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Clean up collision reporting code so they are properly passed to 

the simulator in batches.
More comments.
0.7.4.1
Robert Adams 2012-07-06 10:01:47 -07:00
parent 056c9a59b2
commit e4a6611865
4 changed files with 107 additions and 58 deletions
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70
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
View File

@ -74,7 +74,7 @@ public class BSCharacter : PhysicsActor
private float _buoyancy;
private int _subscribedEventsMs = 0;
private int _lastCollisionTime = 0;
private int _nextCollisionOkTime = 0;
private Vector3 _PIDTarget;
private bool _usePID;
@ -360,17 +360,22 @@ public class BSCharacter : PhysicsActor
}
//m_lastUpdateSent = false;
}
public override void AddAngularForce(Vector3 force, bool pushforce) {
}
public override void SetMomentum(Vector3 momentum) {
}
// Turn on collision events at a rate no faster than one every the given milliseconds
public override void SubscribeEvents(int ms) {
_subscribedEventsMs = ms;
_lastCollisionTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen
_nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen
}
// Stop collision events
public override void UnSubscribeEvents() {
_subscribedEventsMs = 0;
}
// Return 'true' if someone has subscribed to events
public override bool SubscribedEvents() {
return (_subscribedEventsMs > 0);
}
@ -386,47 +391,57 @@ public class BSCharacter : PhysicsActor
_mass = _density * _avatarVolume;
}
// Set to 'true' if the individual changed items should be checked
// (someday RequestPhysicsTerseUpdate() will take a bitmap of changed properties)
const bool SHOULD_CHECK_FOR_INDIVIDUAL_CHANGES = false;
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public void UpdateProperties(EntityProperties entprop)
{
bool changed = false;
if (SHOULD_CHECK_FOR_INDIVIDUAL_CHANGES) {
// we assign to the local variables so the normal set action does not happen
if (_position != entprop.Position)
{
if (_position != entprop.Position) {
_position = entprop.Position;
changed = true;
}
if (_orientation != entprop.Rotation)
{
if (_orientation != entprop.Rotation) {
_orientation = entprop.Rotation;
changed = true;
}
if (_velocity != entprop.Velocity)
{
if (_velocity != entprop.Velocity) {
_velocity = entprop.Velocity;
changed = true;
}
if (_acceleration != entprop.Acceleration)
{
if (_acceleration != entprop.Acceleration) {
_acceleration = entprop.Acceleration;
changed = true;
}
if (_rotationalVelocity != entprop.RotationalVelocity)
{
if (_rotationalVelocity != entprop.RotationalVelocity) {
_rotationalVelocity = entprop.RotationalVelocity;
changed = true;
}
if (changed)
{
if (changed) {
// m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
// Avatar movement is not done by generating this event. There is a system that
// checks for avatar updates each heartbeat loop.
// Avatar movement is not done by generating this event. There is code in the heartbeat
// loop that updates avatars.
// base.RequestPhysicsterseUpdate();
}
}
else {
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// base.RequestPhysicsterseUpdate();
}
}
// Called by the scene when a collision with this object is reported
// The collision, if it should be reported to the character, is placed in a collection
// that will later be sent to the simulator when SendCollisions() is called.
CollisionEventUpdate collisionCollection = null;
public void Collide(uint collidingWith, ActorTypes type, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth)
{
@ -440,29 +455,34 @@ public class BSCharacter : PhysicsActor
}
// throttle collisions to the rate specified in the subscription
if (_subscribedEventsMs == 0) return; // don't want collisions
if (_subscribedEventsMs != 0) {
int nowTime = _scene.SimulationNowTime;
if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return;
_lastCollisionTime = nowTime;
if (nowTime >= _nextCollisionOkTime) {
_nextCollisionOkTime = nowTime + _subscribedEventsMs;
if (collisionCollection == null)
collisionCollection = new CollisionEventUpdate();
collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
}
}
}
public void SendCollisions()
{
// if (collisionCollection != null)
// {
// base.SendCollisionUpdate(collisionCollection);
// collisionCollection = null;
// }
/*
if (collisionCollection != null && collisionCollection.Count > 0)
{
base.SendCollisionUpdate(collisionCollection);
collisionCollection = null;
}
*/
// Kludge to make a collision call even if there are no collisions.
// This causes the avatar animation to get updated.
if (collisionCollection == null)
collisionCollection = new CollisionEventUpdate();
base.SendCollisionUpdate(collisionCollection);
collisionCollection = null;
collisionCollection.Clear();
// End kludge
}
}

11
OpenSim/Region/Physics/BulletSPlugin/BSPlugin.cs
View File

@ -32,6 +32,14 @@ using OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
/// <summary>
/// Entry for a port of Bullet (http://bulletphysics.org/) to OpenSim.
/// This module interfaces to an unmanaged C++ library which makes the
/// actual calls into the Bullet physics engine.
/// The unmanaged library is found in opensim-libs::trunk/unmanaged/BulletSim/.
/// The unmanaged library is compiled and linked statically with Bullet
/// to create BulletSim.dll and libBulletSim.so (for both 32 and 64 bit).
/// </summary>
public class BSPlugin : IPhysicsPlugin
{
//private static readonly log4net.ILog m_log = log4net.LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
@ -53,6 +61,9 @@ public class BSPlugin : IPhysicsPlugin
{
if (Util.IsWindows())
Util.LoadArchSpecificWindowsDll("BulletSim.dll");
// If not Windows, loading is performed by the
// Mono loader as specified in
// "bin/Physics/OpenSim.Region.Physics.BulletSPlugin.dll.config".
_mScene = new BSScene(sceneIdentifier);
}

19
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -90,7 +90,7 @@ public sealed class BSPrim : PhysicsActor
private BSPrim _parentPrim;
private int _subscribedEventsMs = 0;
private int _lastCollisionTime = 0;
private int _nextCollisionOkTime = 0;
long _collidingStep;
long _collidingGroundStep;
@ -597,7 +597,8 @@ public sealed class BSPrim : PhysicsActor
}
public override void SubscribeEvents(int ms) {
_subscribedEventsMs = ms;
_lastCollisionTime = Util.EnvironmentTickCount() - _subscribedEventsMs; // make first collision happen
// make sure first collision happens
_nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs;
}
public override void UnSubscribeEvents() {
_subscribedEventsMs = 0;
@ -1338,23 +1339,27 @@ public sealed class BSPrim : PhysicsActor
_collidingGroundStep = _scene.SimulationStep;
}
if (_subscribedEventsMs == 0) return; // nothing in the object is waiting for collision events
// if someone is subscribed to collision events....
if (_subscribedEventsMs != 0) {
// throttle the collisions to the number of milliseconds specified in the subscription
int nowTime = _scene.SimulationNowTime;
if (nowTime < (_lastCollisionTime + _subscribedEventsMs)) return;
_lastCollisionTime = nowTime;
if (nowTime >= _nextCollisionOkTime) {
_nextCollisionOkTime = nowTime + _subscribedEventsMs;
if (collisionCollection == null)
collisionCollection = new CollisionEventUpdate();
collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
}
}
}
// The scene is telling us it's time to pass our collected collisions into the simulator
public void SendCollisions()
{
if (collisionCollection != null)
if (collisionCollection != null && collisionCollection.Count > 0)
{
base.SendCollisionUpdate(collisionCollection);
collisionCollection = null;
collisionCollection.Clear();
}
}
}

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

@ -52,6 +52,7 @@ using OpenSim.Region.Framework;
// Should prim.link() and prim.delink() membership checking happen at taint time?
// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once
// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
// Use collision masks for collision with terrain and phantom objects
// Implement the genCollisions feature in BulletSim::SetObjectProperties (don't pass up unneeded collisions)
// Implement LockAngularMotion
// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
@ -62,9 +63,6 @@ using OpenSim.Region.Framework;
// Multiple contact points on collision?
// See code in ode::near... calls to collision_accounting_events()
// (This might not be a problem. ODE collects all the collisions with one object in one tick.)
// Use collision masks for collision with terrain and phantom objects
// Figure out how to not allocate a new Dictionary and List for every collision
// in BSPrim.Collide() and BSCharacter.Collide(). Can the same ones be reused?
// Raycast
//
namespace OpenSim.Region.Physics.BulletSPlugin
@ -405,6 +403,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// prevent simulation until we've been initialized
if (!m_initialized) return 10.0f;
long simulateStartTime = Util.EnvironmentTickCount();
// update the prim states while we know the physics engine is not busy
ProcessTaints();
@ -437,13 +437,18 @@ public class BSScene : PhysicsScene, IPhysicsParameters
}
}
// The SendCollision's batch up the collisions on the objects. Now push the collisions into the simulator.
// The above SendCollision's batch up the collisions on the objects.
// Now push the collisions into the simulator.
foreach (BSPrim bsp in m_primsWithCollisions)
bsp.SendCollisions();
m_primsWithCollisions.Clear();
// This is a kludge to get avatar movement updated.
// Don't send collisions only if there were collisions -- send everytime.
// ODE sends collisions even if there are none and this is used to update
// avatar animations and stuff.
// foreach (BSCharacter bsc in m_avatarsWithCollisions)
// bsc.SendCollisions();
// This is a kludge to get avatar movement updated. ODE sends collisions even if there isn't any
foreach (KeyValuePair<uint, BSCharacter> kvp in m_avatars)
kvp.Value.SendCollisions();
m_avatarsWithCollisions.Clear();
@ -465,10 +470,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
if (m_avatars.TryGetValue(entprop.ID, out actor))
{
actor.UpdateProperties(entprop);
continue;
}
}
}
// If enabled, call into the physics engine to dump statistics
if (m_detailedStatsStep > 0)
{
if ((m_simulationStep % m_detailedStatsStep) == 0)
@ -477,6 +484,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
}
}
// this is a waste since the outside routine also calcuates the physics simulation
// period. TODO: There should be a way of computing physics frames from simulator computation.
// long simulateTotalTime = Util.EnvironmentTickCountSubtract(simulateStartTime);
// return (timeStep * (float)simulateTotalTime);
// TODO: FIX THIS: fps calculation wrong. This calculation always returns about 1 in normal operation.
return timeStep / (numSubSteps * m_fixedTimeStep) * 1000f;
}
@ -528,6 +540,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
public override void SetWaterLevel(float baseheight)
{
m_waterLevel = baseheight;
// TODO: pass to physics engine so things will float?
}
public float GetWaterLevel()
{