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* Applying Nlin's NINJA Joint patch. v2. Mantis# 2874 

* Thanks nlin!
* To try it out, set ninja joints active in the ODEPhysicsSettings
and use the example at:
* http://forge.opensimulator.org/gf/download/frsrelease/142/304/demo-playground.tgz.
* Don't forget to change the .tgz to .oar and load it with load-oar.
0.6.2-post-fixes
Teravus Ovares 2008-12-26 12:58:02 +00:00
parent 8a58d998d9
commit ec2dc354b4
10 changed files with 1197 additions and 65 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

167
OpenSim/Region/Environment/Scenes/Scene.cs
View File

@ -200,8 +200,30 @@ namespace OpenSim.Region.Environment.Scenes
// an instance to the physics plugin's Scene object. // an instance to the physics plugin's Scene object.
public PhysicsScene PhysicsScene public PhysicsScene PhysicsScene
{ {
set { m_sceneGraph.PhysicsScene = value; }
get { return m_sceneGraph.PhysicsScene; } get { return m_sceneGraph.PhysicsScene; }
set
{
// If we're not doing the initial set
// Then we've got to remove the previous
// event handler
if (PhysicsScene != null && PhysicsScene.SupportsNINJAJoints)
{
PhysicsScene.OnJointMoved -= jointMoved;
PhysicsScene.OnJointDeactivated -= jointDeactivated;
PhysicsScene.OnJointErrorMessage -= jointErrorMessage;
}
m_sceneGraph.PhysicsScene = value;
if (PhysicsScene != null && m_sceneGraph.PhysicsScene.SupportsNINJAJoints)
{
// register event handlers to respond to joint movement/deactivation
PhysicsScene.OnJointMoved += jointMoved;
PhysicsScene.OnJointDeactivated += jointDeactivated;
PhysicsScene.OnJointErrorMessage += jointErrorMessage;
}
}
} }
// This gets locked so things stay thread safe. // This gets locked so things stay thread safe.
@ -1848,7 +1870,11 @@ namespace OpenSim.Region.Environment.Scenes
foreach (SceneObjectPart part in group.Children.Values) foreach (SceneObjectPart part in group.Children.Values)
{ {
if (part.PhysActor != null) if (part.IsJoint() && ((part.ObjectFlags&(uint)PrimFlags.Physics) != 0) )
{
PhysicsScene.RequestJointDeletion(part.Name); // FIXME: what if the name changed?
}
else if (part.PhysActor != null)
{ {
PhysicsScene.RemovePrim(part.PhysActor); PhysicsScene.RemovePrim(part.PhysActor);
part.PhysActor = null; part.PhysActor = null;
@ -4408,5 +4434,142 @@ namespace OpenSim.Region.Environment.Scenes
return 0; return 0;
} }
// This callback allows the PhysicsScene to call back to its caller (the SceneGraph) and
// update non-physical objects like the joint proxy objects that represent the position
// of the joints in the scene.
// This routine is normally called from within a lock(OdeLock) from within the OdePhysicsScene
// WARNING: be careful of deadlocks here if you manipulate the scene. Remember you are being called
// from within the OdePhysicsScene.
protected internal void jointMoved(PhysicsJoint joint)
{
// m_parentScene.PhysicsScene.DumpJointInfo(); // non-thread-locked version; we should already be in a lock(OdeLock) when this callback is invoked
// FIXME: this causes a sequential lookup of all objects in the scene; use a dictionary
SceneObjectPart jointProxyObject = GetSceneObjectPart(joint.ObjectNameInScene);
if (jointProxyObject == null)
{
jointErrorMessage(joint, "WARNING, joint proxy not found, name " + joint.ObjectNameInScene);
return;
}
// now update the joint proxy object in the scene to have the position of the joint as returned by the physics engine
SceneObjectPart trackedBody = GetSceneObjectPart(joint.TrackedBodyName); // FIXME: causes a sequential lookup
if (trackedBody == null) return; // the actor may have been deleted but the joint still lingers around a few frames waiting for deletion. during this time, trackedBody is NULL to prevent further motion of the joint proxy.
jointProxyObject.Velocity = trackedBody.Velocity;
jointProxyObject.RotationalVelocity = trackedBody.RotationalVelocity;
switch (joint.Type)
{
case PhysicsJointType.Ball:
{
PhysicsVector jointAnchor = PhysicsScene.GetJointAnchor(joint);
Vector3 proxyPos = new Vector3(jointAnchor.X, jointAnchor.Y, jointAnchor.Z);
jointProxyObject.ParentGroup.UpdateGroupPosition(proxyPos); // schedules the entire group for a terse update
}
break;
case PhysicsJointType.Hinge:
{
PhysicsVector jointAnchor = PhysicsScene.GetJointAnchor(joint);
// Normally, we would just ask the physics scene to return the axis for the joint.
// Unfortunately, ODE sometimes returns <0,0,0> for the joint axis, which should
// never occur. Therefore we cannot rely on ODE to always return a correct joint axis.
// Therefore the following call does not always work:
//PhysicsVector phyJointAxis = _PhyScene.GetJointAxis(joint);
// instead we compute the joint orientation by saving the original joint orientation
// relative to one of the jointed bodies, and applying this transformation
// to the current position of the jointed bodies (the tracked body) to compute the
// current joint orientation.
if (joint.TrackedBodyName == null)
{
jointErrorMessage(joint, "joint.TrackedBodyName is null, joint " + joint.ObjectNameInScene);
}
Vector3 proxyPos = new Vector3(jointAnchor.X, jointAnchor.Y, jointAnchor.Z);
Quaternion q = trackedBody.RotationOffset * joint.LocalRotation;
jointProxyObject.ParentGroup.UpdateGroupPosition(proxyPos); // schedules the entire group for a terse update
jointProxyObject.ParentGroup.UpdateGroupRotation(q); // schedules the entire group for a terse update
}
break;
}
}
// This callback allows the PhysicsScene to call back to its caller (the SceneGraph) and
// update non-physical objects like the joint proxy objects that represent the position
// of the joints in the scene.
// This routine is normally called from within a lock(OdeLock) from within the OdePhysicsScene
// WARNING: be careful of deadlocks here if you manipulate the scene. Remember you are being called
// from within the OdePhysicsScene.
protected internal void jointDeactivated(PhysicsJoint joint)
{
//m_log.Debug("[NINJA] SceneGraph.jointDeactivated, joint:" + joint.ObjectNameInScene);
// FIXME: this causes a sequential lookup of all objects in the scene; use a dictionary
SceneObjectPart jointProxyObject = GetSceneObjectPart(joint.ObjectNameInScene);
if (jointProxyObject == null)
{
jointErrorMessage(joint, "WARNING, trying to deactivate (stop interpolation of) joint proxy, but not found, name " + joint.ObjectNameInScene);
return;
}
// turn the proxy non-physical, which also stops its client-side interpolation
bool wasUsingPhysics = ((jointProxyObject.ObjectFlags & (uint)PrimFlags.Physics) != 0);
if (wasUsingPhysics)
{
jointProxyObject.UpdatePrimFlags(false, false, true, false); // FIXME: possible deadlock here; check to make sure all the scene alterations set into motion here won't deadlock
}
}
// This callback allows the PhysicsScene to call back to its caller (the SceneGraph) and
// alert the user of errors by using the debug channel in the same way that scripts alert
// the user of compile errors.
// This routine is normally called from within a lock(OdeLock) from within the OdePhysicsScene
// WARNING: be careful of deadlocks here if you manipulate the scene. Remember you are being called
// from within the OdePhysicsScene.
public void jointErrorMessage(PhysicsJoint joint, string message)
{
// FIXME: this causes a sequential lookup of all objects in the scene; use a dictionary
if (joint != null)
{
if (joint.ErrorMessageCount > PhysicsJoint.maxErrorMessages)
return;
SceneObjectPart jointProxyObject = GetSceneObjectPart(joint.ObjectNameInScene);
if (jointProxyObject != null)
{
SimChat(Utils.StringToBytes("[NINJA] " + message),
ChatTypeEnum.DebugChannel,
2147483647,
jointProxyObject.AbsolutePosition,
jointProxyObject.Name,
jointProxyObject.UUID,
false);
joint.ErrorMessageCount++;
if (joint.ErrorMessageCount > PhysicsJoint.maxErrorMessages)
{
SimChat(Utils.StringToBytes("[NINJA] Too many messages for this joint, suppressing further messages."),
ChatTypeEnum.DebugChannel,
2147483647,
jointProxyObject.AbsolutePosition,
jointProxyObject.Name,
jointProxyObject.UUID,
false);
}
}
else
{
// couldn't find the joint proxy object; the error message is silently suppressed
}
}
}
} }
} }

17
OpenSim/Region/Environment/Scenes/SceneGraph.cs
View File

@ -159,6 +159,22 @@ namespace OpenSim.Region.Environment.Scenes
{ {
lock (m_syncRoot) lock (m_syncRoot)
{ {
// Here is where the Scene calls the PhysicsScene. This is a one-way
// interaction; the PhysicsScene cannot access the calling Scene directly.
// But with joints, we want a PhysicsActor to be able to influence a
// non-physics SceneObjectPart. In particular, a PhysicsActor that is connected
// with a joint should be able to move the SceneObjectPart which is the visual
// representation of that joint (for editing and serialization purposes).
// However the PhysicsActor normally cannot directly influence anything outside
// of the PhysicsScene, and the non-physical SceneObjectPart which represents
// the joint in the Scene does not exist in the PhysicsScene.
//
// To solve this, we have an event in the PhysicsScene that is fired when a joint
// has changed position (because one of its associated PhysicsActors has changed
// position).
//
// Therefore, JointMoved and JointDeactivated events will be fired as a result of the following Simulate().
return _PhyScene.Simulate((float)elapsed); return _PhyScene.Simulate((float)elapsed);
} }
} }
@ -875,6 +891,7 @@ namespace OpenSim.Region.Environment.Scenes
{ {
List<EntityBase> EntityList = GetEntities(); List<EntityBase> EntityList = GetEntities();
// FIXME: use a dictionary here
foreach (EntityBase ent in EntityList) foreach (EntityBase ent in EntityList)
{ {
if (ent is SceneObjectGroup) if (ent is SceneObjectGroup)

186
OpenSim/Region/Environment/Scenes/SceneObjectPart.cs
View File

@ -419,7 +419,14 @@ namespace OpenSim.Region.Environment.Scenes
public virtual string Name public virtual string Name
{ {
get { return m_name; } get { return m_name; }
set { m_name = value; } set
{
m_name = value;
if (PhysActor != null)
{
PhysActor.SOPName = value;
}
}
} }
public byte Material public byte Material
@ -681,7 +688,14 @@ namespace OpenSim.Region.Environment.Scenes
public string Description public string Description
{ {
get { return m_description; } get { return m_description; }
set { m_description = value; } set
{
m_description = value;
if (PhysActor != null)
{
PhysActor.SOPDescription = value;
}
}
} }
public Color Color public Color Color
@ -1287,6 +1301,12 @@ if (m_shape != null) {
bool isPhysical = (((rootObjectFlags & (uint) PrimFlags.Physics) != 0) && m_physicalPrim); bool isPhysical = (((rootObjectFlags & (uint) PrimFlags.Physics) != 0) && m_physicalPrim);
bool isPhantom = ((rootObjectFlags & (uint) PrimFlags.Phantom) != 0); bool isPhantom = ((rootObjectFlags & (uint) PrimFlags.Phantom) != 0);
if (IsJoint())
{
DoPhysicsPropertyUpdate(isPhysical, true);
}
else
{
// Special case for VolumeDetection: If VolumeDetection is set, the phantom flag is locally ignored // Special case for VolumeDetection: If VolumeDetection is set, the phantom flag is locally ignored
if (VolumeDetectActive) if (VolumeDetectActive)
isPhantom = false; isPhantom = false;
@ -1308,12 +1328,15 @@ if (m_shape != null) {
// Basic Physics returns null.. joy joy joy. // Basic Physics returns null.. joy joy joy.
if (PhysActor != null) if (PhysActor != null)
{ {
PhysActor.SOPName = this.Name; // save object name and desc into the PhysActor so ODE internals know the joint/body info
PhysActor.SOPDescription = this.Description;
PhysActor.LocalID = LocalId; PhysActor.LocalID = LocalId;
DoPhysicsPropertyUpdate(RigidBody, true); DoPhysicsPropertyUpdate(RigidBody, true);
PhysActor.SetVolumeDetect(VolumeDetectActive ? 1 : 0); PhysActor.SetVolumeDetect(VolumeDetectActive ? 1 : 0);
} }
} }
} }
}
public void ClearUndoState() public void ClearUndoState()
{ {
@ -1420,12 +1443,103 @@ if (m_shape != null) {
} }
public void DoPhysicsPropertyUpdate(bool UsePhysics, bool isNew) public void DoPhysicsPropertyUpdate(bool UsePhysics, bool isNew)
{
if (IsJoint())
{
if (UsePhysics)
{
// by turning a joint proxy object physical, we cause creation of a joint in the ODE scene.
// note that, as a special case, joints have no bodies or geoms in the physics scene, even though they are physical.
PhysicsJointType jointType;
if (IsHingeJoint())
{
jointType = PhysicsJointType.Hinge;
}
else if (IsBallJoint())
{
jointType = PhysicsJointType.Ball;
}
else
{
jointType = PhysicsJointType.Ball;
}
List<string> bodyNames = new List<string>();
string RawParams = Description;
string[] jointParams = RawParams.Split(' ');
string trackedBodyName = null;
if (jointParams.Length >= 2)
{
for (int iBodyName = 0; iBodyName < 2; iBodyName++)
{
string bodyName = jointParams[iBodyName];
bodyNames.Add(bodyName);
if (bodyName != "NULL")
{
if (trackedBodyName == null)
{
trackedBodyName = bodyName;
}
}
}
}
SceneObjectPart trackedBody = m_parentGroup.Scene.GetSceneObjectPart(trackedBodyName); // FIXME: causes a sequential lookup
Quaternion localRotation = Quaternion.Identity;
if (trackedBody != null)
{
localRotation = Quaternion.Inverse(trackedBody.RotationOffset) * this.RotationOffset;
}
else
{
// error, output it below
}
PhysicsJoint joint;
joint = m_parentGroup.Scene.PhysicsScene.RequestJointCreation(Name, jointType,
new PhysicsVector(AbsolutePosition.X, AbsolutePosition.Y, AbsolutePosition.Z),
this.RotationOffset,
Description,
bodyNames,
trackedBodyName,
localRotation);
if (trackedBody == null)
{
ParentGroup.Scene.jointErrorMessage(joint, "warning: tracked body name not found! joint location will not be updated properly. joint: " + Name);
}
}
else
{
if (isNew)
{
// if the joint proxy is new, and it is not physical, do nothing. There is no joint in ODE to
// delete, and if we try to delete it, due to asynchronous processing, the deletion request
// will get processed later at an indeterminate time, which could cancel a later-arriving
// joint creation request.
}
else
{
// here we turn off the joint object, so remove the joint from the physics scene
m_parentGroup.Scene.PhysicsScene.RequestJointDeletion(Name); // FIXME: what if the name changed?
// make sure client isn't interpolating the joint proxy object
Velocity = new Vector3(0, 0, 0);
RotationalVelocity = new Vector3(0, 0, 0);
Acceleration = new Vector3(0, 0, 0);
}
}
}
else
{ {
if (PhysActor != null) if (PhysActor != null)
{ {
if (UsePhysics != PhysActor.IsPhysical || isNew) if (UsePhysics != PhysActor.IsPhysical || isNew)
{ {
if (PhysActor.IsPhysical) if (PhysActor.IsPhysical) // implies UsePhysics==false for this block
{ {
if (!isNew) if (!isNew)
ParentGroup.Scene.RemovePhysicalPrim(1); ParentGroup.Scene.RemovePhysicalPrim(1);
@ -1433,6 +1547,16 @@ if (m_shape != null) {
PhysActor.OnRequestTerseUpdate -= PhysicsRequestingTerseUpdate; PhysActor.OnRequestTerseUpdate -= PhysicsRequestingTerseUpdate;
PhysActor.OnOutOfBounds -= PhysicsOutOfBounds; PhysActor.OnOutOfBounds -= PhysicsOutOfBounds;
PhysActor.delink(); PhysActor.delink();
if (ParentGroup.Scene.PhysicsScene.SupportsNINJAJoints && (!isNew))
{
// destroy all joints connected to this now deactivated body
m_parentGroup.Scene.PhysicsScene.RemoveAllJointsConnectedToActorThreadLocked(PhysActor);
}
// stop client-side interpolation of all joint proxy objects that have just been deleted
// this is done because RemoveAllJointsConnectedToActor invokes the OnJointDeactivated callback,
// which stops client-side interpolation of deactivated joint proxy objects.
} }
if (!UsePhysics && !isNew) if (!UsePhysics && !isNew)
@ -1443,6 +1567,7 @@ if (m_shape != null) {
Velocity = new Vector3(0, 0, 0); Velocity = new Vector3(0, 0, 0);
Acceleration = new Vector3(0, 0, 0); Acceleration = new Vector3(0, 0, 0);
AngularVelocity = new Vector3(0, 0, 0); AngularVelocity = new Vector3(0, 0, 0);
//RotationalVelocity = new Vector3(0, 0, 0);
} }
PhysActor.IsPhysical = UsePhysics; PhysActor.IsPhysical = UsePhysics;
@ -1474,6 +1599,7 @@ if (m_shape != null) {
m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor); m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
} }
} }
}
/// <summary> /// <summary>
/// Restore this part from the serialized xml representation. /// Restore this part from the serialized xml representation.
@ -3190,6 +3316,53 @@ if (m_shape != null) {
} }
} }
public bool IsHingeJoint()
{
// For now, we use the NINJA naming scheme for identifying joints.
// In the future, we can support other joint specification schemes such as a
// custom checkbox in the viewer GUI.
if (m_parentGroup.Scene.PhysicsScene.SupportsNINJAJoints)
{
string hingeString = "hingejoint";
return (Name.Length >= hingeString.Length && Name.Substring(0, hingeString.Length) == hingeString);
}
else
{
return false;
}
}
public bool IsBallJoint()
{
// For now, we use the NINJA naming scheme for identifying joints.
// In the future, we can support other joint specification schemes such as a
// custom checkbox in the viewer GUI.
if (m_parentGroup.Scene.PhysicsScene.SupportsNINJAJoints)
{
string ballString = "balljoint";
return (Name.Length >= ballString.Length && Name.Substring(0, ballString.Length) == ballString);
}
else
{
return false;
}
}
public bool IsJoint()
{
// For now, we use the NINJA naming scheme for identifying joints.
// In the future, we can support other joint specification schemes such as a
// custom checkbox in the viewer GUI.
if (m_parentGroup.Scene.PhysicsScene.SupportsNINJAJoints)
{
return IsHingeJoint() || IsBallJoint();
}
else
{
return false;
}
}
public void UpdatePrimFlags(bool UsePhysics, bool IsTemporary, bool IsPhantom, bool IsVD) public void UpdatePrimFlags(bool UsePhysics, bool IsTemporary, bool IsPhantom, bool IsVD)
{ {
bool wasUsingPhysics = ((ObjectFlags & (uint) PrimFlags.Physics) != 0); bool wasUsingPhysics = ((ObjectFlags & (uint) PrimFlags.Physics) != 0);
@ -3230,6 +3403,11 @@ if (m_shape != null) {
} }
if (UsePhysics && IsJoint())
{
IsPhantom = true;
}
if (UsePhysics) if (UsePhysics)
{ {
AddFlag(PrimFlags.Physics); AddFlag(PrimFlags.Physics);
@ -3258,7 +3436,7 @@ if (m_shape != null) {
} }
if (IsPhantom || IsAttachment) if (IsPhantom || IsAttachment) // note: this may have been changed above in the case of joints
{ {
AddFlag(PrimFlags.Phantom); AddFlag(PrimFlags.Phantom);
if (PhysActor != null) if (PhysActor != null)

3
OpenSim/Region/Physics/Manager/PhysicsActor.cs
View File

@ -127,6 +127,9 @@ namespace OpenSim.Region.Physics.Manager
public abstract bool Selected { set; } public abstract bool Selected { set; }
public String SOPName { get; set; }
public String SOPDescription { get; set; }
public abstract void CrossingFailure(); public abstract void CrossingFailure();
public abstract void link(PhysicsActor obj); public abstract void link(PhysicsActor obj);

55
OpenSim/Region/Physics/Manager/PhysicsJoint.cs Normal file
View File

@ -0,0 +1,55 @@
/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSim Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using System.Collections.Generic;
using OpenSim.Framework;
using OpenMetaverse;
namespace OpenSim.Region.Physics.Manager
{
public enum PhysicsJointType : int
{
Ball = 0,
Hinge = 1
}
public class PhysicsJoint
{
public virtual bool IsInPhysicsEngine { get { return false; } } // set internally to indicate if this joint has already been passed to the physics engine or is still pending
public PhysicsJointType Type { get; set; }
public string RawParams { get; set; }
public List<string> BodyNames = new List<string>();
public PhysicsVector Position { get; set; } // global coords
public Quaternion Rotation { get; set; } // global coords
public string ObjectNameInScene { get; set; } // proxy object in scene that represents the joint position/orientation
public string TrackedBodyName { get; set; } // body name that this joint is attached to (ObjectNameInScene will follow TrackedBodyName)
public Quaternion LocalRotation { get; set; } // joint orientation relative to one of the involved bodies, the tracked body
public int ErrorMessageCount { get; set; } // total # of error messages printed for this joint since its creation. if too many, further error messages are suppressed to prevent flooding.
public const int maxErrorMessages = 100; // no more than this # of error messages will be printed for each joint
}
}

64
OpenSim/Region/Physics/Manager/PhysicsScene.cs
View File

@ -73,6 +73,67 @@ namespace OpenSim.Region.Physics.Manager
public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position, public abstract PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, PhysicsVector position,
PhysicsVector size, Quaternion rotation, bool isPhysical); PhysicsVector size, Quaternion rotation, bool isPhysical);
public virtual bool SupportsNINJAJoints
{
get { return false; }
}
public virtual PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, PhysicsVector position,
Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
{ return null; }
public virtual void RequestJointDeletion(string objectNameInScene)
{ return; }
public virtual void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor)
{ return; }
public virtual void DumpJointInfo()
{ return; }
public event JointMoved OnJointMoved;
protected virtual void DoJointMoved(PhysicsJoint joint)
{
// We need this to allow subclasses (but not other classes) to invoke the event; C# does
// not allow subclasses to invoke the parent class event.
if (OnJointMoved != null)
{
OnJointMoved(joint);
}
}
public event JointDeactivated OnJointDeactivated;
protected virtual void DoJointDeactivated(PhysicsJoint joint)
{
// We need this to allow subclasses (but not other classes) to invoke the event; C# does
// not allow subclasses to invoke the parent class event.
if (OnJointDeactivated != null)
{
OnJointDeactivated(joint);
}
}
public event JointErrorMessage OnJointErrorMessage;
protected virtual void DoJointErrorMessage(PhysicsJoint joint, string message)
{
// We need this to allow subclasses (but not other classes) to invoke the event; C# does
// not allow subclasses to invoke the parent class event.
if (OnJointErrorMessage != null)
{
OnJointErrorMessage(joint, message);
}
}
public virtual PhysicsVector GetJointAnchor(PhysicsJoint joint)
{ return null; }
public virtual PhysicsVector GetJointAxis(PhysicsJoint joint)
{ return null; }
public abstract void AddPhysicsActorTaint(PhysicsActor prim); public abstract void AddPhysicsActorTaint(PhysicsActor prim);
public abstract float Simulate(float timeStep); public abstract float Simulate(float timeStep);
@ -181,4 +242,7 @@ namespace OpenSim.Region.Physics.Manager
} }
} }
} }
public delegate void JointMoved(PhysicsJoint joint);
public delegate void JointDeactivated(PhysicsJoint joint);
public delegate void JointErrorMessage(PhysicsJoint joint, string message); // this refers to an "error message due to a problem", not "amount of joint constraint violation"
} }

29
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
View File

@ -50,6 +50,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private PhysicsVector _torque = new PhysicsVector(0,0,0); private PhysicsVector _torque = new PhysicsVector(0,0,0);
private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f); private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f); private PhysicsVector m_lastposition = new PhysicsVector(0.0f, 0.0f, 0.0f);
private Quaternion m_lastorientation = new Quaternion();
private PhysicsVector m_rotationalVelocity; private PhysicsVector m_rotationalVelocity;
private PhysicsVector _size; private PhysicsVector _size;
private PhysicsVector _acceleration; private PhysicsVector _acceleration;
@ -1183,6 +1184,23 @@ namespace OpenSim.Region.Physics.OdePlugin
// which would wake the physical body up from a soft disabling and potentially cause it to fall // which would wake the physical body up from a soft disabling and potentially cause it to fall
// through the ground. // through the ground.
// NOTE FOR JOINTS: this doesn't always work for jointed assemblies because if you select
// just one part of the assembly, the rest of the assembly is non-selected and still simulating,
// so that causes the selected part to wake up and continue moving.
// even if you select all parts of a jointed assembly, it is not guaranteed that the entire
// assembly will stop simulating during the selection, because of the lack of atomicity
// of select operations (their processing could be interrupted by a thread switch, causing
// simulation to continue before all of the selected object notifications trickle down to
// the physics engine).
// e.g. we select 100 prims that are connected by joints. non-atomically, the first 50 are
// selected and disabled. then, due to a thread switch, the selection processing is
// interrupted and the physics engine continues to simulate, so the last 50 items, whose
// selection was not yet processed, continues to simulate. this wakes up ALL of the
// first 50 again. then the last 50 are disabled. then the first 50, which were just woken
// up, start simulating again, which in turn wakes up the last 50.
if (m_isphysical) if (m_isphysical)
{ {
disableBodySoft(); disableBodySoft();
@ -2398,7 +2416,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
PhysicsVector pv = new PhysicsVector(0, 0, 0); PhysicsVector pv = new PhysicsVector(0, 0, 0);
bool lastZeroFlag = _zeroFlag; bool lastZeroFlag = _zeroFlag;
if (Body != (IntPtr)0) if (Body != (IntPtr)0) // FIXME -> or if it is a joint
{ {
d.Vector3 vec = d.BodyGetPosition(Body); d.Vector3 vec = d.BodyGetPosition(Body);
d.Quaternion ori = d.BodyGetQuaternion(Body); d.Quaternion ori = d.BodyGetQuaternion(Body);
@ -2407,6 +2425,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.Vector3 torque = d.BodyGetTorque(Body); d.Vector3 torque = d.BodyGetTorque(Body);
_torque.setValues(torque.X, torque.Y, torque.Z); _torque.setValues(torque.X, torque.Y, torque.Z);
PhysicsVector l_position = new PhysicsVector(); PhysicsVector l_position = new PhysicsVector();
Quaternion l_orientation = new Quaternion();
// kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!) // kluge to keep things in bounds. ODE lets dead avatars drift away (they should be removed!)
//if (vec.X < 0.0f) { vec.X = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } //if (vec.X < 0.0f) { vec.X = 0.0f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
@ -2415,10 +2434,15 @@ namespace OpenSim.Region.Physics.OdePlugin
//if (vec.Y > 255.95f) { vec.Y = 255.95f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); } //if (vec.Y > 255.95f) { vec.Y = 255.95f; if (Body != (IntPtr)0) d.BodySetAngularVel(Body, 0, 0, 0); }
m_lastposition = _position; m_lastposition = _position;
m_lastorientation = _orientation;
l_position.X = vec.X; l_position.X = vec.X;
l_position.Y = vec.Y; l_position.Y = vec.Y;
l_position.Z = vec.Z; l_position.Z = vec.Z;
l_orientation.X = ori.X;
l_orientation.Y = ori.Y;
l_orientation.Z = ori.Z;
l_orientation.W = ori.W;
if (l_position.X > 255.95f || l_position.X < 0f || l_position.Y > 255.95f || l_position.Y < 0f) if (l_position.X > 255.95f || l_position.X < 0f || l_position.Y > 255.95f || l_position.Y < 0f)
{ {
@ -2474,7 +2498,8 @@ namespace OpenSim.Region.Physics.OdePlugin
if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02) if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
&& (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02) && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
&& (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02)) && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02)
&& (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01 ))
{ {
_zeroFlag = true; _zeroFlag = true;
m_throttleUpdates = false; m_throttleUpdates = false;

49
OpenSim/Region/Physics/OdePlugin/OdePhysicsJoint.cs Normal file
View File

@ -0,0 +1,49 @@
/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSim Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using OpenMetaverse;
using Ode.NET;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OpenSim.Region.Physics.Manager;
using OpenSim.Region.Physics.OdePlugin;
namespace OpenSim.Region.Physics.OdePlugin
{
class OdePhysicsJoint : PhysicsJoint
{
public override bool IsInPhysicsEngine
{
get
{
return (jointID != IntPtr.Zero);
}
}
public IntPtr jointID { get; set; }
}
}

571
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
View File

@ -32,6 +32,7 @@ using System.Reflection;
using System.Runtime.InteropServices; using System.Runtime.InteropServices;
using System.Threading; using System.Threading;
using System.IO; using System.IO;
using System.Diagnostics;
using log4net; using log4net;
using Nini.Config; using Nini.Config;
using Ode.NET; using Ode.NET;
@ -218,7 +219,17 @@ namespace OpenSim.Region.Physics.OdePlugin
private List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>(); private List<PhysicsActor> _collisionEventPrim = new List<PhysicsActor>();
public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>(); public Dictionary<IntPtr, String> geom_name_map = new Dictionary<IntPtr, String>();
public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>(); public Dictionary<IntPtr, PhysicsActor> actor_name_map = new Dictionary<IntPtr, PhysicsActor>();
private bool m_NINJA_physics_joints_enabled = false;
//private Dictionary<String, IntPtr> jointpart_name_map = new Dictionary<String,IntPtr>();
private Dictionary<String, List<PhysicsJoint>> joints_connecting_actor = new Dictionary<String, List<PhysicsJoint>>();
private d.ContactGeom[] contacts = new d.ContactGeom[80]; private d.ContactGeom[] contacts = new d.ContactGeom[80];
private List<PhysicsJoint> requestedJointsToBeCreated = new List<PhysicsJoint>(); // lock only briefly. accessed by external code (to request new joints) and by OdeScene.Simulate() to move those joints into pending/active
private List<PhysicsJoint> pendingJoints = new List<PhysicsJoint>(); // can lock for longer. accessed only by OdeScene.
private List<PhysicsJoint> activeJoints = new List<PhysicsJoint>(); // can lock for longer. accessed only by OdeScene.
private List<string> requestedJointsToBeDeleted = new List<string>(); // lock only briefly. accessed by external code (to request deletion of joints) and by OdeScene.Simulate() to move those joints out of pending/active
private Object externalJointRequestsLock = new Object();
private Dictionary<String, PhysicsJoint> SOPName_to_activeJoint = new Dictionary<String, PhysicsJoint>();
private Dictionary<String, PhysicsJoint> SOPName_to_pendingJoint = new Dictionary<String, PhysicsJoint>();
private d.Contact contact; private d.Contact contact;
private d.Contact TerrainContact; private d.Contact TerrainContact;
@ -415,6 +426,9 @@ namespace OpenSim.Region.Physics.OdePlugin
physics_logging = physicsconfig.GetBoolean("physics_logging", false); physics_logging = physicsconfig.GetBoolean("physics_logging", false);
physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0); physics_logging_interval = physicsconfig.GetInt("physics_logging_interval", 0);
physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false); physics_logging_append_existing_logfile = physicsconfig.GetBoolean("physics_logging_append_existing_logfile", false);
m_NINJA_physics_joints_enabled = physicsconfig.GetBoolean("use_NINJA_physics_joints", false);
} }
} }
@ -1347,6 +1361,341 @@ namespace OpenSim.Region.Physics.OdePlugin
return result; return result;
} }
public override bool SupportsNINJAJoints
{
get { return m_NINJA_physics_joints_enabled; }
}
// internal utility function: must be called within a lock(OdeLock)
private void InternalAddActiveJoint(PhysicsJoint joint)
{
activeJoints.Add(joint);
SOPName_to_activeJoint.Add(joint.ObjectNameInScene, joint);
}
// internal utility function: must be called within a lock(OdeLock)
private void InternalAddPendingJoint(OdePhysicsJoint joint)
{
pendingJoints.Add(joint);
SOPName_to_pendingJoint.Add(joint.ObjectNameInScene, joint);
}
// internal utility function: must be called within a lock(OdeLock)
private void InternalRemovePendingJoint(PhysicsJoint joint)
{
pendingJoints.Remove(joint);
SOPName_to_pendingJoint.Remove(joint.ObjectNameInScene);
}
// internal utility function: must be called within a lock(OdeLock)
private void InternalRemoveActiveJoint(PhysicsJoint joint)
{
activeJoints.Remove(joint);
SOPName_to_activeJoint.Remove(joint.ObjectNameInScene);
}
public override void DumpJointInfo()
{
string hdr = "[NINJA] JOINTINFO: ";
foreach (PhysicsJoint j in pendingJoints)
{
m_log.Debug(hdr + " pending joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
}
m_log.Debug(hdr + pendingJoints.Count + " total pending joints");
foreach (string jointName in SOPName_to_pendingJoint.Keys)
{
m_log.Debug(hdr + " pending joints dict contains Name: " + jointName);
}
m_log.Debug(hdr + SOPName_to_pendingJoint.Keys.Count + " total pending joints dict entries");
foreach (PhysicsJoint j in activeJoints)
{
m_log.Debug(hdr + " active joint, Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
}
m_log.Debug(hdr + activeJoints.Count + " total active joints");
foreach (string jointName in SOPName_to_activeJoint.Keys)
{
m_log.Debug(hdr + " active joints dict contains Name: " + jointName);
}
m_log.Debug(hdr + SOPName_to_activeJoint.Keys.Count + " total active joints dict entries");
m_log.Debug(hdr + " Per-body joint connectivity information follows.");
m_log.Debug(hdr + joints_connecting_actor.Keys.Count + " bodies are connected by joints.");
foreach (string actorName in joints_connecting_actor.Keys)
{
m_log.Debug(hdr + " Actor " + actorName + " has the following joints connecting it");
foreach (PhysicsJoint j in joints_connecting_actor[actorName])
{
m_log.Debug(hdr + " * joint Name: " + j.ObjectNameInScene + " raw parms:" + j.RawParams);
}
m_log.Debug(hdr + joints_connecting_actor[actorName].Count + " connecting joints total for this actor");
}
}
public override void RequestJointDeletion(string ObjectNameInScene)
{
lock (externalJointRequestsLock)
{
if (!requestedJointsToBeDeleted.Contains(ObjectNameInScene)) // forbid same deletion request from entering twice to prevent spurious deletions processed asynchronously
{
requestedJointsToBeDeleted.Add(ObjectNameInScene);
}
}
}
private void DeleteRequestedJoints()
{
List<string> myRequestedJointsToBeDeleted;
lock (externalJointRequestsLock)
{
// make a local copy of the shared list for processing (threading issues)
myRequestedJointsToBeDeleted = new List<string>(requestedJointsToBeDeleted);
}
foreach (string jointName in myRequestedJointsToBeDeleted)
{
lock (OdeLock)
{
//m_log.Debug("[NINJA] trying to deleting requested joint " + jointName);
if (SOPName_to_activeJoint.ContainsKey(jointName) || SOPName_to_pendingJoint.ContainsKey(jointName))
{
OdePhysicsJoint joint = null;
if (SOPName_to_activeJoint.ContainsKey(jointName))
{
joint = SOPName_to_activeJoint[jointName] as OdePhysicsJoint;
InternalRemoveActiveJoint(joint);
}
else if (SOPName_to_pendingJoint.ContainsKey(jointName))
{
joint = SOPName_to_pendingJoint[jointName] as OdePhysicsJoint;
InternalRemovePendingJoint(joint);
}
if (joint != null)
{
//m_log.Debug("joint.BodyNames.Count is " + joint.BodyNames.Count + " and contents " + joint.BodyNames);
for (int iBodyName = 0; iBodyName < 2; iBodyName++)
{
string bodyName = joint.BodyNames[iBodyName];
if (bodyName != "NULL")
{
joints_connecting_actor[bodyName].Remove(joint);
if (joints_connecting_actor[bodyName].Count == 0)
{
joints_connecting_actor.Remove(bodyName);
}
}
}
DoJointDeactivated(joint);
if (joint.jointID != IntPtr.Zero)
{
d.JointDestroy(joint.jointID);
joint.jointID = IntPtr.Zero;
//DoJointErrorMessage(joint, "successfully destroyed joint " + jointName);
}
else
{
//m_log.Warn("[NINJA] Ignoring re-request to destroy joint " + jointName);
}
}
else
{
// DoJointErrorMessage(joint, "coult not find joint to destroy based on name " + jointName);
}
}
else
{
// DoJointErrorMessage(joint, "WARNING - joint removal failed, joint " + jointName);
}
}
}
// remove processed joints from the shared list
lock (externalJointRequestsLock)
{
foreach (string jointName in myRequestedJointsToBeDeleted)
{
requestedJointsToBeDeleted.Remove(jointName);
}
}
}
// for pending joints we don't know if their associated bodies exist yet or not.
// the joint is actually created during processing of the taints
private void CreateRequestedJoints()
{
List<PhysicsJoint> myRequestedJointsToBeCreated;
lock (externalJointRequestsLock)
{
// make a local copy of the shared list for processing (threading issues)
myRequestedJointsToBeCreated = new List<PhysicsJoint>(requestedJointsToBeCreated);
}
foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
{
lock (OdeLock)
{
if (SOPName_to_pendingJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_pendingJoint[joint.ObjectNameInScene] != null)
{
DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already pending joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation);
continue;
}
if (SOPName_to_activeJoint.ContainsKey(joint.ObjectNameInScene) && SOPName_to_activeJoint[joint.ObjectNameInScene] != null)
{
DoJointErrorMessage(joint, "WARNING: ignoring request to re-add already active joint Name:" + joint.ObjectNameInScene + " type:" + joint.Type + " parms: " + joint.RawParams + " pos: " + joint.Position + " rot:" + joint.Rotation);
continue;
}
InternalAddPendingJoint(joint as OdePhysicsJoint);
if (joint.BodyNames.Count >= 2)
{
for (int iBodyName = 0; iBodyName < 2; iBodyName++)
{
string bodyName = joint.BodyNames[iBodyName];
if (bodyName != "NULL")
{
if (!joints_connecting_actor.ContainsKey(bodyName))
{
joints_connecting_actor.Add(bodyName, new List<PhysicsJoint>());
}
joints_connecting_actor[bodyName].Add(joint);
}
}
}
}
}
// remove processed joints from shared list
lock (externalJointRequestsLock)
{
foreach (PhysicsJoint joint in myRequestedJointsToBeCreated)
{
requestedJointsToBeCreated.Remove(joint);
}
}
}
// public function to add an request for joint creation
// this joint will just be added to a waiting list that is NOT processed during the main
// Simulate() loop (to avoid deadlocks). After Simulate() is finished, we handle unprocessed joint requests.
public override PhysicsJoint RequestJointCreation(string objectNameInScene, PhysicsJointType jointType, PhysicsVector position,
Quaternion rotation, string parms, List<string> bodyNames, string trackedBodyName, Quaternion localRotation)
{
OdePhysicsJoint joint = new OdePhysicsJoint();
joint.ObjectNameInScene = objectNameInScene;
joint.Type = jointType;
joint.Position = new PhysicsVector(position.X, position.Y, position.Z);
joint.Rotation = rotation;
joint.RawParams = parms;
joint.BodyNames = new List<string>(bodyNames);
joint.TrackedBodyName = trackedBodyName;
joint.LocalRotation = localRotation;
joint.jointID = IntPtr.Zero;
joint.ErrorMessageCount = 0;
lock (externalJointRequestsLock)
{
if (!requestedJointsToBeCreated.Contains(joint)) // forbid same creation request from entering twice
{
requestedJointsToBeCreated.Add(joint);
}
}
return joint;
}
private void RemoveAllJointsConnectedToActor(PhysicsActor actor)
{
//m_log.Debug("RemoveAllJointsConnectedToActor: start");
if (actor.SOPName != null && joints_connecting_actor.ContainsKey(actor.SOPName) && joints_connecting_actor[actor.SOPName] != null)
{
List<PhysicsJoint> jointsToRemove = new List<PhysicsJoint>();
//TODO: merge these 2 loops (originally it was needed to avoid altering a list being iterated over, but it is no longer needed due to the joint request queue mechanism)
foreach (PhysicsJoint j in joints_connecting_actor[actor.SOPName])
{
jointsToRemove.Add(j);
}
foreach (PhysicsJoint j in jointsToRemove)
{
//m_log.Debug("RemoveAllJointsConnectedToActor: about to request deletion of " + j.ObjectNameInScene);
RequestJointDeletion(j.ObjectNameInScene);
//m_log.Debug("RemoveAllJointsConnectedToActor: done request deletion of " + j.ObjectNameInScene);
j.TrackedBodyName = null; // *IMMEDIATELY* prevent any further movement of this joint (else a deleted actor might cause spurious tracking motion of the joint for a few frames, leading to the joint proxy object disappearing)
}
}
}
public override void RemoveAllJointsConnectedToActorThreadLocked(PhysicsActor actor)
{
//m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: start");
lock (OdeLock)
{
//m_log.Debug("RemoveAllJointsConnectedToActorThreadLocked: got lock");
RemoveAllJointsConnectedToActor(actor);
}
}
// normally called from within OnJointMoved, which is called from within a lock(OdeLock)
public override PhysicsVector GetJointAnchor(PhysicsJoint joint)
{
Debug.Assert(joint.IsInPhysicsEngine);
d.Vector3 pos = new d.Vector3();
if (!(joint is OdePhysicsJoint))
{
DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
}
else
{
OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
switch (odeJoint.Type)
{
case PhysicsJointType.Ball:
d.JointGetBallAnchor(odeJoint.jointID, out pos);
break;
case PhysicsJointType.Hinge:
d.JointGetHingeAnchor(odeJoint.jointID, out pos);
break;
}
}
return new PhysicsVector(pos.X, pos.Y, pos.Z);
}
// normally called from within OnJointMoved, which is called from within a lock(OdeLock)
// WARNING: ODE sometimes returns <0,0,0> as the joint axis! Therefore this function
// appears to be unreliable. Fortunately we can compute the joint axis ourselves by
// keeping track of the joint's original orientation relative to one of the involved bodies.
public override PhysicsVector GetJointAxis(PhysicsJoint joint)
{
Debug.Assert(joint.IsInPhysicsEngine);
d.Vector3 axis = new d.Vector3();
if (!(joint is OdePhysicsJoint))
{
DoJointErrorMessage(joint, "warning: non-ODE joint requesting anchor: " + joint.ObjectNameInScene);
}
else
{
OdePhysicsJoint odeJoint = (OdePhysicsJoint)joint;
switch (odeJoint.Type)
{
case PhysicsJointType.Ball:
DoJointErrorMessage(joint, "warning - axis requested for ball joint: " + joint.ObjectNameInScene);
break;
case PhysicsJointType.Hinge:
d.JointGetHingeAxis(odeJoint.jointID, out axis);
break;
}
}
return new PhysicsVector(axis.X, axis.Y, axis.Z);
}
public void remActivePrim(OdePrim deactivatePrim) public void remActivePrim(OdePrim deactivatePrim)
{ {
lock (_activeprims) lock (_activeprims)
@ -1468,6 +1817,11 @@ namespace OpenSim.Region.Physics.OdePlugin
//} //}
//} //}
//} //}
if (SupportsNINJAJoints)
{
RemoveAllJointsConnectedToActorThreadLocked(prim);
}
} }
} }
} }
@ -1873,6 +2227,13 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
m_physicsiterations = 10; m_physicsiterations = 10;
} }
if (SupportsNINJAJoints)
{
DeleteRequestedJoints(); // this must be outside of the lock(OdeLock) to avoid deadlocks
CreateRequestedJoints(); // this must be outside of the lock(OdeLock) to avoid deadlocks
}
lock (OdeLock) lock (OdeLock)
{ {
// Process 10 frames if the sim is running normal.. // Process 10 frames if the sim is running normal..
@ -1944,6 +2305,188 @@ namespace OpenSim.Region.Physics.OdePlugin
prim.m_collisionscore = 0; prim.m_collisionscore = 0;
} }
if (SupportsNINJAJoints)
{
// Create pending joints, if possible
// joints can only be processed after ALL bodies are processed (and exist in ODE), since creating
// a joint requires specifying the body id of both involved bodies
if (pendingJoints.Count > 0)
{
List<PhysicsJoint> successfullyProcessedPendingJoints = new List<PhysicsJoint>();
//DoJointErrorMessage(joints_connecting_actor, "taint: " + pendingJoints.Count + " pending joints");
foreach (PhysicsJoint joint in pendingJoints)
{
//DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
string[] jointParams = joint.RawParams.Split(' ');
List<IntPtr> jointBodies = new List<IntPtr>();
bool allJointBodiesAreReady = true;
foreach (string jointParam in jointParams)
{
if (jointParam == "NULL")
{
//DoJointErrorMessage(joint, "attaching NULL joint to world");
jointBodies.Add(IntPtr.Zero);
}
else
{
//DoJointErrorMessage(joint, "looking for prim name: " + jointParam);
bool foundPrim = false;
lock (_prims)
{
foreach (OdePrim prim in _prims) // FIXME: inefficient
{
if (prim.SOPName == jointParam)
{
//DoJointErrorMessage(joint, "found for prim name: " + jointParam);
if (prim.IsPhysical && prim.Body != IntPtr.Zero)
{
jointBodies.Add(prim.Body);
foundPrim = true;
break;
}
else
{
DoJointErrorMessage(joint, "prim name " + jointParam +
" exists but is not (yet) physical; deferring joint creation. " +
"IsPhysical property is " + prim.IsPhysical +
" and body is " + prim.Body);
foundPrim = false;
break;
}
}
}
}
if (foundPrim)
{
// all is fine
}
else
{
allJointBodiesAreReady = false;
break;
}
}
}
if (allJointBodiesAreReady)
{
//DoJointErrorMessage(joint, "allJointBodiesAreReady for " + joint.ObjectNameInScene + " with parms " + joint.RawParams);
if (jointBodies[0] == jointBodies[1])
{
DoJointErrorMessage(joint, "ERROR: joint cannot be created; the joint bodies are the same, body1==body2. Raw body is " + jointBodies[0] + ". raw parms: " + joint.RawParams);
}
else
{
switch (joint.Type)
{
case PhysicsJointType.Ball:
{
IntPtr odeJoint;
//DoJointErrorMessage(joint, "ODE creating ball joint ");
odeJoint = d.JointCreateBall(world, IntPtr.Zero);
//DoJointErrorMessage(joint, "ODE attaching ball joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
//DoJointErrorMessage(joint, "ODE setting ball anchor: " + odeJoint + " to vec:" + joint.Position);
d.JointSetBallAnchor(odeJoint,
joint.Position.X,
joint.Position.Y,
joint.Position.Z);
//DoJointErrorMessage(joint, "ODE joint setting OK");
//DoJointErrorMessage(joint, "The ball joint's bodies are here: b0: ");
//DoJointErrorMessage(joint, "" + (jointBodies[0] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[0]) : "fixed environment"));
//DoJointErrorMessage(joint, "The ball joint's bodies are here: b1: ");
//DoJointErrorMessage(joint, "" + (jointBodies[1] != IntPtr.Zero ? "" + d.BodyGetPosition(jointBodies[1]) : "fixed environment"));
if (joint is OdePhysicsJoint)
{
((OdePhysicsJoint)joint).jointID = odeJoint;
}
else
{
DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
}
}
break;
case PhysicsJointType.Hinge:
{
IntPtr odeJoint;
//DoJointErrorMessage(joint, "ODE creating hinge joint ");
odeJoint = d.JointCreateHinge(world, IntPtr.Zero);
//DoJointErrorMessage(joint, "ODE attaching hinge joint: " + odeJoint + " with b1:" + jointBodies[0] + " b2:" + jointBodies[1]);
d.JointAttach(odeJoint, jointBodies[0], jointBodies[1]);
//DoJointErrorMessage(joint, "ODE setting hinge anchor: " + odeJoint + " to vec:" + joint.Position);
d.JointSetHingeAnchor(odeJoint,
joint.Position.X,
joint.Position.Y,
joint.Position.Z);
// We use the orientation of the x-axis of the joint's coordinate frame
// as the axis for the hinge.
// Therefore, we must get the joint's coordinate frame based on the
// joint.Rotation field, which originates from the orientation of the
// joint's proxy object in the scene.
// The joint's coordinate frame is defined as the transformation matrix
// that converts a vector from joint-local coordinates into world coordinates.
// World coordinates are defined as the XYZ coordinate system of the sim,
// as shown in the top status-bar of the viewer.
// Once we have the joint's coordinate frame, we extract its X axis (AtAxis)
// and use that as the hinge axis.
//joint.Rotation.Normalize();
Matrix4 proxyFrame = Matrix4.CreateFromQuaternion(joint.Rotation);
// Now extract the X axis of the joint's coordinate frame.
// Do not try to use proxyFrame.AtAxis or you will become mired in the
// tar pit of transposed, inverted, and generally messed-up orientations.
// (In other words, Matrix4.AtAxis() is borked.)
// Vector3 jointAxis = proxyFrame.AtAxis; <--- this path leadeth to madness
// Instead, compute the X axis of the coordinate frame by transforming
// the (1,0,0) vector. At least that works.
//m_log.Debug("PHY: making axis: complete matrix is " + proxyFrame);
Vector3 jointAxis = Vector3.Transform(Vector3.UnitX, proxyFrame);
//m_log.Debug("PHY: making axis: hinge joint axis is " + jointAxis);
//DoJointErrorMessage(joint, "ODE setting hinge axis: " + odeJoint + " to vec:" + jointAxis);
d.JointSetHingeAxis(odeJoint,
jointAxis.X,
jointAxis.Y,
jointAxis.Z);
//d.JointSetHingeParam(odeJoint, (int)dParam.CFM, 0.1f);
if (joint is OdePhysicsJoint)
{
((OdePhysicsJoint)joint).jointID = odeJoint;
}
else
{
DoJointErrorMessage(joint, "WARNING: non-ode joint in ODE!");
}
}
break;
}
successfullyProcessedPendingJoints.Add(joint);
}
}
else
{
DoJointErrorMessage(joint, "joint could not yet be created; still pending");
}
}
foreach (PhysicsJoint successfullyProcessedJoint in successfullyProcessedPendingJoints)
{
//DoJointErrorMessage(successfullyProcessedJoint, "finalizing succesfully procsssed joint " + successfullyProcessedJoint.ObjectNameInScene + " parms " + successfullyProcessedJoint.RawParams);
//DoJointErrorMessage(successfullyProcessedJoint, "removing from pending");
InternalRemovePendingJoint(successfullyProcessedJoint);
//DoJointErrorMessage(successfullyProcessedJoint, "adding to active");
InternalAddActiveJoint(successfullyProcessedJoint);
//DoJointErrorMessage(successfullyProcessedJoint, "done");
}
}
}
if (processedtaints) if (processedtaints)
_taintedPrim.Clear(); _taintedPrim.Clear();
} }
@ -2032,10 +2575,38 @@ namespace OpenSim.Region.Physics.OdePlugin
if (actor.IsPhysical && (d.BodyIsEnabled(actor.Body) || !actor._zeroFlag)) if (actor.IsPhysical && (d.BodyIsEnabled(actor.Body) || !actor._zeroFlag))
{ {
actor.UpdatePositionAndVelocity(); actor.UpdatePositionAndVelocity();
if (SupportsNINJAJoints)
{
// If an actor moved, move its joint proxy objects as well.
// There seems to be an event PhysicsActor.OnPositionUpdate that could be used
// for this purpose but it is never called! So we just do the joint
// movement code here.
if (actor.SOPName != null &&
joints_connecting_actor.ContainsKey(actor.SOPName) &&
joints_connecting_actor[actor.SOPName] != null &&
joints_connecting_actor[actor.SOPName].Count > 0)
{
foreach (PhysicsJoint affectedJoint in joints_connecting_actor[actor.SOPName])
{
if (affectedJoint.IsInPhysicsEngine)
{
DoJointMoved(affectedJoint);
}
else
{
DoJointErrorMessage(affectedJoint, "a body connected to a joint was moved, but the joint doesn't exist yet! this will lead to joint error. joint was: " + affectedJoint.ObjectNameInScene + " parms:" + affectedJoint.RawParams);
} }
} }
} }
} }
}
}
}
}
//DumpJointInfo();
// Finished with all sim stepping. If requested, dump world state to file for debugging. // Finished with all sim stepping. If requested, dump world state to file for debugging.
// TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed? // TODO: This call to the export function is already inside lock (OdeLock) - but is an extra lock needed?

7
bin/OpenSim.ini.example
View File

@ -434,6 +434,13 @@
;; append to existing physics logfile, or overwrite existing logfiles? ;; append to existing physics logfile, or overwrite existing logfiles?
;physics_logging_append_existing_logfile = true ;physics_logging_append_existing_logfile = true
; ##
; ## Joint support
; ##
; if you would like physics joints to be enabled through a special naming convention in the client, set this to true. (see NINJA Physics documentation, http://opensimulator.org/wiki/NINJA_Physics)
;use_NINJA_physics_joints = true
[RemoteAdmin] [RemoteAdmin]
enabled = false enabled = false