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BulletSim: Add AddObjectForce to BulletSim API. 

Add interface 2 enhancements to BSCharacter.
Modify AddForce and SetForce to use the new Bullet interface.
More DetailLog statements for character.
0.7.4.1
Robert Adams 2012-08-01 15:04:09 -07:00
parent 205f2326dc
commit ea36d4a4cf
3 changed files with 38 additions and 20 deletions
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26
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
View File

@ -40,6 +40,7 @@ public class BSCharacter : PhysicsActor
private static readonly string LogHeader = "[BULLETS CHAR]";
private BSScene _scene;
public BSScene Scene { get { return _scene; } }
private String _avName;
// private bool _stopped;
private Vector3 _size;
@ -73,6 +74,12 @@ public class BSCharacter : PhysicsActor
private bool _kinematic;
private float _buoyancy;
private BulletBody m_body;
public BulletBody Body {
get { return m_body; }
set { m_body = value; }
}
private int _subscribedEventsMs = 0;
private int _nextCollisionOkTime = 0;
@ -116,6 +123,8 @@ public class BSCharacter : PhysicsActor
_scene.TaintedObject(delegate()
{
BulletSimAPI.CreateObject(parent_scene.WorldID, shapeData);
m_body = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(_scene.World.Ptr, LocalID));
});
return;
@ -124,6 +133,7 @@ public class BSCharacter : PhysicsActor
// called when this character is being destroyed and the resources should be released
public void Destroy()
{
// DetailLog("{0},Destroy", LocalID);
_scene.TaintedObject(delegate()
{
BulletSimAPI.DestroyObject(_scene.WorldID, _localID);
@ -174,6 +184,7 @@ public class BSCharacter : PhysicsActor
_position = value;
_scene.TaintedObject(delegate()
{
DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
});
}
@ -188,9 +199,10 @@ public class BSCharacter : PhysicsActor
set {
_force = value;
// m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
_scene.TaintedObject(delegate()
Scene.TaintedObject(delegate()
{
BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
DetailLog("{0},setForce,taint,force={1}", LocalID, _force);
BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force);
});
}
}
@ -216,6 +228,7 @@ public class BSCharacter : PhysicsActor
// m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
_scene.TaintedObject(delegate()
{
DetailLog("{0},setVelocity,taint,vel={1}", LocalID, _velocity);
BulletSimAPI.SetObjectVelocity(_scene.WorldID, _localID, _velocity);
});
}
@ -305,6 +318,7 @@ public class BSCharacter : PhysicsActor
set { _buoyancy = value;
_scene.TaintedObject(delegate()
{
DetailLog("{0},setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy);
});
}
@ -351,7 +365,8 @@ public class BSCharacter : PhysicsActor
// m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
_scene.TaintedObject(delegate()
{
BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
DetailLog("{0},setAddForce,taint,addedForce={1}", LocalID, _force);
BulletSimAPI.AddObjectForce2(Body.Ptr, _force);
});
}
else
@ -480,5 +495,10 @@ public class BSCharacter : PhysicsActor
// End kludge
}
// Invoke the detailed logger and output something if it's enabled.
private void DetailLog(string msg, params Object[] args)
{
Scene.PhysicsLogging.Write(msg, args);
}
}
}

29
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -187,7 +187,7 @@ public sealed class BSPrim : PhysicsActor
{
_mass = CalculateMass(); // changing size changes the mass
BulletSimAPI.SetObjectScaleMass(_scene.WorldID, _localID, _scale, (IsPhysical ? _mass : 0f), IsPhysical);
DetailLog("{0}: setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical);
// DetailLog("{0}: setSize: size={1}, mass={2}, physical={3}", LocalID, _size, _mass, IsPhysical);
RecreateGeomAndObject();
});
}
@ -318,7 +318,7 @@ public sealed class BSPrim : PhysicsActor
_force = value;
_scene.TaintedObject(delegate()
{
DetailLog("{0},SetForce,taint,force={1}", LocalID, _force);
DetailLog("{0},setForce,taint,force={1}", LocalID, _force);
// BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, _force);
BulletSimAPI.SetObjectForce2(Body.Ptr, _force);
});
@ -443,7 +443,7 @@ public sealed class BSPrim : PhysicsActor
_scene.TaintedObject(delegate()
{
// _position = BulletSimAPI.GetObjectPosition(_scene.WorldID, _localID);
DetailLog("{0},SetOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
DetailLog("{0},setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(_scene.WorldID, _localID, _position, _orientation);
});
}
@ -487,10 +487,8 @@ public sealed class BSPrim : PhysicsActor
// Maybe a VerifyCorrectPhysicalShape() routine?
// RecreateGeomAndObject();
float mass = _mass;
// Bullet wants static objects have a mass of zero
if (IsStatic)
mass = 0f;
// Bullet wants static objects to have a mass of zero
float mass = IsStatic ? 0f : _mass;
DetailLog("{0},SetObjectDynamic,taint,static={1},solid={2},mass={3}", LocalID, IsStatic, IsSolid, mass);
BulletSimAPI.SetObjectProperties(_scene.WorldID, LocalID, IsStatic, IsSolid, SubscribedEvents(), mass);
@ -607,6 +605,7 @@ public sealed class BSPrim : PhysicsActor
private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>();
public override void AddForce(OMV.Vector3 force, bool pushforce) {
// for an object, doesn't matter if force is a pushforce or not
if (force.IsFinite())
{
// _force += force;
@ -620,21 +619,17 @@ public sealed class BSPrim : PhysicsActor
}
_scene.TaintedObject(delegate()
{
OMV.Vector3 fSum = OMV.Vector3.Zero;
lock (m_accumulatedForces)
{
if (m_accumulatedForces.Count > 0)
foreach (OMV.Vector3 v in m_accumulatedForces)
{
OMV.Vector3 fSum = OMV.Vector3.Zero;
foreach (OMV.Vector3 v in m_accumulatedForces)
{
fSum += v;
}
m_accumulatedForces.Clear();
DetailLog("{0},SetObjectForce,taint,force={1}", LocalID, fSum);
BulletSimAPI.SetObjectForce(_scene.WorldID, _localID, fSum);
fSum += v;
}
m_accumulatedForces.Clear();
}
DetailLog("{0},AddObjectForce,taint,force={1}", LocalID, _force);
BulletSimAPI.AddObjectForce2(Body.Ptr, fSum);
});
}

3
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
View File

@ -447,6 +447,9 @@ public static extern bool SetAngularVelocity2(IntPtr obj, Vector3 angularVelocit
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetObjectForce2(IntPtr obj, Vector3 force);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool AddObjectForce2(IntPtr obj, Vector3 force);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool SetCcdMotionThreshold2(IntPtr obj, float val);