AddVehiclePrim(vehic); AddVehiclePrim(vehic);
@ -764,7 +765,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
} }
// Some prims have extra vehicle actions // Some prims have extra vehicle actions
// no locking because only called when physics engine is not busy // Called at taint time!
private void ProcessVehicles(float timeStep) private void ProcessVehicles(float timeStep)
{ {
foreach (BSPhysObject pobj in m_vehicles) foreach (BSPhysObject pobj in m_vehicles)
@ -1008,12 +1009,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
0f, // zero to disable 0f,
(s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].maxPersistantManifoldPoolSize; }, (s) => { return s.m_params[0].maxPersistantManifoldPoolSize; },
(s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ), (s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ),
new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)", new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
0f, // zero to disable 0f,
(s,cf,p,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].maxCollisionAlgorithmPoolSize; }, (s) => { return s.m_params[0].maxCollisionAlgorithmPoolSize; },
(s,p,l,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = v; } ), (s,p,l,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = v; } ),
@ -1028,7 +1029,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
(s) => { return s.m_params[0].shouldForceUpdateAllAabbs; }, (s) => { return s.m_params[0].shouldForceUpdateAllAabbs; },
(s,p,l,v) => { s.m_params[0].shouldForceUpdateAllAabbs = v; } ), (s,p,l,v) => { s.m_params[0].shouldForceUpdateAllAabbs = v; } ),
new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction", new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
ConfigurationParameters.numericFalse, ConfigurationParameters.numericTrue,
(s,cf,p,v) => { s.m_params[0].shouldRandomizeSolverOrder = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, (s,cf,p,v) => { s.m_params[0].shouldRandomizeSolverOrder = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
(s) => { return s.m_params[0].shouldRandomizeSolverOrder; }, (s) => { return s.m_params[0].shouldRandomizeSolverOrder; },
(s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ), (s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ),
@ -1152,7 +1153,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
{ {
if (SettableParameters.Length < ParameterDefinitions.Length) if (SettableParameters.Length < ParameterDefinitions.Length)
{ {
List<PhysParameterEntry> entries = new List<PhysParameterEntry>(); List<PhysParameterEntry> entries = new List<PhysParameterEntry>();
for (int ii = 0; ii < ParameterDefinitions.Length; ii++) for (int ii = 0; ii < ParameterDefinitions.Length; ii++)
{ {

10
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
View File

@ -36,7 +36,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{ {
public class BSShapeCollection : IDisposable public class BSShapeCollection : IDisposable
{ {
private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; // private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
protected BSScene PhysicsScene { get; set; } protected BSScene PhysicsScene { get; set; }
@ -108,7 +108,8 @@ public class BSShapeCollection : IDisposable
// If we had to select a new shape geometry for the object, // If we had to select a new shape geometry for the object,
// rebuild the body around it. // rebuild the body around it.
// Updates prim.BSBody with information/pointers to requested body // Updates prim.BSBody with information/pointers to requested body
bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData, bodyCallback); bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World,
prim.BSShape, shapeData, bodyCallback);
ret = newGeom || newBody; ret = newGeom || newBody;
} }
DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}", DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}",
@ -167,7 +168,7 @@ public class BSShapeCollection : IDisposable
{ {
DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}", DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}",
body.ID, body.ptr.ToString("X")); body.ID, body.ptr.ToString("X"));
// If the caller needs to know, pass the event up. // If the caller needs to know the old body is going away, pass the event up.
if (bodyCallback != null) bodyCallback(body); if (bodyCallback != null) bodyCallback(body);
// Zero any reference to the shape so it is not freed when the body is deleted. // Zero any reference to the shape so it is not freed when the body is deleted.
@ -448,7 +449,8 @@ public class BSShapeCollection : IDisposable
ulong newMeshKey = ComputeShapeKey(shapeData, pbs, out lod); ulong newMeshKey = ComputeShapeKey(shapeData, pbs, out lod);
// 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 (prim.BSShape.shapeKey == newMeshKey) return false; if (newMeshKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_MESH)
return false;
DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}", DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}",
prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X")); prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));

10
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
View File

@ -71,7 +71,7 @@ public struct BulletBody
buff.Append(ID.ToString()); buff.Append(ID.ToString());
buff.Append(",p="); buff.Append(",p=");
buff.Append(ptr.ToString("X")); buff.Append(ptr.ToString("X"));
if (collisionFilter != 0 && collisionMask != 0) if (collisionFilter != 0 || collisionMask != 0)
{ {
buff.Append(",f="); buff.Append(",f=");
buff.Append(collisionFilter.ToString("X")); buff.Append(collisionFilter.ToString("X"));
@ -344,10 +344,7 @@ public enum CollisionFlags : uint
CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
// Following used by BulletSim to control collisions // Following used by BulletSim to control collisions
BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
// BS_VOLUME_DETECT_OBJECT = 1 << 11, BS_FLOATS_ON_WATER = 1 << 11,
// BS_PHANTOM_OBJECT = 1 << 12,
// BS_PHYSICAL_OBJECT = 1 << 13,
// BS_TERRAIN_OBJECT = 1 << 14,
BS_NONE = 0, BS_NONE = 0,
BS_ALL = 0xFFFFFFFF, BS_ALL = 0xFFFFFFFF,
@ -356,9 +353,6 @@ public enum CollisionFlags : uint
BS_ACTIVE = CF_STATIC_OBJECT BS_ACTIVE = CF_STATIC_OBJECT
| CF_KINEMATIC_OBJECT | CF_KINEMATIC_OBJECT
| CF_NO_CONTACT_RESPONSE | CF_NO_CONTACT_RESPONSE
// | BS_VOLUME_DETECT_OBJECT
// | BS_PHANTOM_OBJECT
// | BS_PHYSICAL_OBJECT,
}; };
// Values for collisions groups and masks // Values for collisions groups and masks

85
OpenSim/Region/ScriptEngine/Shared/Api/Implementation/OSSL_Api.cs
View File

@ -3549,6 +3549,91 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api
if (m_UrlModule != null) if (m_UrlModule != null)
m_UrlModule.HttpContentType(new UUID(id),type); m_UrlModule.HttpContentType(new UUID(id),type);
} }
/// Shout an error if the object owner did not grant the script the specified permissions.
/// </summary>
/// <param name="perms"></param>
/// <returns>boolean indicating whether an error was shouted.</returns>
protected bool ShoutErrorOnLackingOwnerPerms(int perms, string errorPrefix)
{
CheckThreatLevel(ThreatLevel.Moderate, "osDropAttachment");
m_host.AddScriptLPS(1);
bool fail = false;
if (m_item.PermsGranter != m_host.OwnerID)
{
fail = true;
OSSLShoutError(string.Format("{0}. Permissions not granted to owner.", errorPrefix));
}
else if ((m_item.PermsMask & perms) == 0)
{
fail = true;
OSSLShoutError(string.Format("{0}. Permissions not granted.", errorPrefix));
}
return fail;
}
protected void DropAttachment(bool checkPerms)
{
if (checkPerms && ShoutErrorOnLackingOwnerPerms(ScriptBaseClass.PERMISSION_ATTACH, "Cannot drop attachment"))
{
return;
}
IAttachmentsModule attachmentsModule = m_ScriptEngine.World.AttachmentsModule;
ScenePresence sp = attachmentsModule == null ? null : m_host.ParentGroup.Scene.GetScenePresence(m_host.ParentGroup.OwnerID);
if (attachmentsModule != null && sp != null)
{
attachmentsModule.DetachSingleAttachmentToGround(sp, m_host.ParentGroup.LocalId);
}
}
protected void DropAttachmentAt(bool checkPerms, LSL_Vector pos, LSL_Rotation rot)
{
if (checkPerms && ShoutErrorOnLackingOwnerPerms(ScriptBaseClass.PERMISSION_ATTACH, "Cannot drop attachment"))
{
return;
}
IAttachmentsModule attachmentsModule = m_ScriptEngine.World.AttachmentsModule;
ScenePresence sp = attachmentsModule == null ? null : m_host.ParentGroup.Scene.GetScenePresence(m_host.ParentGroup.OwnerID);
if (attachmentsModule != null && sp != null)
{
attachmentsModule.DetachSingleAttachmentToGround(sp, m_host.ParentGroup.LocalId, pos, rot);
}
}
public void osDropAttachment()
{
CheckThreatLevel(ThreatLevel.Moderate, "osDropAttachment");
m_host.AddScriptLPS(1);
DropAttachment(true);
}
public void osForceDropAttachment()
{
CheckThreatLevel(ThreatLevel.High, "osForceDropAttachment");
m_host.AddScriptLPS(1);
DropAttachment(false);
}
public void osDropAttachmentAt(LSL_Vector pos, LSL_Rotation rot)
{
CheckThreatLevel(ThreatLevel.Moderate, "osDropAttachmentAt");
m_host.AddScriptLPS(1);
DropAttachmentAt(true, pos, rot);
}
public void osForceDropAttachmentAt(LSL_Vector pos, LSL_Rotation rot)
{
CheckThreatLevel(ThreatLevel.High, "osForceDropAttachmentAt");
m_host.AddScriptLPS(1);
DropAttachmentAt(false, pos, rot);
}
} }
} }

24
OpenSim/Region/ScriptEngine/Shared/Api/Interface/IOSSL_Api.cs
View File

@ -394,5 +394,29 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces
/// </summary> /// </summary>
/// <returns></returns> /// <returns></returns>
void osSetContentType(LSL_Key id, string type); void osSetContentType(LSL_Key id, string type);
/// <summary>
/// Attempts to drop an attachment to the ground
/// </summary>
void osDropAttachment();
/// <summary>
/// Attempts to drop an attachment to the ground while bypassing the script permissions
/// </summary>
void osForceDropAttachment();
/// <summary>
/// Attempts to drop an attachment at the specified coordinates.
/// </summary>
/// <param name="pos"></param>
/// <param name="rot"></param>
void osDropAttachmentAt(vector pos, rotation rot);
/// <summary>
/// Attempts to drop an attachment at the specified coordinates while bypassing the script permissions
/// </summary>
/// <param name="pos"></param>
/// <param name="rot"></param>
void osForceDropAttachmentAt(vector pos, rotation rot);
} }
} }

20
OpenSim/Region/ScriptEngine/Shared/Api/Runtime/OSSL_Stub.cs
View File

@ -972,5 +972,25 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase
{ {
m_OSSL_Functions.osSetContentType(id,type); m_OSSL_Functions.osSetContentType(id,type);
} }
public void osDropAttachment()
{
m_OSSL_Functions.osDropAttachment();
}
public void osForceDropAttachment()
{
m_OSSL_Functions.osForceDropAttachment();
}
public void osDropAttachmentAt(vector pos, rotation rot)
{
m_OSSL_Functions.osDropAttachmentAt(pos, rot);
}
public void osForceDropAttachmentAt(vector pos, rotation rot)
{
m_OSSL_Functions.osForceDropAttachmentAt(pos, rot);
}
} }
} }

2
OpenSim/Services/LLLoginService/LLLoginService.cs
View File

@ -293,7 +293,7 @@ namespace OpenSim.Services.LLLoginService
{ {
m_log.InfoFormat( m_log.InfoFormat(
"[LLOGIN SERVICE]: Login failed for {0} {1}, reason: user level is {2} but minimum login level is {3}", "[LLOGIN SERVICE]: Login failed for {0} {1}, reason: user level is {2} but minimum login level is {3}",
firstName, lastName, m_MinLoginLevel, account.UserLevel); firstName, lastName, account.UserLevel, m_MinLoginLevel);
return LLFailedLoginResponse.LoginBlockedProblem; return LLFailedLoginResponse.LoginBlockedProblem;
} }