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

connector_plugin
Justin Clark-Casey (justincc) 2012-10-20 01:04:08 +01:00
parent e469879725 45df324ab3
commit de869028cb
11 changed files with 622 additions and 405 deletions
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218
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
View File

@ -41,8 +41,6 @@ public class BSCharacter : BSPhysObject
// private bool _stopped; // private bool _stopped;
private OMV.Vector3 _size; private OMV.Vector3 _size;
private OMV.Vector3 _scale;
private PrimitiveBaseShape _pbs;
private bool _grabbed; private bool _grabbed;
private bool _selected; private bool _selected;
private OMV.Vector3 _position; private OMV.Vector3 _position;
@ -67,6 +65,10 @@ public class BSCharacter : BSPhysObject
private bool _kinematic; private bool _kinematic;
private float _buoyancy; private float _buoyancy;
// The friction and velocity of the avatar is modified depending on whether walking or not.
private OMV.Vector3 _appliedVelocity; // the last velocity applied to the avatar
private float _currentFriction; // the friction currently being used (changed by setVelocity).
private OMV.Vector3 _PIDTarget; private OMV.Vector3 _PIDTarget;
private bool _usePID; private bool _usePID;
private float _PIDTau; private float _PIDTau;
@ -84,14 +86,18 @@ public class BSCharacter : BSPhysObject
_flying = isFlying; _flying = isFlying;
_orientation = OMV.Quaternion.Identity; _orientation = OMV.Quaternion.Identity;
_velocity = OMV.Vector3.Zero; _velocity = OMV.Vector3.Zero;
_appliedVelocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying); _buoyancy = ComputeBuoyancyFromFlying(isFlying);
_currentFriction = PhysicsScene.Params.avatarStandingFriction;
_avatarDensity = PhysicsScene.Params.avatarDensity;
// The dimensions of the avatar capsule are kept in the scale. // The dimensions of the avatar capsule are kept in the scale.
// Physics creates a unit capsule which is scaled by the physics engine. // Physics creates a unit capsule which is scaled by the physics engine.
ComputeAvatarScale(_size); ComputeAvatarScale(_size);
_avatarDensity = PhysicsScene.Params.avatarDensity; // set _avatarVolume and _mass based on capsule size, _density and Scale
// set _avatarVolume and _mass based on capsule size, _density and _scale
ComputeAvatarVolumeAndMass(); ComputeAvatarVolumeAndMass();
DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
LocalID, _size, Scale, _avatarDensity, _avatarVolume, MassRaw);
ShapeData shapeData = new ShapeData(); ShapeData shapeData = new ShapeData();
shapeData.ID = LocalID; shapeData.ID = LocalID;
@ -99,28 +105,22 @@ public class BSCharacter : BSPhysObject
shapeData.Position = _position; shapeData.Position = _position;
shapeData.Rotation = _orientation; shapeData.Rotation = _orientation;
shapeData.Velocity = _velocity; shapeData.Velocity = _velocity;
shapeData.Scale = _scale; shapeData.Size = Scale;
shapeData.Scale = Scale;
shapeData.Mass = _mass; shapeData.Mass = _mass;
shapeData.Buoyancy = _buoyancy; shapeData.Buoyancy = _buoyancy;
shapeData.Static = ShapeData.numericFalse; shapeData.Static = ShapeData.numericFalse;
shapeData.Friction = PhysicsScene.Params.avatarFriction; shapeData.Friction = PhysicsScene.Params.avatarStandingFriction;
shapeData.Restitution = PhysicsScene.Params.avatarRestitution; shapeData.Restitution = PhysicsScene.Params.avatarRestitution;
// do actual create at taint time // do actual create at taint time
PhysicsScene.TaintedObject("BSCharacter.create", delegate() PhysicsScene.TaintedObject("BSCharacter.create", delegate()
{ {
DetailLog("{0},BSCharacter.create,taint", LocalID); DetailLog("{0},BSCharacter.create,taint", LocalID);
BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData); // New body and shape into BSBody and BSShape
PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);
// Set the buoyancy for flying. This will be refactored when all the settings happen in C#. SetPhysicalProperties();
// If not set at creation, the avatar will stop flying when created after crossing a region boundry.
BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.ptr, LocalID));
// This works here because CreateObject has already put the character into the physical world.
BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
(uint)CollisionFilterGroups.AvatarFilter, (uint)CollisionFilterGroups.AvatarMask);
}); });
return; return;
} }
@ -131,53 +131,85 @@ public class BSCharacter : BSPhysObject
DetailLog("{0},BSCharacter.Destroy", LocalID); DetailLog("{0},BSCharacter.Destroy", LocalID);
PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
{ {
BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID); PhysicsScene.Shapes.DereferenceBody(BSBody, true, null);
PhysicsScene.Shapes.DereferenceShape(BSShape, true, null);
}); });
} }
private void SetPhysicalProperties()
{
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
ZeroMotion();
ForcePosition = _position;
// Set the velocity and compute the proper friction
ForceVelocity = _velocity;
BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution);
BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
if (PhysicsScene.Params.ccdMotionThreshold > 0f)
{
BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
}
OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
// Do this after the object has been added to the world
BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
(uint)CollisionFilterGroups.AvatarFilter,
(uint)CollisionFilterGroups.AvatarMask);
}
public override void RequestPhysicsterseUpdate() public override void RequestPhysicsterseUpdate()
{ {
base.RequestPhysicsterseUpdate(); base.RequestPhysicsterseUpdate();
} }
// No one calls this method so I don't know what it could possibly mean // No one calls this method so I don't know what it could possibly mean
public override bool Stopped { public override bool Stopped { get { return false; } }
get { return false; }
}
public override OMV.Vector3 Size { public override OMV.Vector3 Size {
get get
{ {
// Avatar capsule size is kept in the scale parameter. // Avatar capsule size is kept in the scale parameter.
return new OMV.Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z); return _size;
} }
set { set {
// When an avatar's size is set, only the height is changed // When an avatar's size is set, only the height is changed.
// and that really only depends on the radius.
_size = value; _size = value;
ComputeAvatarScale(_size); ComputeAvatarScale(_size);
// TODO: something has to be done with the avatar's vertical position
ComputeAvatarVolumeAndMass(); ComputeAvatarVolumeAndMass();
DetailLog("{0},BSCharacter.setSize,call,scale={1},density={2},volume={3},mass={4}",
LocalID, Scale, _avatarDensity, _avatarVolume, MassRaw);
PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
{ {
BulletSimAPI.SetObjectScaleMass(PhysicsScene.WorldID, LocalID, _scale, _mass, true); BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
}); });
} }
} }
public override PrimitiveBaseShape Shape { public override OMV.Vector3 Scale { get; set; }
set { _pbs = value; public override PrimitiveBaseShape Shape
} {
set { BaseShape = value; }
} }
public override bool Grabbed { public override bool Grabbed {
set { _grabbed = value; set { _grabbed = value; }
}
} }
public override bool Selected { public override bool Selected {
set { _selected = value; set { _selected = value; }
}
} }
public override void CrossingFailure() { return; } public override void CrossingFailure() { return; }
public override void link(PhysicsActor obj) { return; } public override void link(PhysicsActor obj) { return; }
@ -204,7 +236,7 @@ public class BSCharacter : BSPhysObject
public override OMV.Vector3 Position { public override OMV.Vector3 Position {
get { get {
// _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
return _position; return _position;
} }
set { set {
@ -214,7 +246,7 @@ public class BSCharacter : BSPhysObject
PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
{ {
DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
}); });
} }
} }
@ -263,7 +295,7 @@ 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(bool inTaintTime) private bool PositionSanityCheck(bool inTaintTime)
{ {
bool ret = false; bool ret = false;
if (PositionSanityCheck()) if (PositionSanityCheck())
@ -273,7 +305,7 @@ public class BSCharacter : BSPhysObject
BSScene.TaintCallback sanityOperation = 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.SetTranslation2(BSBody.ptr, _position, _orientation);
}; };
if (inTaintTime) if (inTaintTime)
sanityOperation(); sanityOperation();
@ -284,11 +316,7 @@ public class BSCharacter : BSPhysObject
return ret; return ret;
} }
public override float Mass { public override float Mass { get { return _mass; } }
get {
return _mass;
}
}
// used when we only want this prim's mass and not the linkset thing // used when we only want this prim's mass and not the linkset thing
public override float MassRaw { get {return _mass; } } public override float MassRaw { get {return _mass; } }
@ -301,15 +329,13 @@ public class BSCharacter : BSPhysObject
PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate() PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
{ {
DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
BulletSimAPI.SetObjectForce(PhysicsScene.WorldID, LocalID, _force); BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
}); });
} }
} }
public override int VehicleType { // Avatars don't do vehicles
get { return 0; } public override int VehicleType { get { return 0; } set { return; } }
set { return; }
}
public override void VehicleFloatParam(int param, float value) { } public override void VehicleFloatParam(int param, float value) { }
public override void VehicleVectorParam(int param, OMV.Vector3 value) {} public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { } public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
@ -328,15 +354,37 @@ public class BSCharacter : BSPhysObject
PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
{ {
DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity); ForceVelocity = _velocity;
}); });
} }
} }
public override OMV.Vector3 ForceVelocity { public override OMV.Vector3 ForceVelocity {
get { return _velocity; } get { return _velocity; }
set { set {
// Depending on whether the avatar is moving or not, change the friction
// to keep the avatar from slipping around
if (_velocity.Length() == 0)
{
if (_currentFriction != PhysicsScene.Params.avatarStandingFriction)
{
_currentFriction = PhysicsScene.Params.avatarStandingFriction;
BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
}
}
else
{
if (_currentFriction != PhysicsScene.Params.avatarFriction)
{
_currentFriction = PhysicsScene.Params.avatarFriction;
BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
}
}
_velocity = value; _velocity = value;
BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity); // Remember the set velocity so we can suppress the reduction by friction, ...
_appliedVelocity = value;
BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
BulletSimAPI.Activate2(BSBody.ptr, true);
} }
} }
public override OMV.Vector3 Torque { public override OMV.Vector3 Torque {
@ -360,8 +408,8 @@ public class BSCharacter : BSPhysObject
// m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
{ {
// _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
}); });
} }
} }
@ -389,12 +437,18 @@ public class BSCharacter : BSPhysObject
set { _isPhysical = value; set { _isPhysical = value;
} }
} }
public override bool IsSolid {
get { return true; }
}
public override bool IsStatic {
get { return false; }
}
public override bool Flying { public override bool Flying {
get { return _flying; } get { return _flying; }
set { set {
_flying = value; _flying = value;
// simulate flying by changing the effect of gravity // simulate flying by changing the effect of gravity
this.Buoyancy = ComputeBuoyancyFromFlying(_flying); Buoyancy = ComputeBuoyancyFromFlying(_flying);
} }
} }
// Flying is implimented by changing the avatar's buoyancy. // Flying is implimented by changing the avatar's buoyancy.
@ -454,10 +508,19 @@ public class BSCharacter : BSPhysObject
PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate() PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
{ {
DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy); ForceBuoyancy = _buoyancy;
}); });
} }
} }
public override float ForceBuoyancy {
get { return _buoyancy; }
set { _buoyancy = value;
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(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
}
}
// Used for MoveTo // Used for MoveTo
public override OMV.Vector3 PIDTarget { public override OMV.Vector3 PIDTarget {
@ -518,27 +581,32 @@ public class BSCharacter : BSPhysObject
private void ComputeAvatarScale(OMV.Vector3 size) private void ComputeAvatarScale(OMV.Vector3 size)
{ {
_scale.X = PhysicsScene.Params.avatarCapsuleRadius; // The 'size' given by the simulator is the mid-point of the avatar
_scale.Y = PhysicsScene.Params.avatarCapsuleRadius; // and X and Y are unspecified.
// The 1.15 came from ODE but it seems to cause the avatar to float off the ground OMV.Vector3 newScale = OMV.Vector3.Zero;
// _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y); newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
_scale.Z = (_size.Z) - (_scale.X + _scale.Y); newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
// From the total height, remote the capsule half spheres that are at each end
newScale.Z = (size.Z * 2f) - Math.Min(newScale.X, newScale.Y);
// newScale.Z = (size.Z * 2f);
Scale = newScale;
} }
// set _avatarVolume and _mass based on capsule size, _density and _scale // set _avatarVolume and _mass based on capsule size, _density and Scale
private void ComputeAvatarVolumeAndMass() private void ComputeAvatarVolumeAndMass()
{ {
_avatarVolume = (float)( _avatarVolume = (float)(
Math.PI Math.PI
* _scale.X * Scale.X
* _scale.Y // the area of capsule cylinder * Scale.Y // the area of capsule cylinder
* _scale.Z // times height of capsule cylinder * Scale.Z // times height of capsule cylinder
+ 1.33333333f + 1.33333333f
* Math.PI * Math.PI
* _scale.X * Scale.X
* Math.Min(_scale.X, _scale.Y) * Math.Min(Scale.X, Scale.Y)
* _scale.Y // plus the volume of the capsule end caps * Scale.Y // plus the volume of the capsule end caps
); );
_mass = _avatarDensity * _avatarVolume; _mass = _avatarDensity * _avatarVolume;
} }
@ -553,7 +621,23 @@ public class BSCharacter : BSPhysObject
_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. // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
PositionSanityCheck2(true); PositionSanityCheck(true);
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
if (entprop.Velocity != LastEntityProperties.Velocity)
{
// Changes in the velocity are suppressed in avatars.
// That's just the way they are defined.
OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
_velocity = avVel;
BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel);
}
// Tell the linkset about this
Linkset.UpdateProperties(this);
// 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();

38
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
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@ -47,6 +47,7 @@ public abstract class BSPhysObject : PhysicsActor
TypeName = typeName; TypeName = typeName;
Linkset = new BSLinkset(PhysicsScene, this); Linkset = new BSLinkset(PhysicsScene, this);
LastAssetBuildFailed = false;
CollisionCollection = new CollisionEventUpdate(); CollisionCollection = new CollisionEventUpdate();
SubscribedEventsMs = 0; SubscribedEventsMs = 0;
@ -69,6 +70,23 @@ public abstract class BSPhysObject : PhysicsActor
// Reference to the physical shape (btCollisionShape) of this object // Reference to the physical shape (btCollisionShape) of this object
public BulletShape BSShape; public BulletShape BSShape;
// 'true' if the mesh's underlying asset failed to build.
// This will keep us from looping after the first time the build failed.
public bool LastAssetBuildFailed { get; set; }
// The objects base shape information. Null if not a prim type shape.
public PrimitiveBaseShape BaseShape { get; protected set; }
// When the physical properties are updated, an EntityProperty holds the update values.
// Keep the current and last EntityProperties to enable computation of differences
// between the current update and the previous values.
public EntityProperties CurrentEntityProperties { get; set; }
public EntityProperties LastEntityProperties { get; set; }
public abstract OMV.Vector3 Scale { get; set; }
public abstract bool IsSolid { get; }
public abstract bool IsStatic { get; }
// Stop all physical motion. // Stop all physical motion.
public abstract void ZeroMotion(); public abstract void ZeroMotion();
@ -89,6 +107,10 @@ public abstract class BSPhysObject : PhysicsActor
public abstract OMV.Vector3 ForceRotationalVelocity { get; set; } public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
public abstract float ForceBuoyancy { get; set; }
public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
#region Collisions #region Collisions
// Requested number of milliseconds between collision events. Zero means disabled. // Requested number of milliseconds between collision events. Zero means disabled.
@ -129,30 +151,28 @@ public abstract class BSPhysObject : PhysicsActor
// if someone has subscribed for collision events.... // if someone has subscribed for collision events....
if (SubscribedEvents()) { if (SubscribedEvents()) {
CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
// DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
// LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
ret = true; ret = true;
} }
return ret; return ret;
} }
// Routine to send the collected collisions into the simulator. // Send the collected collisions into the simulator.
// Also handles removal of this from the collection of objects with collisions if
// there are no collisions from this object. Mechanism is create one last
// collision event to make collision_end work.
// Called at taint time from within the Step() function thus no locking problems // Called at taint time from within the Step() function thus no locking problems
// with CollisionCollection and ObjectsWithNoMoreCollisions. // with CollisionCollection and ObjectsWithNoMoreCollisions.
// Return 'true' if there were some actual collisions passed up // Return 'true' if there were some actual collisions passed up
public virtual bool SendCollisions() public virtual bool SendCollisions()
{ {
bool ret = true; bool ret = true;
// If the 'no collision' call, force it to happen right now so quick collision_end
bool force = CollisionCollection.Count == 0;
// throttle the collisions to the number of milliseconds specified in the subscription // throttle the collisions to the number of milliseconds specified in the subscription
int nowTime = PhysicsScene.SimulationNowTime; if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime))
if (nowTime >= NextCollisionOkTime)
{ {
NextCollisionOkTime = nowTime + SubscribedEventsMs; NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs;
// We are called if we previously had collisions. If there are no collisions // We are called if we previously had collisions. If there are no collisions
// this time, send up one last empty event so OpenSim can sense collision end. // this time, send up one last empty event so OpenSim can sense collision end.

162
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -46,12 +46,10 @@ 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 PrimitiveBaseShape _pbs; // _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.
// _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.
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 _grabbed; private bool _grabbed;
private bool _isSelected; private bool _isSelected;
@ -98,12 +96,12 @@ public sealed class BSPrim : BSPhysObject
_physicsActorType = (int)ActorTypes.Prim; _physicsActorType = (int)ActorTypes.Prim;
_position = pos; _position = pos;
_size = size; _size = size;
_scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type Scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type
_orientation = rotation; _orientation = rotation;
_buoyancy = 1f; _buoyancy = 1f;
_velocity = OMV.Vector3.Zero; _velocity = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero;
_pbs = pbs; BaseShape = pbs;
_isPhysical = pisPhysical; _isPhysical = pisPhysical;
_isVolumeDetect = false; _isVolumeDetect = false;
_friction = PhysicsScene.Params.defaultFriction; // TODO: compute based on object material _friction = PhysicsScene.Params.defaultFriction; // TODO: compute based on object material
@ -160,33 +158,32 @@ public sealed class BSPrim : BSPhysObject
get { return _size; } get { return _size; }
set { set {
_size = value; _size = value;
PhysicsScene.TaintedObject("BSPrim.setSize", delegate() ForceBodyShapeRebuild(false);
{
_mass = CalculateMass(); // changing size changes the mass
// Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct
// scale and margins are set.
CreateGeomAndObject(true);
// DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical);
});
} }
} }
// Scale is what we set in the physics engine. It is different than 'size' in that // Scale is what we set in the physics engine. It is different than 'size' in that
// 'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>. // 'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>.
public OMV.Vector3 Scale public override OMV.Vector3 Scale { get; set; }
{
get { return _scale; }
set { _scale = value; }
}
public override PrimitiveBaseShape Shape { public override PrimitiveBaseShape Shape {
set { set {
_pbs = value; BaseShape = value;
PhysicsScene.TaintedObject("BSPrim.setShape", delegate() ForceBodyShapeRebuild(false);
{
_mass = CalculateMass(); // changing the shape changes the mass
CreateGeomAndObject(true);
});
} }
} }
public override bool ForceBodyShapeRebuild(bool inTaintTime)
{
BSScene.TaintCallback rebuildOperation = delegate()
{
_mass = CalculateMass(); // changing the shape changes the mass
CreateGeomAndObject(true);
};
if (inTaintTime)
rebuildOperation();
else
PhysicsScene.TaintedObject("BSPrim.ForceBodyShapeRebuild", rebuildOperation);
return true;
}
public override bool Grabbed { public override bool Grabbed {
set { _grabbed = value; set { _grabbed = value;
} }
@ -325,9 +322,9 @@ public sealed class BSPrim : 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 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(bool inTaintTime) private bool PositionSanityCheck(bool inTaintTime)
{ {
bool ret = false; bool ret = false;
if (PositionSanityCheck()) if (PositionSanityCheck())
@ -337,7 +334,7 @@ public sealed class BSPrim : BSPhysObject
BSScene.TaintCallback sanityOperation = delegate() BSScene.TaintCallback sanityOperation = delegate()
{ {
DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); ForcePosition = _position;
}; };
if (inTaintTime) if (inTaintTime)
sanityOperation(); sanityOperation();
@ -547,13 +544,13 @@ public sealed class BSPrim : BSPhysObject
} }
// An object is static (does not move) if selected or not physical // An object is static (does not move) if selected or not physical
private bool IsStatic public override bool IsStatic
{ {
get { return _isSelected || !IsPhysical; } get { return _isSelected || !IsPhysical; }
} }
// An object is solid if it's not phantom and if it's not doing VolumeDetect // An object is solid if it's not phantom and if it's not doing VolumeDetect
public bool IsSolid public override bool IsSolid
{ {
get { return !IsPhantom && !_isVolumeDetect; } get { return !IsPhantom && !_isVolumeDetect; }
} }
@ -631,6 +628,12 @@ public sealed class BSPrim : BSPhysObject
BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero); BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
// There is no inertia in a static object // There is no inertia in a static object
BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
// Set collision detection parameters
if (PhysicsScene.Params.ccdMotionThreshold > 0f)
{
BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
}
// There can be special things needed for implementing linksets // There can be special things needed for implementing linksets
Linkset.MakeStatic(this); Linkset.MakeStatic(this);
// The activation state is 'disabled' so Bullet will not try to act on it. // The activation state is 'disabled' so Bullet will not try to act on it.
@ -662,6 +665,13 @@ public sealed class BSPrim : BSPhysObject
BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
// Set collision detection parameters
if (PhysicsScene.Params.ccdMotionThreshold > 0f)
{
BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
}
// Various values for simulation limits // Various values for simulation limits
BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping); BulletSimAPI.SetDamping2(BSBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping);
BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime); BulletSimAPI.SetDeactivationTime2(BSBody.ptr, PhysicsScene.Params.deactivationTime);
@ -813,13 +823,20 @@ public sealed class BSPrim : BSPhysObject
_buoyancy = value; _buoyancy = value;
PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate() PhysicsScene.TaintedObject("BSPrim.setBuoyancy", delegate()
{ {
// DetailLog("{0},BSPrim.SetBuoyancy,taint,buoy={1}", LocalID, _buoyancy); ForceBuoyancy = _buoyancy;
// Buoyancy is faked by changing the gravity applied to the object
float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
}); });
} }
} }
public override float ForceBuoyancy {
get { return _buoyancy; }
set {
_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(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
}
}
// Used for MoveTo // Used for MoveTo
public override OMV.Vector3 PIDTarget { public override OMV.Vector3 PIDTarget {
@ -907,19 +924,19 @@ public sealed class BSPrim : BSPhysObject
float tmp; float tmp;
float returnMass = 0; float returnMass = 0;
float hollowAmount = (float)_pbs.ProfileHollow * 2.0e-5f; float hollowAmount = (float)BaseShape.ProfileHollow * 2.0e-5f;
float hollowVolume = hollowAmount * hollowAmount; float hollowVolume = hollowAmount * hollowAmount;
switch (_pbs.ProfileShape) switch (BaseShape.ProfileShape)
{ {
case ProfileShape.Square: case ProfileShape.Square:
// default box // default box
if (_pbs.PathCurve == (byte)Extrusion.Straight) if (BaseShape.PathCurve == (byte)Extrusion.Straight)
{ {
if (hollowAmount > 0.0) if (hollowAmount > 0.0)
{ {
switch (_pbs.HollowShape) switch (BaseShape.HollowShape)
{ {
case HollowShape.Square: case HollowShape.Square:
case HollowShape.Same: case HollowShape.Same:
@ -943,19 +960,19 @@ public sealed class BSPrim : BSPhysObject
} }
} }
else if (_pbs.PathCurve == (byte)Extrusion.Curve1) else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
{ {
//a tube //a tube
volume *= 0.78539816339e-2f * (float)(200 - _pbs.PathScaleX); volume *= 0.78539816339e-2f * (float)(200 - BaseShape.PathScaleX);
tmp= 1.0f -2.0e-2f * (float)(200 - _pbs.PathScaleY); tmp= 1.0f -2.0e-2f * (float)(200 - BaseShape.PathScaleY);
volume -= volume*tmp*tmp; volume -= volume*tmp*tmp;
if (hollowAmount > 0.0) if (hollowAmount > 0.0)
{ {
hollowVolume *= hollowAmount; hollowVolume *= hollowAmount;
switch (_pbs.HollowShape) switch (BaseShape.HollowShape)
{ {
case HollowShape.Square: case HollowShape.Square:
case HollowShape.Same: case HollowShape.Same:
@ -980,13 +997,13 @@ public sealed class BSPrim : BSPhysObject
case ProfileShape.Circle: case ProfileShape.Circle:
if (_pbs.PathCurve == (byte)Extrusion.Straight) if (BaseShape.PathCurve == (byte)Extrusion.Straight)
{ {
volume *= 0.78539816339f; // elipse base volume *= 0.78539816339f; // elipse base
if (hollowAmount > 0.0) if (hollowAmount > 0.0)
{ {
switch (_pbs.HollowShape) switch (BaseShape.HollowShape)
{ {
case HollowShape.Same: case HollowShape.Same:
case HollowShape.Circle: case HollowShape.Circle:
@ -1008,10 +1025,10 @@ public sealed class BSPrim : BSPhysObject
} }
} }
else if (_pbs.PathCurve == (byte)Extrusion.Curve1) else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
{ {
volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - _pbs.PathScaleX); volume *= 0.61685027506808491367715568749226e-2f * (float)(200 - BaseShape.PathScaleX);
tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
volume *= (1.0f - tmp * tmp); volume *= (1.0f - tmp * tmp);
if (hollowAmount > 0.0) if (hollowAmount > 0.0)
@ -1020,7 +1037,7 @@ public sealed class BSPrim : BSPhysObject
// calculate the hollow volume by it's shape compared to the prim shape // calculate the hollow volume by it's shape compared to the prim shape
hollowVolume *= hollowAmount; hollowVolume *= hollowAmount;
switch (_pbs.HollowShape) switch (BaseShape.HollowShape)
{ {
case HollowShape.Same: case HollowShape.Same:
case HollowShape.Circle: case HollowShape.Circle:
@ -1044,7 +1061,7 @@ public sealed class BSPrim : BSPhysObject
break; break;
case ProfileShape.HalfCircle: case ProfileShape.HalfCircle:
if (_pbs.PathCurve == (byte)Extrusion.Curve1) if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
{ {
volume *= 0.52359877559829887307710723054658f; volume *= 0.52359877559829887307710723054658f;
} }
@ -1052,7 +1069,7 @@ public sealed class BSPrim : BSPhysObject
case ProfileShape.EquilateralTriangle: case ProfileShape.EquilateralTriangle:
if (_pbs.PathCurve == (byte)Extrusion.Straight) if (BaseShape.PathCurve == (byte)Extrusion.Straight)
{ {
volume *= 0.32475953f; volume *= 0.32475953f;
@ -1060,7 +1077,7 @@ public sealed class BSPrim : BSPhysObject
{ {
// calculate the hollow volume by it's shape compared to the prim shape // calculate the hollow volume by it's shape compared to the prim shape
switch (_pbs.HollowShape) switch (BaseShape.HollowShape)
{ {
case HollowShape.Same: case HollowShape.Same:
case HollowShape.Triangle: case HollowShape.Triangle:
@ -1085,11 +1102,11 @@ public sealed class BSPrim : BSPhysObject
volume *= (1.0f - hollowVolume); volume *= (1.0f - hollowVolume);
} }
} }
else if (_pbs.PathCurve == (byte)Extrusion.Curve1) else if (BaseShape.PathCurve == (byte)Extrusion.Curve1)
{ {
volume *= 0.32475953f; volume *= 0.32475953f;
volume *= 0.01f * (float)(200 - _pbs.PathScaleX); volume *= 0.01f * (float)(200 - BaseShape.PathScaleX);
tmp = 1.0f - .02f * (float)(200 - _pbs.PathScaleY); tmp = 1.0f - .02f * (float)(200 - BaseShape.PathScaleY);
volume *= (1.0f - tmp * tmp); volume *= (1.0f - tmp * tmp);
if (hollowAmount > 0.0) if (hollowAmount > 0.0)
@ -1097,7 +1114,7 @@ public sealed class BSPrim : BSPhysObject
hollowVolume *= hollowAmount; hollowVolume *= hollowAmount;
switch (_pbs.HollowShape) switch (BaseShape.HollowShape)
{ {
case HollowShape.Same: case HollowShape.Same:
case HollowShape.Triangle: case HollowShape.Triangle:
@ -1137,26 +1154,26 @@ public sealed class BSPrim : BSPhysObject
float profileBegin; float profileBegin;
float profileEnd; float profileEnd;
if (_pbs.PathCurve == (byte)Extrusion.Straight || _pbs.PathCurve == (byte)Extrusion.Flexible) if (BaseShape.PathCurve == (byte)Extrusion.Straight || BaseShape.PathCurve == (byte)Extrusion.Flexible)
{ {
taperX1 = _pbs.PathScaleX * 0.01f; taperX1 = BaseShape.PathScaleX * 0.01f;
if (taperX1 > 1.0f) if (taperX1 > 1.0f)
taperX1 = 2.0f - taperX1; taperX1 = 2.0f - taperX1;
taperX = 1.0f - taperX1; taperX = 1.0f - taperX1;
taperY1 = _pbs.PathScaleY * 0.01f; taperY1 = BaseShape.PathScaleY * 0.01f;
if (taperY1 > 1.0f) if (taperY1 > 1.0f)
taperY1 = 2.0f - taperY1; taperY1 = 2.0f - taperY1;
taperY = 1.0f - taperY1; taperY = 1.0f - taperY1;
} }
else else
{ {
taperX = _pbs.PathTaperX * 0.01f; taperX = BaseShape.PathTaperX * 0.01f;
if (taperX < 0.0f) if (taperX < 0.0f)
taperX = -taperX; taperX = -taperX;
taperX1 = 1.0f - taperX; taperX1 = 1.0f - taperX;
taperY = _pbs.PathTaperY * 0.01f; taperY = BaseShape.PathTaperY * 0.01f;
if (taperY < 0.0f) if (taperY < 0.0f)
taperY = -taperY; taperY = -taperY;
taperY1 = 1.0f - taperY; taperY1 = 1.0f - taperY;
@ -1166,13 +1183,13 @@ public sealed class BSPrim : BSPhysObject
volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY); volume *= (taperX1 * taperY1 + 0.5f * (taperX1 * taperY + taperX * taperY1) + 0.3333333333f * taperX * taperY);
pathBegin = (float)_pbs.PathBegin * 2.0e-5f; pathBegin = (float)BaseShape.PathBegin * 2.0e-5f;
pathEnd = 1.0f - (float)_pbs.PathEnd * 2.0e-5f; pathEnd = 1.0f - (float)BaseShape.PathEnd * 2.0e-5f;
volume *= (pathEnd - pathBegin); volume *= (pathEnd - pathBegin);
// this is crude aproximation // this is crude aproximation
profileBegin = (float)_pbs.ProfileBegin * 2.0e-5f; profileBegin = (float)BaseShape.ProfileBegin * 2.0e-5f;
profileEnd = 1.0f - (float)_pbs.ProfileEnd * 2.0e-5f; profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
volume *= (profileEnd - profileBegin); volume *= (profileEnd - profileBegin);
returnMass = _density * volume; returnMass = _density * volume;
@ -1207,7 +1224,8 @@ public sealed class BSPrim : BSPhysObject
shape.Position = _position; shape.Position = _position;
shape.Rotation = _orientation; shape.Rotation = _orientation;
shape.Velocity = _velocity; shape.Velocity = _velocity;
shape.Scale = _scale; shape.Size = _size;
shape.Scale = Scale;
shape.Mass = _isPhysical ? _mass : 0f; shape.Mass = _isPhysical ? _mass : 0f;
shape.Buoyancy = _buoyancy; shape.Buoyancy = _buoyancy;
shape.HullKey = 0; shape.HullKey = 0;
@ -1217,7 +1235,6 @@ public sealed class BSPrim : BSPhysObject
shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse; shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse;
shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue;
shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue; shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue;
shape.Size = _size;
} }
// Rebuild the geometry and object. // Rebuild the geometry and object.
// This is called when the shape changes so we need to recreate the mesh/hull. // This is called when the shape changes so we need to recreate the mesh/hull.
@ -1234,7 +1251,7 @@ 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.
// Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, _pbs, PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, shapeData, BaseShape,
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.
@ -1328,9 +1345,11 @@ public sealed class BSPrim : BSPhysObject
_acceleration = entprop.Acceleration; _acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity; _rotationalVelocity = entprop.RotationalVelocity;
PositionSanityCheck2(true); // remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
Linkset.UpdateProperties(this); PositionSanityCheck(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);
@ -1348,6 +1367,9 @@ public sealed class BSPrim : BSPhysObject
entprop.Acceleration, entprop.RotationalVelocity); entprop.Acceleration, entprop.RotationalVelocity);
} }
*/ */
// The linkset implimentation might want to know about this.
Linkset.UpdateProperties(this);
} }
} }
} }

150
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -256,14 +256,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters
Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
// m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(), World = new BulletSim(0, this, BulletSimAPI.Initialize2(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(), m_maxCollisionsPerFrame, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(), m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
m_DebugLogCallbackHandle); m_DebugLogCallbackHandle));
// Initialization to support the transition to a new API which puts most of the logic
// into the C# code so it is easier to modify and add to.
World = new BulletSim(WorldID, this, BulletSimAPI.GetSimHandle2(WorldID));
Constraints = new BSConstraintCollection(World); Constraints = new BSConstraintCollection(World);
@ -360,7 +356,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
} }
// Anything left in the unmanaged code should be cleaned out // Anything left in the unmanaged code should be cleaned out
BulletSimAPI.Shutdown(WorldID); BulletSimAPI.Shutdown2(World.ptr);
// Not logging any more // Not logging any more
PhysicsLogging.Close(); PhysicsLogging.Close();
@ -498,7 +494,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
{ {
if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep, numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr); out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
@ -536,26 +532,26 @@ public class BSScene : PhysicsScene, IPhysicsParameters
} }
} }
// This is a kludge to get avatar movement updates.
// the simulator expects collisions for avatars even if there are have been no collisions. This updates
// avatar animations and stuff.
// If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
foreach (BSPhysObject bsp in m_avatars)
bsp.SendCollisions();
// The above SendCollision's batch up the collisions on the objects. // The above SendCollision's batch up the collisions on the objects.
// Now push the collisions into the simulator. // Now push the collisions into the simulator.
if (ObjectsWithCollisions.Count > 0) if (ObjectsWithCollisions.Count > 0)
{ {
foreach (BSPhysObject bsp in ObjectsWithCollisions) foreach (BSPhysObject bsp in ObjectsWithCollisions)
if (!m_avatars.Contains(bsp)) // don't call avatars twice if (!bsp.SendCollisions())
if (!bsp.SendCollisions()) {
{ // If the object is done colliding, see that it's removed from the colliding list
// If the object is done colliding, see that it's removed from the colliding list ObjectsWithNoMoreCollisions.Add(bsp);
ObjectsWithNoMoreCollisions.Add(bsp); }
}
} }
// This is a kludge to get avatar movement updates.
// The simulator expects collisions for avatars even if there are have been no collisions.
// The event updates avatar animations and stuff.
// If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
foreach (BSPhysObject bsp in m_avatars)
if (!ObjectsWithCollisions.Contains(bsp)) // don't call avatars twice
bsp.SendCollisions();
// Objects that are done colliding are removed from the ObjectsWithCollisions list. // Objects that are done colliding are removed from the ObjectsWithCollisions list.
// Not done above 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)
@ -579,11 +575,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters
} }
} }
// This causes the unmanaged code to output ALL the values found in ALL the objects in the world.
// Only enable this in a limited test world with few objects.
// BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG
// The physics engine returns the number of milliseconds it simulated this call. // The physics engine returns the number of milliseconds it simulated this call.
// These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
// We multiply by 45 to give a recognizable running rate (45 or less). // We multiply by 55 to give a recognizable running rate (55 or less).
return numSubSteps * m_fixedTimeStep * 1000 * 45; return numSubSteps * m_fixedTimeStep * 1000 * 55;
// return timeStep * 1000 * 45; // return timeStep * 1000 * 55;
} }
// Something has collided // Something has collided
@ -800,6 +800,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
delegate float ParamGet(BSScene scene); delegate float ParamGet(BSScene scene);
delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
private struct ParameterDefn private struct ParameterDefn
{ {
@ -809,6 +810,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
public ParamUser userParam; // get the value from the configuration file public ParamUser userParam; // get the value from the configuration file
public ParamGet getter; // return the current value stored for this parameter public ParamGet getter; // return the current value stored for this parameter
public ParamSet setter; // set the current value for this parameter public ParamSet setter; // set the current value for this parameter
public SetOnObject onObject; // set the value on an object in the physical domain
public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
{ {
name = n; name = n;
@ -817,6 +819,17 @@ public class BSScene : PhysicsScene, IPhysicsParameters
userParam = u; userParam = u;
getter = g; getter = g;
setter = s; setter = s;
onObject = null;
}
public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
{
name = n;
desc = d;
defaultValue = v;
userParam = u;
getter = g;
setter = s;
onObject = o;
} }
} }
@ -838,6 +851,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// //
// The single letter parameters for the delegates are: // The single letter parameters for the delegates are:
// s = BSScene // s = BSScene
// o = BSPhysObject
// p = string parameter name // p = string parameter name
// l = localID of referenced object // l = localID of referenced object
// v = float value // v = float value
@ -947,70 +961,84 @@ public class BSScene : PhysicsScene, IPhysicsParameters
-9.80665f, -9.80665f,
(s,cf,p,v) => { s.m_params[0].gravity = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].gravity = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].gravity; }, (s) => { return s.m_params[0].gravity; },
(s,p,l,v) => { s.m_params[0].gravity = v; s.TaintedUpdateParameter(p,l,v); } ), (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].gravity, p, PhysParameterEntry.APPLY_TO_NONE, v); },
(s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ),
new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)", new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
0f, 0f,
(s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].linearDamping; }, (s) => { return s.m_params[0].linearDamping; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); } ), (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); },
(s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ),
new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)", new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
0f, 0f,
(s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].angularDamping; }, (s) => { return s.m_params[0].angularDamping; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); } ), (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); },
(s,o,v) => { BulletSimAPI.SetDamping2(o.BSBody.ptr, v, v); } ),
new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static", new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
0.2f, 0.2f,
(s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].deactivationTime; }, (s) => { return s.m_params[0].deactivationTime; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); } ), (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); },
(s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.BSBody.ptr, v); } ),
new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static", new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
0.8f, 0.8f,
(s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].linearSleepingThreshold; }, (s) => { return s.m_params[0].linearSleepingThreshold; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); } ), (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); },
(s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ),
new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static", new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
1.0f, 1.0f,
(s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].angularSleepingThreshold; }, (s) => { return s.m_params[0].angularSleepingThreshold; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); } ), (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); },
(s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.BSBody.ptr, v, v); } ),
new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
0f, // set to zero to disable 0f, // set to zero to disable
(s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].ccdMotionThreshold; }, (s) => { return s.m_params[0].ccdMotionThreshold; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); } ), (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); },
(s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.BSBody.ptr, v); } ),
new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
0f, 0f,
(s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].ccdSweptSphereRadius; }, (s) => { return s.m_params[0].ccdSweptSphereRadius; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); } ), (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); },
(s,o,v) => { BulletSimAPI.SetCcdSweepSphereRadius2(o.BSBody.ptr, v); } ),
new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" , new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
0.1f, 0.1f,
(s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].contactProcessingThreshold; }, (s) => { return s.m_params[0].contactProcessingThreshold; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); } ), (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); },
(s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.BSBody.ptr, v); } ),
new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
0.5f, 0.5f,
(s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].terrainFriction; }, (s) => { return s.m_params[0].terrainFriction; },
(s,p,l,v) => { s.m_params[0].terrainFriction = v; s.TaintedUpdateParameter(p,l,v); } ), (s,p,l,v) => { s.m_params[0].terrainFriction = v; /* TODO: set on real terrain */} ),
new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" , new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
0.8f, 0.8f,
(s,cf,p,v) => { s.m_params[0].terrainHitFraction = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].terrainHitFraction = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].terrainHitFraction; }, (s) => { return s.m_params[0].terrainHitFraction; },
(s,p,l,v) => { s.m_params[0].terrainHitFraction = v; s.TaintedUpdateParameter(p,l,v); } ), (s,p,l,v) => { s.m_params[0].terrainHitFraction = v; /* TODO: set on real terrain */ } ),
new ParameterDefn("TerrainRestitution", "Bouncyness" , new ParameterDefn("TerrainRestitution", "Bouncyness" ,
0f, 0f,
(s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].terrainRestitution; }, (s) => { return s.m_params[0].terrainRestitution; },
(s,p,l,v) => { s.m_params[0].terrainRestitution = v; s.TaintedUpdateParameter(p,l,v); } ), (s,p,l,v) => { s.m_params[0].terrainRestitution = v; /* TODO: set on real terrain */ } ),
new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
0.2f, 0.2f,
(s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarFriction; }, (s) => { return s.m_params[0].avatarFriction; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ), (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ),
new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
10f,
(s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarStandingFriction; },
(s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ),
new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
60f, 60f,
(s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); }, (s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); },
@ -1227,52 +1255,54 @@ public class BSScene : PhysicsScene, IPhysicsParameters
return ret; return ret;
} }
// check to see if we are updating a parameter for a particular or all of the prims
protected void UpdateParameterObject(ref float loc, string parm, uint localID, float val)
{
List<uint> operateOn;
lock (PhysObjects) operateOn = new List<uint>(PhysObjects.Keys);
UpdateParameterSet(operateOn, ref loc, parm, localID, val);
}
// update all the localIDs specified // update all the localIDs specified
// If the local ID is APPLY_TO_NONE, just change the default value // If the local ID is APPLY_TO_NONE, just change the default value
// If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
// If the localID is a specific object, apply the parameter change to only that object // If the localID is a specific object, apply the parameter change to only that object
protected void UpdateParameterSet(List<uint> lIDs, ref float defaultLoc, string parm, uint localID, float val) protected void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val)
{ {
List<uint> objectIDs = new List<uint>();
switch (localID) switch (localID)
{ {
case PhysParameterEntry.APPLY_TO_NONE: case PhysParameterEntry.APPLY_TO_NONE:
defaultLoc = val; // setting only the default value defaultLoc = val; // setting only the default value
// This will cause a call into the physical world if some operation is specified (SetOnObject).
objectIDs.Add(TERRAIN_ID);
TaintedUpdateParameter(parm, objectIDs, val);
break; break;
case PhysParameterEntry.APPLY_TO_ALL: case PhysParameterEntry.APPLY_TO_ALL:
defaultLoc = val; // setting ALL also sets the default value defaultLoc = val; // setting ALL also sets the default value
List<uint> objectIDs = lIDs; lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
string xparm = parm.ToLower(); TaintedUpdateParameter(parm, objectIDs, val);
float xval = val;
TaintedObject("BSScene.UpdateParameterSet", delegate() {
foreach (uint lID in objectIDs)
{
BulletSimAPI.UpdateParameter(WorldID, lID, xparm, xval);
}
});
break; break;
default: default:
// setting only one localID // setting only one localID
TaintedUpdateParameter(parm, localID, val); objectIDs.Add(localID);
TaintedUpdateParameter(parm, objectIDs, val);
break; break;
} }
} }
// schedule the actual updating of the paramter to when the phys engine is not busy // schedule the actual updating of the paramter to when the phys engine is not busy
protected void TaintedUpdateParameter(string parm, uint localID, float val) protected void TaintedUpdateParameter(string parm, List<uint> lIDs, float val)
{ {
uint xlocalID = localID;
string xparm = parm.ToLower();
float xval = val; float xval = val;
TaintedObject("BSScene.TaintedUpdateParameter", delegate() { List<uint> xlIDs = lIDs;
BulletSimAPI.UpdateParameter(WorldID, xlocalID, xparm, xval); string xparm = parm;
TaintedObject("BSScene.UpdateParameterSet", delegate() {
ParameterDefn thisParam;
if (TryGetParameter(xparm, out thisParam))
{
if (thisParam.onObject != null)
{
foreach (uint lID in xlIDs)
{
BSPhysObject theObject = null;
PhysObjects.TryGetValue(lID, out theObject);
thisParam.onObject(this, theObject, xval);
}
}
}
}); });
} }

442
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
View File

@ -51,7 +51,7 @@ public class BSShapeCollection : IDisposable
} }
// Description of a hull. // Description of a hull.
// Meshes and hulls have the same shape hash key but we only need hulls for efficient physical objects // Meshes and hulls have the same shape hash key but we only need hulls for efficient collision calculations.
private struct HullDesc private struct HullDesc
{ {
public IntPtr ptr; public IntPtr ptr;
@ -59,17 +59,9 @@ public class BSShapeCollection : IDisposable
public DateTime lastReferenced; public DateTime lastReferenced;
} }
private struct BodyDesc // The sharable set of meshes and hulls. Indexed by their shape hash.
{
public IntPtr ptr;
// Bodies are only used once so reference count is always either one or zero
public int referenceCount;
public DateTime lastReferenced;
}
private Dictionary<System.UInt64, MeshDesc> Meshes = new Dictionary<System.UInt64, MeshDesc>(); private Dictionary<System.UInt64, MeshDesc> Meshes = new Dictionary<System.UInt64, MeshDesc>();
private Dictionary<System.UInt64, HullDesc> Hulls = new Dictionary<System.UInt64, HullDesc>(); private Dictionary<System.UInt64, HullDesc> Hulls = new Dictionary<System.UInt64, HullDesc>();
private Dictionary<uint, BodyDesc> Bodies = new Dictionary<uint, BodyDesc>();
public BSShapeCollection(BSScene physScene) public BSShapeCollection(BSScene physScene)
{ {
@ -92,8 +84,12 @@ public class BSShapeCollection : IDisposable
// First checks the shape and updates that if necessary then makes // First checks the shape and updates that if necessary then makes
// sure the body is of the right type. // sure the body is of the right type.
// Return 'true' if either the body or the shape changed. // Return 'true' if either the body or the shape changed.
// 'shapeCallback' and 'bodyCallback' are, if non-null, functions called just before
// the current shape or body is destroyed. This allows the caller to remove any
// higher level dependencies on the shape or body. Mostly used for LinkSets to
// remove the physical constraints before the body is destroyed.
// Called at taint-time!! // Called at taint-time!!
public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPrim prim, public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim,
ShapeData shapeData, PrimitiveBaseShape pbs, ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback) ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
{ {
@ -103,7 +99,8 @@ public class BSShapeCollection : IDisposable
lock (m_collectionActivityLock) lock (m_collectionActivityLock)
{ {
// Do we have the correct geometry for this type of object? // Do we have the correct geometry for this type of object?
// Updates prim.BSShape with information/pointers to requested shape // Updates prim.BSShape with information/pointers to shape.
// CreateGeom returns 'true' of BSShape as changed to a new shape.
bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, shapeCallback); bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, shapeCallback);
// 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.
@ -120,40 +117,24 @@ public class BSShapeCollection : IDisposable
// Track another user of a body // Track another user of a body
// We presume the caller has allocated the body. // We presume the caller has allocated the body.
// Bodies only have one user so the reference count is either 1 or 0. // Bodies only have one user so the body is just put into the world if not already there.
public void ReferenceBody(BulletBody body, bool inTaintTime) public void ReferenceBody(BulletBody body, bool inTaintTime)
{ {
lock (m_collectionActivityLock) lock (m_collectionActivityLock)
{ {
BodyDesc bodyDesc; DetailLog("{0},BSShapeCollection.ReferenceBody,newBody", body.ID, body);
if (Bodies.TryGetValue(body.ID, out bodyDesc)) BSScene.TaintCallback createOperation = delegate()
{ {
bodyDesc.referenceCount++; if (!BulletSimAPI.IsInWorld2(body.ptr))
DetailLog("{0},BSShapeCollection.ReferenceBody,existingBody,body={1},ref={2}", body.ID, body, bodyDesc.referenceCount);
}
else
{
// New entry
bodyDesc.ptr = body.ptr;
bodyDesc.referenceCount = 1;
DetailLog("{0},BSShapeCollection.ReferenceBody,newBody,ref={2}",
body.ID, body, bodyDesc.referenceCount);
BSScene.TaintCallback createOperation = delegate()
{ {
if (!BulletSimAPI.IsInWorld2(body.ptr)) BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr);
{ DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", body.ID, body);
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, body.ptr); }
DetailLog("{0},BSShapeCollection.ReferenceBody,addedToWorld,ref={1}", };
body.ID, body); if (inTaintTime)
} createOperation();
}; else
if (inTaintTime) PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation);
createOperation();
else
PhysicsScene.TaintedObject("BSShapeCollection.ReferenceBody", createOperation);
}
bodyDesc.lastReferenced = System.DateTime.Now;
Bodies[body.ID] = bodyDesc;
} }
} }
@ -166,43 +147,25 @@ public class BSShapeCollection : IDisposable
lock (m_collectionActivityLock) lock (m_collectionActivityLock)
{ {
BodyDesc bodyDesc; BSScene.TaintCallback removeOperation = delegate()
if (Bodies.TryGetValue(body.ID, out bodyDesc))
{ {
bodyDesc.referenceCount--; DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}",
bodyDesc.lastReferenced = System.DateTime.Now; body.ID, body.ptr.ToString("X"), inTaintTime);
Bodies[body.ID] = bodyDesc; // If the caller needs to know the old body is going away, pass the event up.
DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", body.ID, bodyDesc.referenceCount); if (bodyCallback != null) bodyCallback(body);
// If body is no longer being used, free it -- bodies can never be shared. // It may have already been removed from the world in which case the next is a NOOP.
if (bodyDesc.referenceCount == 0) BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
{
Bodies.Remove(body.ID);
BSScene.TaintCallback removeOperation = delegate()
{
DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}, inTaintTime={2}",
body.ID, body.ptr.ToString("X"), inTaintTime);
// If the caller needs to know the old body is going away, pass the event up.
if (bodyCallback != null) bodyCallback(body);
// It may have already been removed from the world in which case the next is a NOOP. // Zero any reference to the shape so it is not freed when the body is deleted.
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr); BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero);
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
// Zero any reference to the shape so it is not freed when the body is deleted. };
BulletSimAPI.SetCollisionShape2(PhysicsScene.World.ptr, body.ptr, IntPtr.Zero); // If already in taint-time, do the operations now. Otherwise queue for later.
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr); if (inTaintTime)
}; removeOperation();
// If already in taint-time, do the operations now. Otherwise queue for later.
if (inTaintTime)
removeOperation();
else
PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation);
}
}
else else
{ PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation);
DetailLog("{0},BSShapeCollection.DereferenceBody,DID NOT FIND BODY", body.ID, bodyDesc.referenceCount);
}
} }
} }
@ -271,7 +234,6 @@ public class BSShapeCollection : IDisposable
} }
// Release the usage of a shape. // Release the usage of a shape.
// The collisionObject is released since it is a copy of the real collision shape.
public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback) public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback)
{ {
if (shape.ptr == IntPtr.Zero) if (shape.ptr == IntPtr.Zero)
@ -279,26 +241,32 @@ public class BSShapeCollection : IDisposable
BSScene.TaintCallback dereferenceOperation = delegate() BSScene.TaintCallback dereferenceOperation = delegate()
{ {
switch (shape.type) if (shape.ptr != IntPtr.Zero)
{ {
case ShapeData.PhysicsShapeType.SHAPE_HULL: if (shape.isNativeShape)
DereferenceHull(shape, shapeCallback); {
break;
case ShapeData.PhysicsShapeType.SHAPE_MESH:
DereferenceMesh(shape, shapeCallback);
break;
case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
break;
default:
// Native shapes are not tracked and are released immediately // Native shapes are not tracked and are released immediately
if (shape.ptr != IntPtr.Zero & shape.isNativeShape) DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime);
if (shapeCallback != null) shapeCallback(shape);
BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
}
else
{
switch (shape.type)
{ {
DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}", case ShapeData.PhysicsShapeType.SHAPE_HULL:
BSScene.DetailLogZero, shape.ptr.ToString("X"), inTaintTime); DereferenceHull(shape, shapeCallback);
if (shapeCallback != null) shapeCallback(shape); break;
BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr); case ShapeData.PhysicsShapeType.SHAPE_MESH:
DereferenceMesh(shape, shapeCallback);
break;
case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
break;
default:
break;
} }
break; }
} }
}; };
if (inTaintTime) if (inTaintTime)
@ -351,19 +319,31 @@ public class BSShapeCollection : IDisposable
// Create the geometry information in Bullet for later use. // Create the geometry information in Bullet for later use.
// The objects needs a hull if it's physical otherwise a mesh is enough. // The objects needs a hull if it's physical otherwise a mesh is enough.
// No locking here because this is done when we know physics is not simulating. // if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls,
// if 'forceRebuild' is true, the geometry is rebuilt. Otherwise a previously built version is used. // shared geometries will be used. If the parameters of the existing shape are the same
// as this request, the shape is not rebuilt.
// Info in prim.BSShape is updated to the new shape.
// Returns 'true' if the geometry was rebuilt. // Returns 'true' if the geometry was rebuilt.
// Called at taint-time! // Called at taint-time!
private bool CreateGeom(bool forceRebuild, BSPrim prim, ShapeData shapeData, private bool CreateGeom(bool forceRebuild, BSPhysObject prim, ShapeData shapeData,
PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback) PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback)
{ {
bool ret = false; bool ret = false;
bool haveShape = false; bool haveShape = false;
bool nativeShapePossible = true; bool nativeShapePossible = true;
if (shapeData.Type == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
{
// an avatar capsule is close to a native shape (it is not shared)
ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_AVATAR,
ShapeData.FixedShapeKey.KEY_CAPSULE, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.BSShape);
haveShape = true;
}
// If the prim attributes are simple, this could be a simple Bullet native shape // If the prim attributes are simple, this could be a simple Bullet native shape
if (nativeShapePossible if (!haveShape
&& pbs != null
&& nativeShapePossible
&& ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim) && ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
|| (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
&& pbs.ProfileHollow == 0 && pbs.ProfileHollow == 0
@ -406,7 +386,7 @@ public class BSShapeCollection : IDisposable
// If a simple shape is not happening, create a mesh and possibly a hull. // If a simple shape is not happening, create a mesh and possibly a hull.
// Note that if it's a native shape, the check for physical/non-physical is not // Note that if it's a native shape, the check for physical/non-physical is not
// made. Native shapes are best used in either case. // made. Native shapes are best used in either case.
if (!haveShape) if (!haveShape && pbs != null)
{ {
if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects) if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects)
{ {
@ -425,12 +405,12 @@ public class BSShapeCollection : IDisposable
return ret; return ret;
} }
// Creates a native shape and assignes it to prim.BSShape // Creates a native shape and assignes it to prim.BSShape.
private bool GetReferenceToNativeShape( BSPrim prim, ShapeData shapeData, // "Native" shapes are never shared. they are created here and destroyed in DereferenceShape().
private bool GetReferenceToNativeShape(BSPhysObject prim, ShapeData shapeData,
ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey, ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey,
ShapeDestructionCallback shapeCallback) ShapeDestructionCallback shapeCallback)
{ {
BulletShape newShape;
shapeData.Type = shapeType; shapeData.Type = shapeType;
// Bullet native objects are scaled by the Bullet engine so pass the size in // Bullet native objects are scaled by the Bullet engine so pass the size in
@ -440,23 +420,42 @@ public class BSShapeCollection : IDisposable
// release any previous shape // release any previous shape
DereferenceShape(prim.BSShape, true, shapeCallback); DereferenceShape(prim.BSShape, true, shapeCallback);
// Native shapes are always built independently. BulletShape newShape = BuildPhysicalNativeShape(shapeType, shapeData, shapeKey);
newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
newShape.shapeKey = (System.UInt64)shapeKey;
newShape.isNativeShape = true;
// Don't need to do a 'ReferenceShape()' here because native shapes are not tracked. // Don't need to do a 'ReferenceShape()' here because native shapes are not shared.
// DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape); DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}",
shapeData.ID, newShape, shapeData.Scale);
prim.BSShape = newShape; prim.BSShape = newShape;
return true; return true;
} }
private BulletShape BuildPhysicalNativeShape(ShapeData.PhysicsShapeType shapeType,
ShapeData shapeData, ShapeData.FixedShapeKey shapeKey)
{
BulletShape newShape;
if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
{
newShape = new BulletShape(
BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale),
shapeType);
}
else
{
newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
}
newShape.shapeKey = (System.UInt64)shapeKey;
newShape.isNativeShape = true;
return newShape;
}
// Builds a mesh shape in the physical world and updates prim.BSShape. // Builds a mesh shape in the physical world and updates prim.BSShape.
// Dereferences previous shape in BSShape and adds a reference for this new shape. // Dereferences previous shape in BSShape and adds a reference for this new shape.
// Returns 'true' of a mesh was actually built. Otherwise . // Returns 'true' of a mesh was actually built. Otherwise .
// Called at taint-time! // Called at taint-time!
private bool GetReferenceToMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs, private bool GetReferenceToMesh(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback) ShapeDestructionCallback shapeCallback)
{ {
BulletShape newShape = new BulletShape(IntPtr.Zero); BulletShape newShape = new BulletShape(IntPtr.Zero);
@ -475,6 +474,8 @@ public class BSShapeCollection : IDisposable
DereferenceShape(prim.BSShape, true, shapeCallback); DereferenceShape(prim.BSShape, true, shapeCallback);
newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod); newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod);
// Take evasive action if the mesh was not constructed.
newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
ReferenceShape(newShape); ReferenceShape(newShape);
@ -488,7 +489,7 @@ public class BSShapeCollection : IDisposable
private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) private BulletShape CreatePhysicalMesh(string objName, System.UInt64 newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{ {
IMesh meshData = null; IMesh meshData = null;
IntPtr meshPtr; IntPtr meshPtr = IntPtr.Zero;
MeshDesc meshDesc; MeshDesc meshDesc;
if (Meshes.TryGetValue(newMeshKey, out meshDesc)) if (Meshes.TryGetValue(newMeshKey, out meshDesc))
{ {
@ -500,23 +501,26 @@ public class BSShapeCollection : IDisposable
// Pass false for physicalness as this creates some sort of bounding box which we don't need // Pass false for physicalness as this creates some sort of bounding box which we don't need
meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false); meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
int[] indices = meshData.getIndexListAsInt(); if (meshData != null)
List<OMV.Vector3> vertices = meshData.getVertexList();
float[] verticesAsFloats = new float[vertices.Count * 3];
int vi = 0;
foreach (OMV.Vector3 vv in vertices)
{ {
verticesAsFloats[vi++] = vv.X; int[] indices = meshData.getIndexListAsInt();
verticesAsFloats[vi++] = vv.Y; List<OMV.Vector3> vertices = meshData.getVertexList();
verticesAsFloats[vi++] = vv.Z;
float[] verticesAsFloats = new float[vertices.Count * 3];
int vi = 0;
foreach (OMV.Vector3 vv in vertices)
{
verticesAsFloats[vi++] = vv.X;
verticesAsFloats[vi++] = vv.Y;
verticesAsFloats[vi++] = vv.Z;
}
// m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
// LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
} }
// m_log.DebugFormat("{0}: CreateGeomMesh: calling CreateMesh. lid={1}, key={2}, indices={3}, vertices={4}",
// LogHeader, prim.LocalID, newMeshKey, indices.Length, vertices.Count);
meshPtr = BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr,
indices.GetLength(0), indices, vertices.Count, verticesAsFloats);
} }
BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH); BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH);
newShape.shapeKey = newMeshKey; newShape.shapeKey = newMeshKey;
@ -526,7 +530,7 @@ public class BSShapeCollection : IDisposable
// See that hull shape exists in the physical world and update prim.BSShape. // See that hull shape exists in the physical world and update prim.BSShape.
// We could be creating the hull because scale changed or whatever. // We could be creating the hull because scale changed or whatever.
private bool GetReferenceToHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs, private bool GetReferenceToHull(BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback) ShapeDestructionCallback shapeCallback)
{ {
BulletShape newShape; BulletShape newShape;
@ -545,6 +549,7 @@ public class BSShapeCollection : IDisposable
DereferenceShape(prim.BSShape, true, shapeCallback); DereferenceShape(prim.BSShape, true, shapeCallback);
newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod); newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
newShape = VerifyMeshCreated(newShape, prim, shapeData, pbs);
ReferenceShape(newShape); ReferenceShape(newShape);
@ -558,7 +563,7 @@ public class BSShapeCollection : IDisposable
private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod) private BulletShape CreatePhysicalHull(string objName, System.UInt64 newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{ {
IntPtr hullPtr; IntPtr hullPtr = IntPtr.Zero;
HullDesc hullDesc; HullDesc hullDesc;
if (Hulls.TryGetValue(newHullKey, out hullDesc)) if (Hulls.TryGetValue(newHullKey, out hullDesc))
{ {
@ -570,86 +575,89 @@ public class BSShapeCollection : IDisposable
// Build a new hull in the physical world // Build a new hull in the physical world
// Pass false for physicalness as this creates some sort of bounding box which we don't need // Pass false for physicalness as this creates some sort of bounding box which we don't need
IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false); IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
if (meshData != null)
int[] indices = meshData.getIndexListAsInt();
List<OMV.Vector3> vertices = meshData.getVertexList();
//format conversion from IMesh format to DecompDesc format
List<int> convIndices = new List<int>();
List<float3> convVertices = new List<float3>();
for (int ii = 0; ii < indices.GetLength(0); ii++)
{ {
convIndices.Add(indices[ii]);
}
foreach (OMV.Vector3 vv in vertices)
{
convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
}
// setup and do convex hull conversion int[] indices = meshData.getIndexListAsInt();
m_hulls = new List<ConvexResult>(); List<OMV.Vector3> vertices = meshData.getVertexList();
DecompDesc dcomp = new DecompDesc();
dcomp.mIndices = convIndices;
dcomp.mVertices = convVertices;
ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
// create the hull into the _hulls variable
convexBuilder.process(dcomp);
// Convert the vertices and indices for passing to unmanaged. //format conversion from IMesh format to DecompDesc format
// The hull information is passed as a large floating point array. List<int> convIndices = new List<int>();
// The format is: List<float3> convVertices = new List<float3>();
// convHulls[0] = number of hulls for (int ii = 0; ii < indices.GetLength(0); ii++)
// convHulls[1] = number of vertices in first hull
// convHulls[2] = hull centroid X coordinate
// convHulls[3] = hull centroid Y coordinate
// convHulls[4] = hull centroid Z coordinate
// convHulls[5] = first hull vertex X
// convHulls[6] = first hull vertex Y
// convHulls[7] = first hull vertex Z
// convHulls[8] = second hull vertex X
// ...
// convHulls[n] = number of vertices in second hull
// convHulls[n+1] = second hull centroid X coordinate
// ...
//
// TODO: is is very inefficient. Someday change the convex hull generator to return
// data structures that do not need to be converted in order to pass to Bullet.
// And maybe put the values directly into pinned memory rather than marshaling.
int hullCount = m_hulls.Count;
int totalVertices = 1; // include one for the count of the hulls
foreach (ConvexResult cr in m_hulls)
{
totalVertices += 4; // add four for the vertex count and centroid
totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
}
float[] convHulls = new float[totalVertices];
convHulls[0] = (float)hullCount;
int jj = 1;
foreach (ConvexResult cr in m_hulls)
{
// copy vertices for index access
float3[] verts = new float3[cr.HullVertices.Count];
int kk = 0;
foreach (float3 ff in cr.HullVertices)
{ {
verts[kk++] = ff; convIndices.Add(indices[ii]);
}
foreach (OMV.Vector3 vv in vertices)
{
convVertices.Add(new float3(vv.X, vv.Y, vv.Z));
} }
// add to the array one hull's worth of data // setup and do convex hull conversion
convHulls[jj++] = cr.HullIndices.Count; m_hulls = new List<ConvexResult>();
convHulls[jj++] = 0f; // centroid x,y,z DecompDesc dcomp = new DecompDesc();
convHulls[jj++] = 0f; dcomp.mIndices = convIndices;
convHulls[jj++] = 0f; dcomp.mVertices = convVertices;
foreach (int ind in cr.HullIndices) ConvexBuilder convexBuilder = new ConvexBuilder(HullReturn);
// create the hull into the _hulls variable
convexBuilder.process(dcomp);
// Convert the vertices and indices for passing to unmanaged.
// The hull information is passed as a large floating point array.
// The format is:
// convHulls[0] = number of hulls
// convHulls[1] = number of vertices in first hull
// convHulls[2] = hull centroid X coordinate
// convHulls[3] = hull centroid Y coordinate
// convHulls[4] = hull centroid Z coordinate
// convHulls[5] = first hull vertex X
// convHulls[6] = first hull vertex Y
// convHulls[7] = first hull vertex Z
// convHulls[8] = second hull vertex X
// ...
// convHulls[n] = number of vertices in second hull
// convHulls[n+1] = second hull centroid X coordinate
// ...
//
// TODO: is is very inefficient. Someday change the convex hull generator to return
// data structures that do not need to be converted in order to pass to Bullet.
// And maybe put the values directly into pinned memory rather than marshaling.
int hullCount = m_hulls.Count;
int totalVertices = 1; // include one for the count of the hulls
foreach (ConvexResult cr in m_hulls)
{ {
convHulls[jj++] = verts[ind].x; totalVertices += 4; // add four for the vertex count and centroid
convHulls[jj++] = verts[ind].y; totalVertices += cr.HullIndices.Count * 3; // we pass just triangles
convHulls[jj++] = verts[ind].z;
} }
float[] convHulls = new float[totalVertices];
convHulls[0] = (float)hullCount;
int jj = 1;
foreach (ConvexResult cr in m_hulls)
{
// copy vertices for index access
float3[] verts = new float3[cr.HullVertices.Count];
int kk = 0;
foreach (float3 ff in cr.HullVertices)
{
verts[kk++] = ff;
}
// add to the array one hull's worth of data
convHulls[jj++] = cr.HullIndices.Count;
convHulls[jj++] = 0f; // centroid x,y,z
convHulls[jj++] = 0f;
convHulls[jj++] = 0f;
foreach (int ind in cr.HullIndices)
{
convHulls[jj++] = verts[ind].x;
convHulls[jj++] = verts[ind].y;
convHulls[jj++] = verts[ind].z;
}
}
// create the hull data structure in Bullet
hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
} }
// create the hull data structure in Bullet
hullPtr = BulletSimAPI.CreateHullShape2(PhysicsScene.World.ptr, hullCount, convHulls);
} }
BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL); BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL);
@ -690,11 +698,55 @@ public class BSShapeCollection : IDisposable
return ComputeShapeKey(shapeData, pbs, out lod); return ComputeShapeKey(shapeData, pbs, out lod);
} }
private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim, ShapeData shapeData, PrimitiveBaseShape pbs)
{
// If the shape was successfully created, nothing more to do
if (newShape.ptr != IntPtr.Zero)
return newShape;
// The most common reason for failure is that an underlying asset is not available
// If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
if (pbs.SculptEntry && !prim.LastAssetBuildFailed && pbs.SculptTexture != OMV.UUID.Zero)
{
prim.LastAssetBuildFailed = true;
BSPhysObject xprim = prim;
Util.FireAndForget(delegate
{
RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod;
if (assetProvider != null)
{
BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset)
{
if (!yprim.BaseShape.SculptEntry)
return;
if (yprim.BaseShape.SculptTexture.ToString() != asset.ID)
return;
yprim.BaseShape.SculptData = new byte[asset.Data.Length];
asset.Data.CopyTo(yprim.BaseShape.SculptData, 0);
// This will cause the prim to see that the filler shape is not the right
// one and try again to build the object.
yprim.ForceBodyShapeRebuild(false);
});
}
});
}
// While we figure out the real problem, stick a simple native shape on the object.
BulletShape fillinShape =
BuildPhysicalNativeShape(ShapeData.PhysicsShapeType.SHAPE_SPHERE, shapeData, ShapeData.FixedShapeKey.KEY_SPHERE);
return fillinShape;
}
// Create a body object in Bullet. // Create a body object in Bullet.
// Updates prim.BSBody with the information about the new body if one is created. // Updates prim.BSBody with the information about the new body if one is created.
// Returns 'true' if an object was actually created. // Returns 'true' if an object was actually created.
// Called at taint-time. // Called at taint-time.
private bool CreateBody(bool forceRebuild, BSPrim prim, BulletSim sim, BulletShape shape, private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape,
ShapeData shapeData, BodyDestructionCallback bodyCallback) ShapeData shapeData, BodyDestructionCallback bodyCallback)
{ {
bool ret = false; bool ret = false;

4
OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
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@ -114,6 +114,7 @@ public class BSTerrainManager
BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
Vector3.Zero, Quaternion.Identity)); Vector3.Zero, Quaternion.Identity));
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr);
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr);
// Ground plane does not move // Ground plane does not move
BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
// Everything collides with the ground plane. // Everything collides with the ground plane.
@ -334,7 +335,8 @@ public class BSTerrainManager
// Make sure the new shape is processed. // Make sure the new shape is processed.
// BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true); // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true);
BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING);
// BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
m_terrainModified = true; m_terrainModified = true;
}; };

13
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@ -223,6 +223,7 @@ public struct ShapeData
KEY_SPHERE = 2, KEY_SPHERE = 2,
KEY_CONE = 3, KEY_CONE = 3,
KEY_CYLINDER = 4, KEY_CYLINDER = 4,
KEY_CAPSULE = 5,
} }
} }
[StructLayout(LayoutKind.Sequential)] [StructLayout(LayoutKind.Sequential)]
@ -282,6 +283,7 @@ public struct ConfigurationParameters
public float terrainHitFraction; public float terrainHitFraction;
public float terrainRestitution; public float terrainRestitution;
public float avatarFriction; public float avatarFriction;
public float avatarStandingFriction;
public float avatarDensity; public float avatarDensity;
public float avatarRestitution; public float avatarRestitution;
public float avatarCapsuleRadius; public float avatarCapsuleRadius;
@ -388,7 +390,7 @@ public enum CollisionFilterGroups : uint
VolumeDetectMask = ~BSensorTrigger, VolumeDetectMask = ~BSensorTrigger,
TerrainFilter = BTerrainFilter, TerrainFilter = BTerrainFilter,
TerrainMask = BAllFilter & ~BStaticFilter, TerrainMask = BAllFilter & ~BStaticFilter,
GroundPlaneFilter = BAllFilter, GroundPlaneFilter = BGroundPlaneFilter,
GroundPlaneMask = BAllFilter GroundPlaneMask = BAllFilter
}; };
@ -428,6 +430,7 @@ public delegate void DebugLogCallback([MarshalAs(UnmanagedType.LPStr)]string msg
[return: MarshalAs(UnmanagedType.LPStr)] [return: MarshalAs(UnmanagedType.LPStr)]
public static extern string GetVersion(); public static extern string GetVersion();
/* Remove the linkage to the old api methods
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern uint Initialize(Vector3 maxPosition, IntPtr parms, public static extern uint Initialize(Vector3 maxPosition, IntPtr parms,
int maxCollisions, IntPtr collisionArray, int maxCollisions, IntPtr collisionArray,
@ -531,7 +534,7 @@ public static extern Vector3 RecoverFromPenetration(uint worldID, uint id);
// =============================================================================== // ===============================================================================
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpBulletStatistics(); public static extern void DumpBulletStatistics();
*/
// Log a debug message // Log a debug message
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetDebugLogCallback(DebugLogCallback callback); public static extern void SetDebugLogCallback(DebugLogCallback callback);
@ -562,7 +565,8 @@ public static extern IntPtr GetBodyHandle2(IntPtr world, uint id);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms, public static extern IntPtr Initialize2(Vector3 maxPosition, IntPtr parms,
int maxCollisions, IntPtr collisionArray, int maxCollisions, IntPtr collisionArray,
int maxUpdates, IntPtr updateArray); int maxUpdates, IntPtr updateArray,
DebugLogCallback logRoutine);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value); public static extern bool UpdateParameter2(IntPtr world, uint localID, String parm, float value);
@ -603,6 +607,9 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData)
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool IsNativeShape2(IntPtr shape); public static extern bool IsNativeShape2(IntPtr shape);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateCompoundShape2(IntPtr sim); public static extern IntPtr CreateCompoundShape2(IntPtr sim);

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