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

connector_plugin
Justin Clark-Casey (justincc) 2012-09-29 00:09:12 +01:00
parent d588467d5b e3d6d36c72
commit fae869c4ca
19 changed files with 2160 additions and 1382 deletions
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50
OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs
View File

@ -34,6 +34,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
public class BS6DofConstraint : BSConstraint
{
private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]";
public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }
// Create a btGeneric6DofConstraint
public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
Vector3 frame1, Quaternion frame1rot,
@ -44,11 +48,14 @@ public class BS6DofConstraint : BSConstraint
m_body1 = obj1;
m_body2 = obj2;
m_constraint = new BulletConstraint(
BulletSimAPI.Create6DofConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
BulletSimAPI.Create6DofConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
frame1, frame1rot,
frame2, frame2rot,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
m_enabled = true;
world.physicsScene.DetailLog("{0},BS6DofConstraint,createFrame,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID,
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
}
public BS6DofConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
@ -58,19 +65,44 @@ public class BS6DofConstraint : BSConstraint
m_world = world;
m_body1 = obj1;
m_body2 = obj2;
if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero)
{
world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
BSScene.DetailLogZero, world.worldID,
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
world.physicsScene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
"[BULLETSIM 6DOF CONSTRAINT]", world.worldID,
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
m_enabled = false;
}
else
{
m_constraint = new BulletConstraint(
BulletSimAPI.Create6DofConstraintToPoint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
joinPoint,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}",
BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"),
obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
if (m_constraint.ptr == IntPtr.Zero)
{
world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}",
LogHeader, obj1.ID, obj2.ID);
m_enabled = false;
}
else
{
m_enabled = true;
}
}
}
public bool SetFrames(Vector3 frameA, Quaternion frameArot, Vector3 frameB, Quaternion frameBrot)
{
bool ret = false;
if (m_enabled)
{
BulletSimAPI.SetFrames2(m_constraint.Ptr, frameA, frameArot, frameB, frameBrot);
BulletSimAPI.SetFrames2(m_constraint.ptr, frameA, frameArot, frameB, frameBrot);
ret = true;
}
return ret;
@ -81,9 +113,9 @@ public class BS6DofConstraint : BSConstraint
bool ret = false;
if (m_enabled)
{
BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
BulletSimAPI.SetConstraintParam2(m_constraint.Ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_STOP_ERP, erp, ConstraintParamAxis.AXIS_ALL);
BulletSimAPI.SetConstraintParam2(m_constraint.ptr, ConstraintParams.BT_CONSTRAINT_CFM, cfm, ConstraintParamAxis.AXIS_ALL);
ret = true;
}
return ret;
@ -94,7 +126,7 @@ public class BS6DofConstraint : BSConstraint
bool ret = false;
float onOff = useOffset ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
if (m_enabled)
ret = BulletSimAPI.UseFrameOffset2(m_constraint.Ptr, onOff);
ret = BulletSimAPI.UseFrameOffset2(m_constraint.ptr, onOff);
return ret;
}
@ -103,7 +135,7 @@ public class BS6DofConstraint : BSConstraint
bool ret = false;
float onOff = enable ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse;
if (m_enabled)
ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.Ptr, onOff, targetVelocity, maxMotorForce);
ret = BulletSimAPI.TranslationalLimitMotor2(m_constraint.ptr, onOff, targetVelocity, maxMotorForce);
return ret;
}
@ -111,7 +143,7 @@ public class BS6DofConstraint : BSConstraint
{
bool ret = false;
if (m_enabled)
ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.Ptr, threshold);
ret = BulletSimAPI.SetBreakingImpulseThreshold2(m_constraint.ptr, threshold);
return ret;
}
}

287
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
View File

@ -28,7 +28,7 @@ using System;
using System.Collections.Generic;
using System.Reflection;
using log4net;
using OpenMetaverse;
using OMV = OpenMetaverse;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
@ -39,48 +39,35 @@ public class BSCharacter : BSPhysObject
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private static readonly string LogHeader = "[BULLETS CHAR]";
public BSScene Scene { get; private set; }
private String _avName;
// private bool _stopped;
private Vector3 _size;
private Vector3 _scale;
private OMV.Vector3 _size;
private OMV.Vector3 _scale;
private PrimitiveBaseShape _pbs;
private uint _localID = 0;
private bool _grabbed;
private bool _selected;
private Vector3 _position;
private OMV.Vector3 _position;
private float _mass;
public float _density;
public float _avatarVolume;
private Vector3 _force;
private Vector3 _velocity;
private Vector3 _torque;
private float _avatarDensity;
private float _avatarVolume;
private OMV.Vector3 _force;
private OMV.Vector3 _velocity;
private OMV.Vector3 _torque;
private float _collisionScore;
private Vector3 _acceleration;
private Quaternion _orientation;
private OMV.Vector3 _acceleration;
private OMV.Quaternion _orientation;
private int _physicsActorType;
private bool _isPhysical;
private bool _flying;
private bool _setAlwaysRun;
private bool _throttleUpdates;
private bool _isColliding;
private long _collidingStep;
private bool _collidingGround;
private long _collidingGroundStep;
private bool _collidingObj;
private bool _floatOnWater;
private Vector3 _rotationalVelocity;
private OMV.Vector3 _rotationalVelocity;
private bool _kinematic;
private float _buoyancy;
public override BulletBody BSBody { get; set; }
public override BulletShape BSShape { get; set; }
public override BSLinkset Linkset { get; set; }
private int _subscribedEventsMs = 0;
private int _nextCollisionOkTime = 0;
private Vector3 _PIDTarget;
private OMV.Vector3 _PIDTarget;
private bool _usePID;
private float _PIDTau;
private bool _useHoverPID;
@ -88,28 +75,26 @@ public class BSCharacter : BSPhysObject
private PIDHoverType _PIDHoverType;
private float _PIDHoverTao;
public BSCharacter(uint localID, String avName, BSScene parent_scene, Vector3 pos, Vector3 size, bool isFlying)
public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
{
_localID = localID;
_avName = avName;
Scene = parent_scene;
base.BaseInitialize(parent_scene, localID, avName, "BSCharacter");
_physicsActorType = (int)ActorTypes.Agent;
_position = pos;
_size = size;
_flying = isFlying;
_orientation = Quaternion.Identity;
_velocity = Vector3.Zero;
_orientation = OMV.Quaternion.Identity;
_velocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
// The dimensions of the avatar capsule are kept in the scale.
// Physics creates a unit capsule which is scaled by the physics engine.
_scale = new Vector3(Scene.Params.avatarCapsuleRadius, Scene.Params.avatarCapsuleRadius, size.Z);
_density = Scene.Params.avatarDensity;
ComputeAvatarVolumeAndMass(); // set _avatarVolume and _mass based on capsule size, _density and _scale
Linkset = new BSLinkset(Scene, this);
ComputeAvatarScale(_size);
_avatarDensity = PhysicsScene.Params.avatarDensity;
// set _avatarVolume and _mass based on capsule size, _density and _scale
ComputeAvatarVolumeAndMass();
ShapeData shapeData = new ShapeData();
shapeData.ID = _localID;
shapeData.ID = LocalID;
shapeData.Type = ShapeData.PhysicsShapeType.SHAPE_AVATAR;
shapeData.Position = _position;
shapeData.Rotation = _orientation;
@ -118,21 +103,25 @@ public class BSCharacter : BSPhysObject
shapeData.Mass = _mass;
shapeData.Buoyancy = _buoyancy;
shapeData.Static = ShapeData.numericFalse;
shapeData.Friction = Scene.Params.avatarFriction;
shapeData.Restitution = Scene.Params.avatarRestitution;
shapeData.Friction = PhysicsScene.Params.avatarFriction;
shapeData.Restitution = PhysicsScene.Params.avatarRestitution;
// do actual create at taint time
Scene.TaintedObject("BSCharacter.create", delegate()
PhysicsScene.TaintedObject("BSCharacter.create", delegate()
{
DetailLog("{0},BSCharacter.create", _localID);
BulletSimAPI.CreateObject(Scene.WorldID, shapeData);
DetailLog("{0},BSCharacter.create,taint", LocalID);
BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData);
// Set the buoyancy for flying. This will be refactored when all the settings happen in C#
BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy);
// Set the buoyancy for flying. This will be refactored when all the settings happen in C#.
// 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(Scene.World.Ptr, LocalID));
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;
}
@ -140,9 +129,9 @@ public class BSCharacter : BSPhysObject
public override void Destroy()
{
DetailLog("{0},BSCharacter.Destroy", LocalID);
Scene.TaintedObject("BSCharacter.destroy", delegate()
PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
{
BulletSimAPI.DestroyObject(Scene.WorldID, _localID);
BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID);
});
}
@ -154,26 +143,26 @@ public class BSCharacter : BSPhysObject
public override bool Stopped {
get { return false; }
}
public override Vector3 Size {
public override OMV.Vector3 Size {
get
{
// Avatar capsule size is kept in the scale parameter.
return new Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z);
return new OMV.Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z);
}
set {
// When an avatar's size is set, only the height is changed
// and that really only depends on the radius.
_size = value;
_scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y);
ComputeAvatarScale(_size);
// TODO: something has to be done with the avatar's vertical position
ComputeAvatarVolumeAndMass();
Scene.TaintedObject("BSCharacter.setSize", delegate()
PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
{
BulletSimAPI.SetObjectScaleMass(Scene.WorldID, LocalID, _scale, _mass, true);
BulletSimAPI.SetObjectScaleMass(PhysicsScene.WorldID, LocalID, _scale, _mass, true);
});
}
@ -182,11 +171,6 @@ public class BSCharacter : BSPhysObject
set { _pbs = value;
}
}
public override uint LocalID {
set { _localID = value;
}
get { return _localID; }
}
public override bool Grabbed {
set { _grabbed = value;
}
@ -198,9 +182,27 @@ public class BSCharacter : BSPhysObject
public override void CrossingFailure() { return; }
public override void link(PhysicsActor obj) { return; }
public override void delink() { return; }
public override void LockAngularMotion(Vector3 axis) { return; }
public override Vector3 Position {
// Set motion values to zero.
// Do it to the properties so the values get set in the physics engine.
// Push the setting of the values to the viewer.
// Called at taint time!
public override void ZeroMotion()
{
_velocity = OMV.Vector3.Zero;
_acceleration = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero;
// Zero some other properties directly into the physics engine
BulletSimAPI.SetLinearVelocity2(BSBody.ptr, OMV.Vector3.Zero);
BulletSimAPI.SetAngularVelocity2(BSBody.ptr, OMV.Vector3.Zero);
BulletSimAPI.SetInterpolationVelocity2(BSBody.ptr, OMV.Vector3.Zero, OMV.Vector3.Zero);
BulletSimAPI.ClearForces2(BSBody.ptr);
}
public override void LockAngularMotion(OMV.Vector3 axis) { return; }
public override OMV.Vector3 Position {
get {
// _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
return _position;
@ -209,10 +211,10 @@ public class BSCharacter : BSPhysObject
_position = value;
PositionSanityCheck();
Scene.TaintedObject("BSCharacter.setPosition", delegate()
PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
{
DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(Scene.WorldID, _localID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
});
}
}
@ -225,7 +227,7 @@ public class BSCharacter : BSPhysObject
bool ret = false;
// If below the ground, move the avatar up
float terrainHeight = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position);
float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
if (Position.Z < terrainHeight)
{
DetailLog("{0},BSCharacter.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
@ -247,10 +249,10 @@ public class BSCharacter : BSPhysObject
{
// The new position value must be pushed into the physics engine but we can't
// just assign to "Position" because of potential call loops.
Scene.TaintedObject("BSCharacter.PositionSanityCheck", delegate()
PhysicsScene.TaintedObject("BSCharacter.PositionSanityCheck", delegate()
{
DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(Scene.WorldID, _localID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
});
ret = true;
}
@ -266,15 +268,15 @@ public class BSCharacter : BSPhysObject
// used when we only want this prim's mass and not the linkset thing
public override float MassRaw { get {return _mass; } }
public override Vector3 Force {
public override OMV.Vector3 Force {
get { return _force; }
set {
_force = value;
// m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
Scene.TaintedObject("BSCharacter.SetForce", delegate()
PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
{
DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
BulletSimAPI.SetObjectForce(Scene.WorldID, LocalID, _force);
BulletSimAPI.SetObjectForce(PhysicsScene.WorldID, LocalID, _force);
});
}
}
@ -284,28 +286,28 @@ public class BSCharacter : BSPhysObject
set { return; }
}
public override void VehicleFloatParam(int param, float value) { }
public override void VehicleVectorParam(int param, Vector3 value) {}
public override void VehicleRotationParam(int param, Quaternion rotation) { }
public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
public override void VehicleFlags(int param, bool remove) { }
// Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
public override void SetVolumeDetect(int param) { return; }
public override Vector3 GeometricCenter { get { return Vector3.Zero; } }
public override Vector3 CenterOfMass { get { return Vector3.Zero; } }
public override Vector3 Velocity {
public override OMV.Vector3 GeometricCenter { get { return OMV.Vector3.Zero; } }
public override OMV.Vector3 CenterOfMass { get { return OMV.Vector3.Zero; } }
public override OMV.Vector3 Velocity {
get { return _velocity; }
set {
_velocity = value;
// m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
Scene.TaintedObject("BSCharacter.setVelocity", delegate()
PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
{
DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
BulletSimAPI.SetObjectVelocity(Scene.WorldID, _localID, _velocity);
BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity);
});
}
}
public override Vector3 Torque {
public override OMV.Vector3 Torque {
get { return _torque; }
set { _torque = value;
}
@ -315,19 +317,19 @@ public class BSCharacter : BSPhysObject
set { _collisionScore = value;
}
}
public override Vector3 Acceleration {
public override OMV.Vector3 Acceleration {
get { return _acceleration; }
set { _acceleration = value; }
}
public override Quaternion Orientation {
public override OMV.Quaternion Orientation {
get { return _orientation; }
set {
_orientation = value;
// m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
Scene.TaintedObject("BSCharacter.setOrientation", delegate()
PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
{
// _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID);
BulletSimAPI.SetObjectTranslation(Scene.WorldID, _localID, _position, _orientation);
BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation);
});
}
}
@ -364,12 +366,12 @@ public class BSCharacter : BSPhysObject
set { _throttleUpdates = value; }
}
public override bool IsColliding {
get { return (_collidingStep == Scene.SimulationStep); }
get { return (CollidingStep == PhysicsScene.SimulationStep); }
set { _isColliding = value; }
}
public override bool CollidingGround {
get { return (_collidingGroundStep == Scene.SimulationStep); }
set { _collidingGround = value; }
get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
set { CollidingGround = value; }
}
public override bool CollidingObj {
get { return _collidingObj; }
@ -378,7 +380,7 @@ public class BSCharacter : BSPhysObject
public override bool FloatOnWater {
set { _floatOnWater = value; }
}
public override Vector3 RotationalVelocity {
public override OMV.Vector3 RotationalVelocity {
get { return _rotationalVelocity; }
set { _rotationalVelocity = value; }
}
@ -390,16 +392,16 @@ public class BSCharacter : BSPhysObject
public override float Buoyancy {
get { return _buoyancy; }
set { _buoyancy = value;
Scene.TaintedObject("BSCharacter.setBuoyancy", delegate()
PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
{
DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
BulletSimAPI.SetObjectBuoyancy(Scene.WorldID, LocalID, _buoyancy);
BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy);
});
}
}
// Used for MoveTo
public override Vector3 PIDTarget {
public override OMV.Vector3 PIDTarget {
set { _PIDTarget = value; }
}
public override bool PIDActive {
@ -425,22 +427,22 @@ public class BSCharacter : BSPhysObject
}
// For RotLookAt
public override Quaternion APIDTarget { set { return; } }
public override OMV.Quaternion APIDTarget { set { return; } }
public override bool APIDActive { set { return; } }
public override float APIDStrength { set { return; } }
public override float APIDDamping { set { return; } }
public override void AddForce(Vector3 force, bool pushforce) {
public override void AddForce(OMV.Vector3 force, bool pushforce) {
if (force.IsFinite())
{
_force.X += force.X;
_force.Y += force.Y;
_force.Z += force.Z;
// m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force);
Scene.TaintedObject("BSCharacter.AddForce", delegate()
PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
{
DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force);
BulletSimAPI.SetObjectForce2(BSBody.Ptr, _force);
BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
});
}
else
@ -450,42 +452,19 @@ public class BSCharacter : BSPhysObject
//m_lastUpdateSent = false;
}
public override void AddAngularForce(Vector3 force, bool pushforce) {
public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
}
public override void SetMomentum(Vector3 momentum) {
public override void SetMomentum(OMV.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;
if (ms > 0)
private void ComputeAvatarScale(OMV.Vector3 size)
{
// make sure first collision happens
_nextCollisionOkTime = Util.EnvironmentTickCount() - _subscribedEventsMs;
_scale.X = PhysicsScene.Params.avatarCapsuleRadius;
_scale.Y = PhysicsScene.Params.avatarCapsuleRadius;
Scene.TaintedObject("BSCharacter.SubscribeEvents", delegate()
{
BulletSimAPI.AddToCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
});
}
}
public override void ZeroMotion()
{
return;
}
// Stop collision events
public override void UnSubscribeEvents() {
_subscribedEventsMs = 0;
Scene.TaintedObject("BSCharacter.UnSubscribeEvents", delegate()
{
BulletSimAPI.RemoveFromCollisionFlags2(BSBody.Ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
});
}
// Return 'true' if someone has subscribed to events
public override bool SubscribedEvents() {
return (_subscribedEventsMs > 0);
// The 1.15 came from ODE but it seems to cause the avatar to float off the ground
// _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y);
_scale.Z = (_size.Z) - (_scale.X + _scale.Y);
}
// set _avatarVolume and _mass based on capsule size, _density and _scale
@ -502,7 +481,7 @@ public class BSCharacter : BSPhysObject
* Math.Min(_scale.X, _scale.Y)
* _scale.Y // plus the volume of the capsule end caps
);
_mass = _density * _avatarVolume;
_mass = _avatarDensity * _avatarVolume;
}
// The physics engine says that properties have updated. Update same and inform
@ -520,67 +499,9 @@ public class BSCharacter : BSPhysObject
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
PositionSanityCheck2();
float heightHere = Scene.TerrainManager.GetTerrainHeightAtXYZ(_position); // only for debug
float heightHere = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); // only for debug
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity, heightHere);
}
// 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 override bool Collide(uint collidingWith, BSPhysObject collidee, Vector3 contactPoint, Vector3 contactNormal, float pentrationDepth)
{
bool ret = false;
// The following makes IsColliding() and IsCollidingGround() work
_collidingStep = Scene.SimulationStep;
if (collidingWith <= Scene.TerrainManager.HighestTerrainID)
{
_collidingGroundStep = Scene.SimulationStep;
}
// DetailLog("{0},BSCharacter.Collison,call,with={1}", LocalID, collidingWith);
// throttle collisions to the rate specified in the subscription
if (SubscribedEvents()) {
int nowTime = Scene.SimulationNowTime;
if (nowTime >= _nextCollisionOkTime) {
_nextCollisionOkTime = nowTime + _subscribedEventsMs;
if (collisionCollection == null)
collisionCollection = new CollisionEventUpdate();
collisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
ret = true;
}
}
return ret;
}
public override void SendCollisions()
{
/*
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);
// If there were any collisions in the collection, make sure we don't use the
// same instance next time.
if (collisionCollection.Count > 0)
collisionCollection = null;
// 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);
}
}
}

21
OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
View File

@ -49,20 +49,23 @@ public abstract class BSConstraint : IDisposable
if (m_enabled)
{
m_enabled = false;
bool success = BulletSimAPI.DestroyConstraint2(m_world.Ptr, m_constraint.Ptr);
m_world.scene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success);
m_constraint.Ptr = System.IntPtr.Zero;
bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr);
m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,body1={1},body2={2},success={3}", BSScene.DetailLogZero, m_body1.ID, m_body2.ID, success);
m_constraint.ptr = System.IntPtr.Zero;
}
}
public BulletBody Body1 { get { return m_body1; } }
public BulletBody Body2 { get { return m_body2; } }
public BulletConstraint Constraint { get { return m_constraint; } }
public abstract ConstraintType Type { get; }
public virtual bool SetLinearLimits(Vector3 low, Vector3 high)
{
bool ret = false;
if (m_enabled)
ret = BulletSimAPI.SetLinearLimits2(m_constraint.Ptr, low, high);
ret = BulletSimAPI.SetLinearLimits2(m_constraint.ptr, low, high);
return ret;
}
@ -70,7 +73,7 @@ public abstract class BSConstraint : IDisposable
{
bool ret = false;
if (m_enabled)
ret = BulletSimAPI.SetAngularLimits2(m_constraint.Ptr, low, high);
ret = BulletSimAPI.SetAngularLimits2(m_constraint.ptr, low, high);
return ret;
}
@ -79,7 +82,7 @@ public abstract class BSConstraint : IDisposable
bool ret = false;
if (m_enabled)
{
BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.Ptr, cnt);
BulletSimAPI.SetConstraintNumSolverIterations2(m_constraint.ptr, cnt);
ret = true;
}
return ret;
@ -91,7 +94,7 @@ public abstract class BSConstraint : IDisposable
if (m_enabled)
{
// Recompute the internal transforms
BulletSimAPI.CalculateTransforms2(m_constraint.Ptr);
BulletSimAPI.CalculateTransforms2(m_constraint.ptr);
ret = true;
}
return ret;
@ -110,11 +113,11 @@ public abstract class BSConstraint : IDisposable
// Setting an object's mass to zero (making it static like when it's selected)
// automatically disables the constraints.
// If the link is enabled, be sure to set the constraint itself to enabled.
BulletSimAPI.SetConstraintEnable2(m_constraint.Ptr, m_world.scene.NumericBool(true));
BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, m_world.physicsScene.NumericBool(true));
}
else
{
m_world.scene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID);
m_world.physicsScene.Logger.ErrorFormat("[BULLETSIM CONSTRAINT] CalculateTransforms failed. A={0}, B={1}", Body1.ID, Body2.ID);
}
}
return ret;

123
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
View File

@ -54,18 +54,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
public class BSDynamics
{
private int frcount = 0; // Used to limit dynamics debug output to
// every 100th frame
private BSScene m_physicsScene;
private BSPrim m_prim; // the prim this dynamic controller belongs to
private BSScene PhysicsScene { get; set; }
// the prim this dynamic controller belongs to
private BSPrim Prim { get; set; }
// Vehicle properties
private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
public Vehicle Type
{
get { return m_type; }
}
public Vehicle Type { get; set; }
// private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
// HOVER_TERRAIN_ONLY
@ -126,14 +121,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin
public BSDynamics(BSScene myScene, BSPrim myPrim)
{
m_physicsScene = myScene;
m_prim = myPrim;
m_type = Vehicle.TYPE_NONE;
PhysicsScene = myScene;
Prim = myPrim;
Type = Vehicle.TYPE_NONE;
}
// Return 'true' if this vehicle is doing vehicle things
public bool IsActive
{
get { return Type != Vehicle.TYPE_NONE; }
}
internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
{
VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
switch (pParam)
{
case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
@ -232,7 +233,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
{
VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
switch (pParam)
{
case Vehicle.ANGULAR_FRICTION_TIMESCALE:
@ -267,7 +268,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
{
VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
switch (pParam)
{
case Vehicle.REFERENCE_FRAME:
@ -281,7 +282,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
internal void ProcessVehicleFlags(int pParam, bool remove)
{
VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove);
VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove);
VehicleFlag parm = (VehicleFlag)pParam;
if (remove)
{
@ -301,9 +302,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
internal void ProcessTypeChange(Vehicle pType)
{
VDetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType);
VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType);
// Set Defaults For Type
m_type = pType;
Type = pType;
switch (pType)
{
case Vehicle.TYPE_NONE:
@ -465,26 +466,37 @@ namespace OpenSim.Region.Physics.BulletSPlugin
}
}//end SetDefaultsForType
// Some of the properties of this prim may have changed.
// Do any updating needed for a vehicle
public void Refresh()
{
if (Type == Vehicle.TYPE_NONE) return;
// Set the prim's inertia to zero. The vehicle code handles that and this
// removes the torque action introduced by Bullet.
Vector3 inertia = Vector3.Zero;
BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia);
BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr);
}
// One step of the vehicle properties for the next 'pTimestep' seconds.
internal void Step(float pTimestep)
{
if (m_type == Vehicle.TYPE_NONE) return;
frcount++; // used to limit debug comment output
if (frcount > 100)
frcount = 0;
if (!IsActive) return;
MoveLinear(pTimestep);
MoveAngular(pTimestep);
LimitRotation(pTimestep);
// remember the position so next step we can limit absolute movement effects
m_lastPositionVector = m_prim.Position;
m_lastPositionVector = Prim.Position;
VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity);
Prim.LocalID, Prim.Position, Prim.Force, Prim.Velocity, Prim.RotationalVelocity);
}// end Step
// Apply the effect of the linear motor.
// Also does hover and float.
private void MoveLinear(float pTimestep)
{
// m_linearMotorDirection is the direction we are moving relative to the vehicle coordinates
@ -520,18 +532,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_linearMotorDirection *= keepfraction;
VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},notDecay={4},dir={5},vel={6}",
m_prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector);
Prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector);
}
else
{
// if what remains of direction is very small, zero it.
m_linearMotorDirection = Vector3.Zero;
m_lastLinearVelocityVector = Vector3.Zero;
VDetailLog("{0},MoveLinear,zeroed", m_prim.LocalID);
VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);
}
// convert requested object velocity to object relative vector
Quaternion rotq = m_prim.Orientation;
Quaternion rotq = Prim.Orientation;
m_newVelocity = m_lastLinearVelocityVector * rotq;
// Add the various forces into m_dir which will be our new direction vector (velocity)
@ -539,7 +551,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// add Gravity and Buoyancy
// There is some gravity, make a gravity force vector that is applied after object velocity.
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
Vector3 grav = m_prim.Scene.DefaultGravity * (m_prim.Mass * (1f - m_VehicleBuoyancy));
Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Mass * (1f - m_VehicleBuoyancy));
/*
* RA: Not sure why one would do this
@ -548,11 +560,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
*/
Vector3 pos = m_prim.Position;
Vector3 pos = Prim.Position;
// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
// If below the terrain, move us above the ground a little.
float terrainHeight = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos);
float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
// Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset.
// Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass.
// Vector3 rotatedSize = m_prim.Size * m_prim.Orientation;
@ -560,8 +572,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
if (pos.Z < terrainHeight)
{
pos.Z = terrainHeight + 2;
m_prim.Position = pos;
VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", m_prim.LocalID, terrainHeight, pos);
Prim.Position = pos;
VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos);
}
// Check if hovering
@ -570,7 +582,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// We should hover, get the target height
if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{
m_VhoverTargetHeight = m_prim.Scene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
m_VhoverTargetHeight = Prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
}
if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{
@ -590,7 +602,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
{
m_prim.Position = pos;
Prim.Position = pos;
}
}
else
@ -608,7 +620,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
}
}
VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight);
VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", Prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight);
}
Vector3 posChange = pos - m_lastPositionVector;
@ -642,9 +654,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
}
if (changed)
{
m_prim.Position = pos;
Prim.Position = pos;
VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
m_prim.LocalID, m_BlockingEndPoint, posChange, pos);
Prim.LocalID, m_BlockingEndPoint, posChange, pos);
}
}
@ -664,7 +676,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
float postemp = (pos.Z - terrainHeight);
if (postemp > 2.5f)
grav.Z = (float)(grav.Z * 1.037125);
VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav);
VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", Prim.LocalID, grav);
}
if ((m_flags & (VehicleFlag.NO_X)) != 0)
m_newVelocity.X = 0;
@ -674,7 +686,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_newVelocity.Z = 0;
// Apply velocity
m_prim.Velocity = m_newVelocity;
Prim.Velocity = m_newVelocity;
// apply gravity force
// Why is this set here? The physics engine already does gravity.
// m_prim.AddForce(grav, false);
@ -684,10 +696,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_lastLinearVelocityVector *= keepFraction;
VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}",
m_prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction);
Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction);
} // end MoveLinear()
// Apply the effect of the angular motor.
private void MoveAngular(float pTimestep)
{
// m_angularMotorDirection // angular velocity requested by LSL motor
@ -699,7 +712,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// m_lastAngularVelocity // what was last applied to body
// Get what the body is doing, this includes 'external' influences
Vector3 angularVelocity = m_prim.RotationalVelocity;
Vector3 angularVelocity = Prim.RotationalVelocity;
if (m_angularMotorApply > 0)
{
@ -716,7 +729,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep);
VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},dir={5},vel={6}",
m_prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity);
Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity);
// This is done so that if script request rate is less than phys frame rate the expected
// velocity may still be acheived.
@ -737,7 +750,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
float VAservo = 0.2f / (m_verticalAttractionTimescale / pTimestep);
// get present body rotation
Quaternion rotq = m_prim.Orientation;
Quaternion rotq = Prim.Orientation;
// make a vector pointing up
Vector3 verterr = Vector3.Zero;
verterr.Z = 1.0f;
@ -767,7 +780,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
vertattr.Y += bounce * angularVelocity.Y;
VDetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}",
m_prim.LocalID, verterr, bounce, vertattr);
Prim.LocalID, verterr, bounce, vertattr);
} // else vertical attractor is off
@ -784,13 +797,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
m_lastAngularVelocity.X = 0;
m_lastAngularVelocity.Y = 0;
VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity);
VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
}
if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
{
m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity);
VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
}
// apply friction
@ -798,14 +811,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
// Apply to the body
m_prim.RotationalVelocity = m_lastAngularVelocity;
Prim.RotationalVelocity = m_lastAngularVelocity;
VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity);
VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity);
} //end MoveAngular
internal void LimitRotation(float timestep)
{
Quaternion rotq = m_prim.Orientation;
Quaternion rotq = Prim.Orientation;
Quaternion m_rot = rotq;
bool changed = false;
if (m_RollreferenceFrame != Quaternion.Identity)
@ -840,8 +853,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
}
if (changed)
{
m_prim.Orientation = m_rot;
VDetailLog("{0},LimitRotation,done,orig={1},new={2}", m_prim.LocalID, rotq, m_rot);
Prim.Orientation = m_rot;
VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
}
}
@ -849,8 +862,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Invoke the detailed logger and output something if it's enabled.
private void VDetailLog(string msg, params Object[] args)
{
if (m_prim.Scene.VehicleLoggingEnabled)
m_prim.Scene.PhysicsLogging.Write(msg, args);
if (Prim.PhysicsScene.VehicleLoggingEnabled)
Prim.PhysicsScene.PhysicsLogging.Write(msg, args);
}
}
}

6
OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs
View File

@ -1,4 +1,4 @@
/*
/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
@ -34,6 +34,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
class BSHingeConstraint : BSConstraint
{
public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } }
public BSHingeConstraint(BulletSim world, BulletBody obj1, BulletBody obj2,
Vector3 pivotInA, Vector3 pivotInB,
Vector3 axisInA, Vector3 axisInB,
@ -43,7 +45,7 @@ class BSHingeConstraint : BSConstraint
m_body1 = obj1;
m_body2 = obj2;
m_constraint = new BulletConstraint(
BulletSimAPI.CreateHingeConstraint2(m_world.Ptr, m_body1.Ptr, m_body2.Ptr,
BulletSimAPI.CreateHingeConstraint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
pivotInA, pivotInB,
axisInA, axisInB,
useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));

370
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
View File

@ -36,17 +36,24 @@ public class BSLinkset
{
private static string LogHeader = "[BULLETSIM LINKSET]";
private BSPhysObject m_linksetRoot;
public BSPhysObject LinksetRoot { get { return m_linksetRoot; } }
public BSPhysObject LinksetRoot { get; protected set; }
private BSScene m_physicsScene;
public BSScene PhysicsScene { get { return m_physicsScene; } }
public BSScene PhysicsScene { get; private set; }
static int m_nextLinksetID = 1;
public int LinksetID { get; private set; }
// The children under the root in this linkset
// The children under the root in this linkset.
// There are two lists of children: the current children at runtime
// and the children at taint-time. For instance, if you delink a
// child from the linkset, the child is removed from m_children
// but the constraint won't be removed until taint time.
// Two lists lets this track the 'current' children and
// the physical 'taint' children separately.
// After taint processing and before the simulation step, these
// two lists must be the same.
private List<BSPhysObject> m_children;
private List<BSPhysObject> m_taintChildren;
// We lock the diddling of linkset classes to prevent any badness.
// This locks the modification of the instances of this class. Changes
@ -79,21 +86,25 @@ public class BSLinkset
// A simple linkset of one (no children)
LinksetID = m_nextLinksetID++;
// We create LOTS of linksets.
if (m_nextLinksetID < 0)
if (m_nextLinksetID <= 0)
m_nextLinksetID = 1;
m_physicsScene = scene;
m_linksetRoot = parent;
PhysicsScene = scene;
LinksetRoot = parent;
m_children = new List<BSPhysObject>();
m_taintChildren = new List<BSPhysObject>();
m_mass = parent.MassRaw;
}
// Link to a linkset where the child knows the parent.
// Parent changing should not happen so do some sanity checking.
// We return the parent's linkset so the child can track its membership.
// Called at runtime.
public BSLinkset AddMeToLinkset(BSPhysObject child)
{
lock (m_linksetActivityLock)
{
// Don't add the root to its own linkset
if (!IsRoot(child))
AddChildToLinkset(child);
}
return this;
@ -102,27 +113,19 @@ public class BSLinkset
// Remove a child from a linkset.
// Returns a new linkset for the child which is a linkset of one (just the
// orphened child).
// Called at runtime.
public BSLinkset RemoveMeFromLinkset(BSPhysObject child)
{
lock (m_linksetActivityLock)
{
if (IsRoot(child))
{
// if root of linkset, take the linkset apart
while (m_children.Count > 0)
{
// Note that we don't do a foreach because the remove routine
// takes it out of the list.
RemoveChildFromOtherLinkset(m_children[0]);
// Cannot remove the root from a linkset.
return this;
}
m_children.Clear(); // just to make sure
}
else
{
// Just removing a child from an existing linkset
RemoveChildFromLinkset(child);
}
}
// The child is down to a linkset of just itself
return new BSLinkset(PhysicsScene, child);
@ -131,7 +134,7 @@ public class BSLinkset
// Return 'true' if the passed object is the root object of this linkset
public bool IsRoot(BSPhysObject requestor)
{
return (requestor.LocalID == m_linksetRoot.LocalID);
return (requestor.LocalID == LinksetRoot.LocalID);
}
public int NumberOfChildren { get { return m_children.Count; } }
@ -157,51 +160,6 @@ public class BSLinkset
return ret;
}
private float ComputeLinksetMass()
{
float mass = m_linksetRoot.MassRaw;
foreach (BSPhysObject bp in m_children)
{
mass += bp.MassRaw;
}
return mass;
}
private OMV.Vector3 ComputeLinksetCenterOfMass()
{
OMV.Vector3 com = m_linksetRoot.Position * m_linksetRoot.MassRaw;
float totalMass = m_linksetRoot.MassRaw;
lock (m_linksetActivityLock)
{
foreach (BSPhysObject bp in m_children)
{
com += bp.Position * bp.MassRaw;
totalMass += bp.MassRaw;
}
if (totalMass != 0f)
com /= totalMass;
}
return com;
}
private OMV.Vector3 ComputeLinksetGeometricCenter()
{
OMV.Vector3 com = m_linksetRoot.Position;
lock (m_linksetActivityLock)
{
foreach (BSPhysObject bp in m_children)
{
com += bp.Position * bp.MassRaw;
}
com /= (m_children.Count + 1);
}
return com;
}
// The object is going dynamic (physical). Do any setup necessary
// for a dynamic linkset.
// Only the state of the passed object can be modified. The rest of the linkset
@ -210,8 +168,8 @@ public class BSLinkset
// Called at taint-time!
public bool MakeDynamic(BSPhysObject child)
{
bool ret = false;
return ret;
// What is done for each object in BSPrim is what we want.
return false;
}
// The object is going static (non-physical). Do any setup necessary
@ -226,6 +184,7 @@ public class BSLinkset
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
// Called at runtime.
public void Refresh(BSPhysObject requestor)
{
// If there are no children, there can't be any constraints to recompute
@ -242,58 +201,125 @@ public class BSLinkset
}
}
// Call each of the constraints that make up this linkset and recompute the
// various transforms and variables. Used when objects are added or removed
// from a linkset to make sure the constraints know about the new mass and
// geometry.
// Must only be called at taint time!!
private void RecomputeLinksetConstraintVariables()
// Routine used when rebuilding the body of the root of the linkset
// Destroy all the constraints have have been made to root.
// This is called when the root body is changing.
// Returns 'true' of something eas actually removed and would need restoring
// Called at taint-time!!
public bool RemoveBodyDependencies(BSPrim child)
{
float linksetMass = LinksetMass;
bool ret = false;
lock (m_linksetActivityLock)
{
bool somethingMissing = false;
foreach (BSPhysObject child in m_children)
if (IsRoot(child))
{
BSConstraint constrain;
if (m_physicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
// If the one with the dependency is root, must undo all children
DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},numChild={2}",
child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
foreach (BSPhysObject bpo in m_taintChildren)
{
// DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}",
// LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
constrain.RecomputeConstraintVariables(linksetMass);
PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody);
ret = true;
}
}
else
{
// Non-fatal error that happens when children are being added to the linkset but
// their constraints have not been created yet.
// Caused by the fact that m_children is built at run time but building constraints
// happens at taint time.
somethingMissing = true;
break;
DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
child.LocalID,
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
child.LocalID, child.BSBody.ptr.ToString("X"));
// Remove the dependency on the body of this one
if (m_taintChildren.Contains(child))
{
PhysicallyUnlinkAChildFromRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody);
ret = true;
}
}
}
return ret;
}
// Routine used when rebuilding the body of the root of the linkset
// This is called after RemoveAllLinksToRoot() to restore all the constraints.
// This is called when the root body has been changed.
// Called at taint-time!!
public void RestoreBodyDependencies(BSPrim child)
{
lock (m_linksetActivityLock)
{
if (IsRoot(child))
{
DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}",
child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
foreach (BSPhysObject bpo in m_taintChildren)
{
PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, bpo, bpo.BSBody);
}
}
else
{
DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
LinksetRoot.LocalID,
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
child.LocalID, child.BSBody.ptr.ToString("X"));
PhysicallyLinkAChildToRoot(LinksetRoot, LinksetRoot.BSBody, child, child.BSBody);
}
}
}
// If the whole linkset is not here, doesn't make sense to recompute linkset wide values
if (!somethingMissing)
// ================================================================
// Below this point is internal magic
private float ComputeLinksetMass()
{
// If this is a multiple object linkset, set everybody's center of mass to the set's center of mass
OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity);
foreach (BSPhysObject child in m_children)
float mass;
lock (m_linksetActivityLock)
{
BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity);
}
/*
// The root prim takes on the weight of the whole linkset
OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(LinksetRoot.BSShape.Ptr, linksetMass);
BulletSimAPI.SetMassProps2(LinksetRoot.BSBody.Ptr, linksetMass, inertia);
OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.Ptr, centerOfMass, OMV.Quaternion.Identity);
BulletSimAPI.UpdateInertiaTensor2(LinksetRoot.BSBody.Ptr);
*/
mass = LinksetRoot.MassRaw;
foreach (BSPhysObject bp in m_taintChildren)
{
mass += bp.MassRaw;
}
}
return;
return mass;
}
private OMV.Vector3 ComputeLinksetCenterOfMass()
{
OMV.Vector3 com;
lock (m_linksetActivityLock)
{
com = LinksetRoot.Position * LinksetRoot.MassRaw;
float totalMass = LinksetRoot.MassRaw;
foreach (BSPhysObject bp in m_taintChildren)
{
com += bp.Position * bp.MassRaw;
totalMass += bp.MassRaw;
}
if (totalMass != 0f)
com /= totalMass;
}
return com;
}
private OMV.Vector3 ComputeLinksetGeometricCenter()
{
OMV.Vector3 com;
lock (m_linksetActivityLock)
{
com = LinksetRoot.Position;
foreach (BSPhysObject bp in m_taintChildren)
{
com += bp.Position * bp.MassRaw;
}
com /= (m_taintChildren.Count + 1);
}
return com;
}
// I am the root of a linkset and a new child is being added
@ -304,12 +330,22 @@ public class BSLinkset
{
m_children.Add(child);
BSPhysObject rootx = LinksetRoot; // capture the root as of now
BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
BulletBody rootBodyx = LinksetRoot.BSBody;
BSPhysObject childx = child;
m_physicsScene.TaintedObject("AddChildToLinkset", delegate()
BulletBody childBodyx = child.BSBody;
DetailLog("{0},AddChildToLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
rootx.LocalID,
rootx.LocalID, rootBodyx.ptr.ToString("X"),
childx.LocalID, childBodyx.ptr.ToString("X"));
PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
{
DetailLog("{0},AddChildToLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
PhysicallyLinkAChildToRoot(rootx, childx); // build the physical binding between me and the child
DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID);
// build the physical binding between me and the child
m_taintChildren.Add(childx);
PhysicallyLinkAChildToRoot(rootx, rootBodyx, childx, childBodyx);
});
}
return;
@ -319,10 +355,10 @@ public class BSLinkset
// This is not being called by the child so we have to make sure the child doesn't think
// it's still connected to the linkset.
// Normal OpenSimulator operation will never do this because other SceneObjectPart information
// has to be updated also (like pointer to prim's parent).
// also has to be updated (like pointer to prim's parent).
private void RemoveChildFromOtherLinkset(BSPhysObject pchild)
{
pchild.Linkset = new BSLinkset(m_physicsScene, pchild);
pchild.Linkset = new BSLinkset(PhysicsScene, pchild);
RemoveChildFromLinkset(pchild);
}
@ -332,13 +368,22 @@ public class BSLinkset
{
if (m_children.Remove(child))
{
BSPhysObject rootx = LinksetRoot; // capture the root as of now
BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
BulletBody rootBodyx = LinksetRoot.BSBody;
BSPhysObject childx = child;
m_physicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
{
DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", m_linksetRoot.LocalID, child.LocalID);
BulletBody childBodyx = child.BSBody;
PhysicallyUnlinkAChildFromRoot(rootx, childx);
DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
childx.LocalID,
rootx.LocalID, rootBodyx.ptr.ToString("X"),
childx.LocalID, childBodyx.ptr.ToString("X"));
PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
{
if (m_taintChildren.Contains(childx))
m_taintChildren.Remove(childx);
PhysicallyUnlinkAChildFromRoot(rootx, rootBodyx, childx, childBodyx);
RecomputeLinksetConstraintVariables();
});
@ -353,7 +398,8 @@ public class BSLinkset
// Create a constraint between me (root of linkset) and the passed prim (the child).
// Called at taint time!
private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BulletBody rootBody,
BSPhysObject childPrim, BulletBody childBody)
{
// Zero motion for children so they don't interpolate
childPrim.ZeroMotion();
@ -365,18 +411,36 @@ public class BSLinkset
// real world coordinate of midpoint between the two objects
OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
rootPrim.LocalID,
rootPrim.LocalID, rootBody.ptr.ToString("X"),
childPrim.LocalID, childBody.ptr.ToString("X"),
rootPrim.Position, childPrim.Position, midPoint);
// create a constraint that allows no freedom of movement between the two objects
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}",
rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint);
// There is great subtlty in these paramters. Notice the check for a ptr of zero.
// We pass the BulletBody structure into the taint in order to capture the pointer
// of the body at the time of constraint creation. This doesn't work for the very first
// construction because there is no body yet. The body
// is constructed later at taint time. Thus we use the body address at time of the
// taint creation but, if it is zero, use what's in the prim at the moment.
// There is a possible race condition since shape can change without a taint call
// (like changing to a mesh that is already constructed). The fix for that would be
// to only change BSShape at taint time thus syncronizing these operations at
// the cost of efficiency and lag.
BS6DofConstraint constrain = new BS6DofConstraint(
m_physicsScene.World, rootPrim.BSBody, childPrim.BSBody,
PhysicsScene.World,
rootBody.ptr == IntPtr.Zero ? rootPrim.BSBody : rootBody,
childBody.ptr == IntPtr.Zero ? childPrim.BSBody : childBody,
midPoint,
true,
true
);
/* NOTE: below is an attempt to build constraint with full frame computation, etc.
* Using the midpoint is easier since it lets the Bullet code use the transforms
* Using the midpoint is easier since it lets the Bullet code manipulate the transforms
* of the objects.
* Code left as a warning to future programmers.
// ==================================================================================
@ -408,7 +472,7 @@ public class BSLinkset
// ==================================================================================
*/
m_physicsScene.Constraints.AddConstraint(constrain);
PhysicsScene.Constraints.AddConstraint(constrain);
// zero linear and angular limits makes the objects unable to move in relation to each other
constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
@ -429,31 +493,79 @@ public class BSLinkset
}
// Remove linkage between myself and a particular child
// The root and child bodies are passed in because we need to remove the constraint between
// the bodies that were at unlink time.
// Called at taint time!
private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BulletBody rootBody,
BSPhysObject childPrim, BulletBody childBody)
{
DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
rootPrim.LocalID,
rootPrim.LocalID, rootBody.ptr.ToString("X"),
childPrim.LocalID, childBody.ptr.ToString("X"));
// Find the constraint for this link and get rid of it from the overall collection and from my list
m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody);
PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootBody, childBody);
// Make the child refresh its location
BulletSimAPI.PushUpdate2(childPrim.BSBody.Ptr);
BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr);
}
// Remove linkage between myself and any possible children I might have
/*
// Remove linkage between myself and any possible children I might have.
// Called at taint time!
private void PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
{
DetailLog("{0},PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
m_physicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody);
PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody);
}
*/
// Call each of the constraints that make up this linkset and recompute the
// various transforms and variables. Used when objects are added or removed
// from a linkset to make sure the constraints know about the new mass and
// geometry.
// Must only be called at taint time!!
private void RecomputeLinksetConstraintVariables()
{
float linksetMass = LinksetMass;
foreach (BSPhysObject child in m_taintChildren)
{
BSConstraint constrain;
if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
{
// DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}",
// LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
constrain.RecomputeConstraintVariables(linksetMass);
}
else
{
// Non-fatal error that happens when children are being added to the linkset but
// their constraints have not been created yet.
break;
}
}
// If the whole linkset is not here, doesn't make sense to recompute linkset wide values
if (m_children.Count == m_taintChildren.Count)
{
// If this is a multiple object linkset, set everybody's center of mass to the set's center of mass
OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
foreach (BSPhysObject child in m_taintChildren)
{
BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr, centerOfMass, OMV.Quaternion.Identity);
}
}
return;
}
// Invoke the detailed logger and output something if it's enabled.
private void DetailLog(string msg, params Object[] args)
{
m_physicsScene.PhysicsLogging.Write(msg, args);
PhysicsScene.PhysicsLogging.Write(msg, args);
}
}

161
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
View File

@ -1,4 +1,4 @@
/*
/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
@ -39,26 +39,171 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// unless the difference is significant.
public abstract class BSPhysObject : PhysicsActor
{
public abstract BSLinkset Linkset { get; set; }
protected void BaseInitialize(BSScene parentScene, uint localID, string name, string typeName)
{
PhysicsScene = parentScene;
LocalID = localID;
PhysObjectName = name;
TypeName = typeName;
public abstract bool Collide(uint collidingWith, BSPhysObject collidee,
OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth);
public abstract void SendCollisions();
Linkset = new BSLinkset(PhysicsScene, this);
// Return the object mass without calculating it or side effects
CollisionCollection = new CollisionEventUpdate();
SubscribedEventsMs = 0;
CollidingStep = 0;
CollidingGroundStep = 0;
}
public BSScene PhysicsScene { get; protected set; }
// public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor
public string PhysObjectName { get; protected set; }
public string TypeName { get; protected set; }
public BSLinkset Linkset { get; set; }
// Return the object mass without calculating it or having side effects
public abstract float MassRaw { get; }
// Reference to the physical body (btCollisionObject) of this object
public abstract BulletBody BSBody { get; set; }
public BulletBody BSBody;
// Reference to the physical shape (btCollisionShape) of this object
public abstract BulletShape BSShape { get; set; }
public BulletShape BSShape;
// Stop all physical motion.
public abstract void ZeroMotion();
// Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
public virtual void StepVehicle(float timeStep) { }
// Update the physical location and motion of the object. Called with data from Bullet.
public abstract void UpdateProperties(EntityProperties entprop);
// Tell the object to clean up.
public abstract void Destroy();
#region Collisions
// Requested number of milliseconds between collision events. Zero means disabled.
protected int SubscribedEventsMs { get; set; }
// Given subscription, the time that a collision may be passed up
protected int NextCollisionOkTime { get; set; }
// The simulation step that last had a collision
protected long CollidingStep { get; set; }
// The simulation step that last had a collision with the ground
protected long CollidingGroundStep { get; set; }
// The collision flags we think are set in Bullet
protected CollisionFlags CurrentCollisionFlags { get; set; }
// The collisions that have been collected this tick
protected CollisionEventUpdate CollisionCollection;
// The simulation step is telling this object about a collision.
// Return 'true' if a collision was processed and should be sent up.
// Called at taint time from within the Step() function
public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
{
bool ret = false;
// The following lines make IsColliding() and IsCollidingGround() work
CollidingStep = PhysicsScene.SimulationStep;
if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
{
CollidingGroundStep = PhysicsScene.SimulationStep;
}
// prims in the same linkset cannot collide with each other
if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
{
return ret;
}
// if someone has subscribed for collision events....
if (SubscribedEvents()) {
CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
// DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
// LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
ret = true;
}
return ret;
}
// Routine to 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
// with CollisionCollection and ObjectsWithNoMoreCollisions.
// Return 'true' if there were some actual collisions passed up
public virtual bool SendCollisions()
{
bool ret = true;
// throttle the collisions to the number of milliseconds specified in the subscription
int nowTime = PhysicsScene.SimulationNowTime;
if (nowTime >= NextCollisionOkTime)
{
NextCollisionOkTime = nowTime + SubscribedEventsMs;
// 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.
if (CollisionCollection.Count == 0)
{
// If I have no collisions this time, remove me from the list of objects with collisions.
ret = false;
}
// DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
base.SendCollisionUpdate(CollisionCollection);
// The collisionCollection structure is passed around in the simulator.
// Make sure we don't have a handle to that one and that a new one is used for next time.
CollisionCollection = new CollisionEventUpdate();
}
return ret;
}
// Subscribe for collision events.
// Parameter is the millisecond rate the caller wishes collision events to occur.
public override void SubscribeEvents(int ms) {
// DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
SubscribedEventsMs = ms;
if (ms > 0)
{
// make sure first collision happens
NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
PhysicsScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
{
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
});
}
else
{
// Subscribing for zero or less is the same as unsubscribing
UnSubscribeEvents();
}
}
public override void UnSubscribeEvents() {
// DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
SubscribedEventsMs = 0;
PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
{
CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(BSBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
});
}
// Return 'true' if the simulator wants collision events
public override bool SubscribedEvents() {
return (SubscribedEventsMs > 0);
}
#endregion // Collisions
// High performance detailed logging routine used by the physical objects.
protected void DetailLog(string msg, params Object[] args)
{
PhysicsScene.PhysicsLogging.Write(msg, args);
}
}
}

718
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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File diff suppressed because it is too large Load Diff

103
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -39,20 +39,20 @@ using log4net;
using OpenMetaverse;
// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
// Adjust character capsule size when height is adjusted (ScenePresence.SetHeight)
// Test sculpties
// Move all logic out of the C++ code and into the C# code for easier future modifications.
// Test sculpties (verified that they don't work)
// Compute physics FPS reasonably
// Based on material, set density and friction
// More efficient memory usage when passing hull information from BSPrim to BulletSim
// Move all logic out of the C++ code and into the C# code for easier future modifications.
// Don't use constraints in linksets of non-physical objects. Means having to move children manually.
// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly?
// In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground)
// At the moment, physical and phantom causes object to drop through the terrain
// Physical phantom objects and related typing (collision options )
// Use collision masks for collision with terrain and phantom objects
// Check out llVolumeDetect. Must do something for that.
// Use collision masks for collision with terrain and phantom objects
// More efficient memory usage when passing hull information from BSPrim to BulletSim
// 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
// 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
// Implement LockAngularMotion
// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
@ -73,12 +73,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters
public string BulletSimVersion = "?";
public Dictionary<uint, BSPhysObject> PhysObjects = new Dictionary<uint, BSPhysObject>();
public Dictionary<uint, BSPhysObject> PhysObjects;
public BSShapeCollection Shapes;
private HashSet<BSPhysObject> m_objectsWithCollisions = new HashSet<BSPhysObject>();
// Following is a kludge and can be removed when avatar animation updating is
// moved to a better place.
private HashSet<BSPhysObject> m_avatarsWithCollisions = new HashSet<BSPhysObject>();
// Keeping track of the objects with collisions so we can report begin and end of a collision
public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>();
public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>();
// Keep track of all the avatars so we can send them a collision event
// every tick so OpenSim will update its animation.
private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>();
// List of all the objects that have vehicle properties and should be called
// to update each physics step.
@ -202,6 +205,11 @@ public class BSScene : PhysicsScene, IPhysicsParameters
public override void Initialise(IMesher meshmerizer, IConfigSource config)
{
mesher = meshmerizer;
_taintedObjects = new List<TaintCallbackEntry>();
PhysObjects = new Dictionary<uint, BSPhysObject>();
Shapes = new BSShapeCollection(this);
// Allocate pinned memory to pass parameters.
m_params = new ConfigurationParameters[1];
m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned);
@ -215,9 +223,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
m_updateArrayPinnedHandle = GCHandle.Alloc(m_updateArray, GCHandleType.Pinned);
mesher = meshmerizer;
_taintedObjects = new List<TaintCallbackEntry>();
// Enable very detailed logging.
// By creating an empty logger when not logging, the log message invocation code
// can be left in and every call doesn't have to check for null.
@ -251,7 +256,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// a child in a mega-region.
// Turns out that Bullet really doesn't care about the extents of the simulated
// area. It tracks active objects no matter where they are.
Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, 8192f);
Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
// m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
WorldID = BulletSimAPI.Initialize(worldExtent, m_paramsHandle.AddrOfPinnedObject(),
@ -351,6 +356,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
Constraints = null;
}
if (Shapes != null)
{
Shapes.Dispose();
Shapes = null;
}
// Anything left in the unmanaged code should be cleaned out
BulletSimAPI.Shutdown(WorldID);
@ -379,7 +390,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// TODO: Remove kludge someday.
// We must generate a collision for avatars whether they collide or not.
// This is required by OpenSim to update avatar animations, etc.
lock (m_avatarsWithCollisions) m_avatarsWithCollisions.Add(actor);
lock (m_avatars) m_avatars.Add(actor);
return actor;
}
@ -397,7 +408,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
{
lock (PhysObjects) PhysObjects.Remove(actor.LocalID);
// Remove kludge someday
lock (m_avatarsWithCollisions) m_avatarsWithCollisions.Remove(bsactor);
lock (m_avatars) m_avatars.Remove(bsactor);
}
catch (Exception e)
{
@ -464,6 +475,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
int collidersCount = 0;
IntPtr collidersPtr;
int beforeTime = 0;
int simTime = 0;
// prevent simulation until we've been initialized
if (!m_initialized) return 5.0f;
@ -481,10 +495,14 @@ public class BSScene : PhysicsScene, IPhysicsParameters
int numSubSteps = 0;
try
{
if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
numSubSteps = BulletSimAPI.PhysicsStep(WorldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
DetailLog("{0},Simulate,call, nTaints= {1}, substeps={2}, updates={3}, colliders={4}",
DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
DetailLog("{0},Simulate,call, nTaints={1}, simTime={2}, substeps={3}, updates={4}, colliders={5}",
DetailLogZero, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
}
catch (Exception e)
{
@ -502,12 +520,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// Get a value for 'now' so all the collision and update routines don't have to get their own
SimulationNowTime = Util.EnvironmentTickCount();
// This is a kludge to get avatar movement updates.
// ODE sends 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.
m_objectsWithCollisions = new HashSet<BSPhysObject>(m_avatarsWithCollisions);
// If there were collisions, process them by sending the event to the prim.
// Collisions must be processed before updates.
if (collidersCount > 0)
@ -523,11 +535,34 @@ public class BSScene : PhysicsScene, IPhysicsParameters
}
}
// This is a kludge to get avatar movement updates.
// ODE sends 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.
// Now push the collisions into the simulator.
foreach (BSPhysObject bsp in m_objectsWithCollisions)
bsp.SendCollisions();
m_objectsWithCollisions.Clear();
if (ObjectsWithCollisions.Count > 0)
{
foreach (BSPhysObject bsp in ObjectsWithCollisions)
if (!m_avatars.Contains(bsp)) // don't call avatars twice
if (!bsp.SendCollisions())
{
// If the object is done colliding, see that it's removed from the colliding list
ObjectsWithNoMoreCollisions.Add(bsp);
}
}
// Objects that are done colliding are removed from the ObjectsWithCollisions list.
// This can't be done by SendCollisions because it is inside an iteration of ObjectWithCollisions.
if (ObjectsWithNoMoreCollisions.Count > 0)
{
foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
ObjectsWithCollisions.Remove(po);
ObjectsWithNoMoreCollisions.Clear();
}
// If any of the objects had updated properties, tell the object it has been changed by the physics engine
if (updatedEntityCount > 0)
@ -555,7 +590,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// 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.
// Since Bullet normally does 5 or 6 substeps, this will normally sum to about 60 FPS.
return numSubSteps * m_fixedTimeStep;
return numSubSteps * m_fixedTimeStep * 1000;
}
// Something has collided
@ -570,20 +605,20 @@ public class BSScene : PhysicsScene, IPhysicsParameters
if (!PhysObjects.TryGetValue(localID, out collider))
{
// If the object that is colliding cannot be found, just ignore the collision.
DetailLog("{0},BSScene.SendCollision,colliderNotInObjectList,id={1},with={2}", DetailLogZero, localID, collidingWith);
return;
}
// The terrain is not in the physical object list so 'collidee'
// can be null when Collide() is called.
// The terrain is not in the physical object list so 'collidee' can be null when Collide() is called.
BSPhysObject collidee = null;
PhysObjects.TryGetValue(collidingWith, out collidee);
// DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
{
// If a collision was posted, remember to send it to the simulator
m_objectsWithCollisions.Add(collider);
ObjectsWithCollisions.Add(collider);
}
return;
@ -998,7 +1033,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
(s) => { return s.m_params[0].shouldRandomizeSolverOrder; },
(s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ),
new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
ConfigurationParameters.numericFalse,
ConfigurationParameters.numericTrue,
(s,cf,p,v) => { s.m_params[0].shouldSplitSimulationIslands = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
(s) => { return s.m_params[0].shouldSplitSimulationIslands; },
(s,p,l,v) => { s.m_params[0].shouldSplitSimulationIslands = v; } ),

735
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs Executable file
View File

@ -0,0 +1,735 @@
/*
* 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 copyrightD
* 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 OpenSimulator 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 System.Text;
using OMV = OpenMetaverse;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
using OpenSim.Region.Physics.ConvexDecompositionDotNet;
namespace OpenSim.Region.Physics.BulletSPlugin
{
public class BSShapeCollection : IDisposable
{
private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]";
protected BSScene PhysicsScene { get; set; }
private Object m_collectionActivityLock = new Object();
// Description of a Mesh
private struct MeshDesc
{
public IntPtr ptr;
public int referenceCount;
public DateTime lastReferenced;
}
// Description of a hull.
// Meshes and hulls have the same shape hash key but we only need hulls for efficient physical objects
private struct HullDesc
{
public IntPtr ptr;
public int referenceCount;
public DateTime lastReferenced;
}
private struct BodyDesc
{
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<ulong, MeshDesc> Meshes = new Dictionary<ulong, MeshDesc>();
private Dictionary<ulong, HullDesc> Hulls = new Dictionary<ulong, HullDesc>();
private Dictionary<uint, BodyDesc> Bodies = new Dictionary<uint, BodyDesc>();
public BSShapeCollection(BSScene physScene)
{
PhysicsScene = physScene;
}
public void Dispose()
{
// TODO!!!!!!!!!
}
// Callbacks called just before either the body or shape is destroyed.
// Mostly used for changing bodies out from under Linksets.
// Useful for other cases where parameters need saving.
// Passing 'null' says no callback.
public delegate void ShapeDestructionCallback(BulletShape shape);
public delegate void BodyDestructionCallback(BulletBody body);
// Called to update/change the body and shape for an object.
// First checks the shape and updates that if necessary then makes
// sure the body is of the right type.
// Return 'true' if either the body or the shape changed.
// Called at taint-time!!
public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPrim prim,
ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
{
bool ret = false;
// This lock could probably be pushed down lower but building shouldn't take long
lock (m_collectionActivityLock)
{
// Do we have the correct geometry for this type of object?
// Updates prim.BSShape with information/pointers to requested shape
bool newGeom = CreateGeom(forceRebuild, prim, shapeData, pbs, shapeCallback);
// If we had to select a new shape geometry for the object,
// rebuild the body around it.
// Updates prim.BSBody with information/pointers to requested body
bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, prim.BSShape, shapeData, bodyCallback);
ret = newGeom || newBody;
}
DetailLog("{0},BSShapeCollection.GetBodyAndShape,force={1},ret={2},body={3},shape={4}",
prim.LocalID, forceRebuild, ret, prim.BSBody, prim.BSShape);
return ret;
}
// Track another user of a body
// We presume the caller has allocated the body.
// Bodies only have one user so the reference count is either 1 or 0.
public void ReferenceBody(BulletBody body, bool atTaintTime)
{
lock (m_collectionActivityLock)
{
BodyDesc bodyDesc;
if (Bodies.TryGetValue(body.ID, out bodyDesc))
{
bodyDesc.referenceCount++;
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={1}", body.ID, body, bodyDesc.referenceCount);
}
bodyDesc.lastReferenced = System.DateTime.Now;
Bodies[body.ID] = bodyDesc;
}
}
// Release the usage of a body.
// Called when releasing use of a BSBody. BSShape is handled separately.
public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback )
{
if (body.ptr == IntPtr.Zero)
return;
lock (m_collectionActivityLock)
{
BodyDesc bodyDesc;
if (Bodies.TryGetValue(body.ID, out bodyDesc))
{
bodyDesc.referenceCount--;
bodyDesc.lastReferenced = System.DateTime.Now;
Bodies[body.ID] = bodyDesc;
DetailLog("{0},BSShapeCollection.DereferenceBody,ref={1}", body.ID, bodyDesc.referenceCount);
// If body is no longer being used, free it -- bodies are never shared.
if (bodyDesc.referenceCount == 0)
{
Bodies.Remove(body.ID);
BSScene.TaintCallback removeOperation = delegate()
{
DetailLog("{0},BSShapeCollection.DereferenceBody,DestroyingBody. ptr={1}",
body.ID, body.ptr.ToString("X"));
// If the caller needs to know, pass the event up.
if (bodyCallback != null) bodyCallback(body);
// 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);
// It may have already been removed from the world in which case the next is a NOOP.
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, body.ptr);
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, body.ptr);
};
// If already in taint-time, do the operations now. Otherwise queue for later.
if (inTaintTime)
removeOperation();
else
PhysicsScene.TaintedObject("BSShapeCollection.DereferenceBody", removeOperation);
}
}
else
{
DetailLog("{0},BSShapeCollection.DereferenceBody,DID NOT FIND BODY", body.ID, bodyDesc.referenceCount);
}
}
}
// Track the datastructures and use count for a shape.
// When creating a hull, this is called first to reference the mesh
// and then again to reference the hull.
// Meshes and hulls for the same shape have the same hash key.
// NOTE that native shapes are not added to the mesh list or removed.
// Returns 'true' if this is the initial reference to the shape. Otherwise reused.
private bool ReferenceShape(BulletShape shape)
{
bool ret = false;
switch (shape.type)
{
case ShapeData.PhysicsShapeType.SHAPE_MESH:
MeshDesc meshDesc;
if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
{
// There is an existing instance of this mesh.
meshDesc.referenceCount++;
DetailLog("{0},BSShapeColliction.ReferenceShape,existingMesh,key={1},cnt={2}",
BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
}
else
{
// This is a new reference to a mesh
meshDesc.ptr = shape.ptr;
// We keep a reference to the underlying IMesh data so a hull can be built
meshDesc.referenceCount = 1;
DetailLog("{0},BSShapeColliction.ReferenceShape,newMesh,key={1},cnt={2}",
BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
ret = true;
}
meshDesc.lastReferenced = System.DateTime.Now;
Meshes[shape.shapeKey] = meshDesc;
break;
case ShapeData.PhysicsShapeType.SHAPE_HULL:
HullDesc hullDesc;
if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
{
// There is an existing instance of this hull.
hullDesc.referenceCount++;
DetailLog("{0},BSShapeColliction.ReferenceShape,existingHull,key={1},cnt={2}",
BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
}
else
{
// This is a new reference to a hull
hullDesc.ptr = shape.ptr;
hullDesc.referenceCount = 1;
DetailLog("{0},BSShapeColliction.ReferenceShape,newHull,key={1},cnt={2}",
BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
ret = true;
}
hullDesc.lastReferenced = System.DateTime.Now;
Hulls[shape.shapeKey] = hullDesc;
break;
case ShapeData.PhysicsShapeType.SHAPE_UNKNOWN:
break;
default:
// Native shapes are not tracked and they don't go into any list
break;
}
return ret;
}
// 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 atTaintTime, ShapeDestructionCallback shapeCallback)
{
if (shape.ptr == IntPtr.Zero)
return;
BSScene.TaintCallback dereferenceOperation = delegate()
{
switch (shape.type)
{
case ShapeData.PhysicsShapeType.SHAPE_HULL:
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
if (shape.ptr != IntPtr.Zero & shape.isNativeShape)
{
DetailLog("{0},BSShapeCollection.DereferenceShape,deleteNativeShape,ptr={1},taintTime={2}",
BSScene.DetailLogZero, shape.ptr.ToString("X"), atTaintTime);
if (shapeCallback != null) shapeCallback(shape);
BulletSimAPI.DeleteCollisionShape2(PhysicsScene.World.ptr, shape.ptr);
}
break;
}
};
if (atTaintTime)
{
lock (m_collectionActivityLock)
{
dereferenceOperation();
}
}
else
{
PhysicsScene.TaintedObject("BSShapeCollection.DereferenceShape", dereferenceOperation);
}
}
// Count down the reference count for a mesh shape
// Called at taint-time.
private void DereferenceMesh(BulletShape shape, ShapeDestructionCallback shapeCallback)
{
MeshDesc meshDesc;
if (Meshes.TryGetValue(shape.shapeKey, out meshDesc))
{
meshDesc.referenceCount--;
// TODO: release the Bullet storage
if (shapeCallback != null) shapeCallback(shape);
meshDesc.lastReferenced = System.DateTime.Now;
Meshes[shape.shapeKey] = meshDesc;
DetailLog("{0},BSShapeCollection.DereferenceMesh,key={1},refCnt={2}",
BSScene.DetailLogZero, shape.shapeKey.ToString("X"), meshDesc.referenceCount);
}
}
// Count down the reference count for a hull shape
// Called at taint-time.
private void DereferenceHull(BulletShape shape, ShapeDestructionCallback shapeCallback)
{
HullDesc hullDesc;
if (Hulls.TryGetValue(shape.shapeKey, out hullDesc))
{
hullDesc.referenceCount--;
// TODO: release the Bullet storage (aging old entries?)
if (shapeCallback != null) shapeCallback(shape);
hullDesc.lastReferenced = System.DateTime.Now;
Hulls[shape.shapeKey] = hullDesc;
DetailLog("{0},BSShapeCollection.DereferenceHull,key={1},refCnt={2}",
BSScene.DetailLogZero, shape.shapeKey.ToString("X"), hullDesc.referenceCount);
}
}
// Create the geometry information in Bullet for later use.
// 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 rebuilt. Otherwise a previously built version is used.
// Returns 'true' if the geometry was rebuilt.
// Called at taint-time!
private bool CreateGeom(bool forceRebuild, BSPrim prim, ShapeData shapeData,
PrimitiveBaseShape pbs, ShapeDestructionCallback shapeCallback)
{
bool ret = false;
bool haveShape = false;
bool nativeShapePossible = true;
// If the prim attributes are simple, this could be a simple Bullet native shape
if (nativeShapePossible
&& ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim)
|| (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
&& pbs.ProfileHollow == 0
&& pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
&& pbs.PathBegin == 0 && pbs.PathEnd == 0
&& pbs.PathTaperX == 0 && pbs.PathTaperY == 0
&& pbs.PathScaleX == 100 && pbs.PathScaleY == 100
&& pbs.PathShearX == 0 && pbs.PathShearY == 0) ) )
{
if (pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1)
{
haveShape = true;
if (forceRebuild
|| prim.Scale != shapeData.Size
|| prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_SPHERE
)
{
ret = GetReferenceToNativeShape(prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_SPHERE,
ShapeData.FixedShapeKey.KEY_SPHERE, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
prim.LocalID, forceRebuild, prim.BSShape);
}
}
else
{
haveShape = true;
if (forceRebuild
|| prim.Scale != shapeData.Size
|| prim.BSShape.type != ShapeData.PhysicsShapeType.SHAPE_BOX
)
{
ret = GetReferenceToNativeShape( prim, shapeData, ShapeData.PhysicsShapeType.SHAPE_BOX,
ShapeData.FixedShapeKey.KEY_BOX, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
prim.LocalID, forceRebuild, prim.BSShape);
}
}
}
// 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
// made. Native shapes are best used in either case.
if (!haveShape)
{
if (prim.IsPhysical)
{
// Update prim.BSShape to reference a hull of this shape.
ret = GetReferenceToHull(prim, shapeData, pbs, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1},key={2}",
shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
}
else
{
ret = GetReferenceToMesh(prim, shapeData, pbs, shapeCallback);
DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1},key={2}",
shapeData.ID, prim.BSShape, prim.BSShape.shapeKey.ToString("X"));
}
}
return ret;
}
// Creates a native shape and assignes it to prim.BSShape
private bool GetReferenceToNativeShape( BSPrim prim, ShapeData shapeData,
ShapeData.PhysicsShapeType shapeType, ShapeData.FixedShapeKey shapeKey,
ShapeDestructionCallback shapeCallback)
{
BulletShape newShape;
shapeData.Type = shapeType;
// Bullet native objects are scaled by the Bullet engine so pass the size in
prim.Scale = shapeData.Size;
shapeData.Scale = shapeData.Size;
// release any previous shape
DereferenceShape(prim.BSShape, true, shapeCallback);
// Native shapes are always built independently.
newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, shapeData), shapeType);
newShape.shapeKey = (ulong)shapeKey;
newShape.isNativeShape = true;
// Don't need to do a 'ReferenceShape()' here because native shapes are not tracked.
// DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape);
prim.BSShape = newShape;
return true;
}
// 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.
// Returns 'true' of a mesh was actually built. Otherwise .
// Called at taint-time!
private bool GetReferenceToMesh(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback)
{
BulletShape newShape = new BulletShape(IntPtr.Zero);
float lod;
ulong newMeshKey = ComputeShapeKey(shapeData, pbs, out lod);
// if this new shape is the same as last time, don't recreate the mesh
if (prim.BSShape.shapeKey == newMeshKey) return false;
DetailLog("{0},BSShapeCollection.CreateGeomMesh,create,oldKey={1},newKey={2}",
prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newMeshKey.ToString("X"));
// Since we're recreating new, get rid of the reference to the previous shape
DereferenceShape(prim.BSShape, true, shapeCallback);
newShape = CreatePhysicalMesh(prim.PhysObjectName, newMeshKey, pbs, shapeData.Size, lod);
ReferenceShape(newShape);
// meshes are already scaled by the meshmerizer
prim.Scale = new OMV.Vector3(1f, 1f, 1f);
prim.BSShape = newShape;
return true; // 'true' means a new shape has been added to this prim
}
private BulletShape CreatePhysicalMesh(string objName, ulong newMeshKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{
IMesh meshData = null;
IntPtr meshPtr;
MeshDesc meshDesc;
if (Meshes.TryGetValue(newMeshKey, out meshDesc))
{
// If the mesh has already been built just use it.
meshPtr = meshDesc.ptr;
}
else
{
// 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);
int[] indices = meshData.getIndexListAsInt();
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;
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);
}
BulletShape newShape = new BulletShape(meshPtr, ShapeData.PhysicsShapeType.SHAPE_MESH);
newShape.shapeKey = newMeshKey;
return newShape;
}
// See that hull shape exists in the physical world and update prim.BSShape.
// We could be creating the hull because scale changed or whatever.
private bool GetReferenceToHull(BSPrim prim, ShapeData shapeData, PrimitiveBaseShape pbs,
ShapeDestructionCallback shapeCallback)
{
BulletShape newShape;
float lod;
ulong newHullKey = ComputeShapeKey(shapeData, pbs, out lod);
// if the hull hasn't changed, don't rebuild it
if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL)
return false;
DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}",
prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
// Remove usage of the previous shape. Also removes reference to underlying mesh if it is a hull.
DereferenceShape(prim.BSShape, true, shapeCallback);
newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
ReferenceShape(newShape);
// hulls are already scaled by the meshmerizer
prim.Scale = new OMV.Vector3(1f, 1f, 1f);
prim.BSShape = newShape;
return true; // 'true' means a new shape has been added to this prim
}
List<ConvexResult> m_hulls;
private BulletShape CreatePhysicalHull(string objName, ulong newHullKey, PrimitiveBaseShape pbs, OMV.Vector3 size, float lod)
{
IntPtr hullPtr;
HullDesc hullDesc;
if (Hulls.TryGetValue(newHullKey, out hullDesc))
{
// If the hull shape already is created, just use it.
hullPtr = hullDesc.ptr;
}
else
{
// 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
IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
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
m_hulls = new List<ConvexResult>();
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.
// 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)
{
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;
}
// 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);
}
BulletShape newShape = new BulletShape(hullPtr, ShapeData.PhysicsShapeType.SHAPE_HULL);
newShape.shapeKey = newHullKey;
return newShape; // 'true' means a new shape has been added to this prim
}
// Callback from convex hull creater with a newly created hull.
// Just add it to our collection of hulls for this shape.
private void HullReturn(ConvexResult result)
{
m_hulls.Add(result);
return;
}
// Create a hash of all the shape parameters to be used as a key
// for this particular shape.
private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs, out float retLod)
{
// level of detail based on size and type of the object
float lod = PhysicsScene.MeshLOD;
if (pbs.SculptEntry)
lod = PhysicsScene.SculptLOD;
float maxAxis = Math.Max(shapeData.Size.X, Math.Max(shapeData.Size.Y, shapeData.Size.Z));
if (maxAxis > PhysicsScene.MeshMegaPrimThreshold)
lod = PhysicsScene.MeshMegaPrimLOD;
retLod = lod;
return (ulong)pbs.GetMeshKey(shapeData.Size, lod);
}
// For those who don't want the LOD
private ulong ComputeShapeKey(ShapeData shapeData, PrimitiveBaseShape pbs)
{
float lod;
return ComputeShapeKey(shapeData, pbs, out lod);
}
// Create a body object in Bullet.
// Updates prim.BSBody with the information about the new body if one is created.
// Returns 'true' if an object was actually created.
// Called at taint-time.
private bool CreateBody(bool forceRebuild, BSPrim prim, BulletSim sim, BulletShape shape,
ShapeData shapeData, BodyDestructionCallback bodyCallback)
{
bool ret = false;
// the mesh, hull or native shape must have already been created in Bullet
bool mustRebuild = (prim.BSBody.ptr == IntPtr.Zero);
// If there is an existing body, verify it's of an acceptable type.
// If not a solid object, body is a GhostObject. Otherwise a RigidBody.
if (!mustRebuild)
{
CollisionObjectTypes bodyType = (CollisionObjectTypes)BulletSimAPI.GetBodyType2(prim.BSBody.ptr);
if (prim.IsSolid && bodyType != CollisionObjectTypes.CO_RIGID_BODY
|| !prim.IsSolid && bodyType != CollisionObjectTypes.CO_GHOST_OBJECT)
{
// If the collisionObject is not the correct type for solidness, rebuild what's there
mustRebuild = true;
}
}
if (mustRebuild || forceRebuild)
{
DereferenceBody(prim.BSBody, true, bodyCallback);
BulletBody aBody;
IntPtr bodyPtr = IntPtr.Zero;
if (prim.IsSolid)
{
bodyPtr = BulletSimAPI.CreateBodyFromShape2(sim.ptr, shape.ptr,
shapeData.ID, shapeData.Position, shapeData.Rotation);
// DetailLog("{0},BSShapeCollection.CreateBody,mesh,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
}
else
{
bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr,
shapeData.ID, shapeData.Position, shapeData.Rotation);
// DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X"));
}
aBody = new BulletBody(shapeData.ID, bodyPtr);
ReferenceBody(aBody, true);
prim.BSBody = aBody;
ret = true;
}
return ret;
}
private void DetailLog(string msg, params Object[] args)
{
PhysicsScene.PhysicsLogging.Write(msg, args);
}
}
}

113
OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
View File

@ -57,10 +57,10 @@ public class BSTerrainManager
public const float TERRAIN_COLLISION_MARGIN = 0.0f;
// Until the whole simulator is changed to pass us the region size, we rely on constants.
public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, 0f);
public Vector3 DefaultRegionSize = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight);
// The scene that I am part of
private BSScene m_physicsScene;
private BSScene PhysicsScene { get; set; }
// The ground plane created to keep thing from falling to infinity.
private BulletBody m_groundPlane;
@ -84,18 +84,18 @@ public class BSTerrainManager
// If the parent region (region 0), this is the extent of the combined regions
// relative to the origin of region zero
private Vector3 m_worldMax;
private PhysicsScene m_parentScene;
private PhysicsScene MegaRegionParentPhysicsScene { get; set; }
public BSTerrainManager(BSScene physicsScene)
{
m_physicsScene = physicsScene;
PhysicsScene = physicsScene;
m_heightMaps = new Dictionary<Vector2,BulletHeightMapInfo>();
m_terrainModified = false;
// Assume one region of default size
m_worldOffset = Vector3.Zero;
m_worldMax = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, 4096f);
m_parentScene = null;
m_worldMax = new Vector3(DefaultRegionSize);
MegaRegionParentPhysicsScene = null;
}
// Create the initial instance of terrain and the underlying ground plane.
@ -107,10 +107,16 @@ public class BSTerrainManager
public void CreateInitialGroundPlaneAndTerrain()
{
// The ground plane is here to catch things that are trying to drop to negative infinity
BulletShape groundPlaneShape = new BulletShape(BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN));
BulletShape groundPlaneShape = new BulletShape(
BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, TERRAIN_COLLISION_MARGIN),
ShapeData.PhysicsShapeType.SHAPE_GROUNDPLANE);
m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.Ptr, Vector3.Zero, Quaternion.Identity));
BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr);
BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
Vector3.Zero, Quaternion.Identity));
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr);
// Everything collides with the ground plane.
BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr,
(uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask);
Vector3 minTerrainCoords = new Vector3(0f, 0f, HEIGHT_INITIALIZATION - HEIGHT_EQUAL_FUDGE);
Vector3 maxTerrainCoords = new Vector3(DefaultRegionSize.X, DefaultRegionSize.Y, HEIGHT_INITIALIZATION);
@ -126,13 +132,13 @@ public class BSTerrainManager
// Release all the terrain structures we might have allocated
public void ReleaseGroundPlaneAndTerrain()
{
if (m_groundPlane.Ptr != IntPtr.Zero)
if (m_groundPlane.ptr != IntPtr.Zero)
{
if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, m_groundPlane.Ptr))
if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr))
{
BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, m_groundPlane.Ptr);
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr);
}
m_groundPlane.Ptr = IntPtr.Zero;
m_groundPlane.ptr = IntPtr.Zero;
}
ReleaseTerrain();
@ -143,9 +149,9 @@ public class BSTerrainManager
{
foreach (KeyValuePair<Vector2, BulletHeightMapInfo> kvp in m_heightMaps)
{
if (BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, kvp.Value.terrainBody.Ptr))
if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr))
{
BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, kvp.Value.terrainBody.Ptr);
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, kvp.Value.terrainBody.ptr);
BulletSimAPI.ReleaseHeightMapInfo2(kvp.Value.Ptr);
}
}
@ -155,19 +161,19 @@ public class BSTerrainManager
// The simulator wants to set a new heightmap for the terrain.
public void SetTerrain(float[] heightMap) {
float[] localHeightMap = heightMap;
m_physicsScene.TaintedObject("TerrainManager.SetTerrain", delegate()
PhysicsScene.TaintedObject("TerrainManager.SetTerrain", delegate()
{
if (m_worldOffset != Vector3.Zero && m_parentScene != null)
if (m_worldOffset != Vector3.Zero && MegaRegionParentPhysicsScene != null)
{
// If a child of a mega-region, we shouldn't have any terrain allocated for us
ReleaseGroundPlaneAndTerrain();
// If doing the mega-prim stuff and we are the child of the zero region,
// the terrain is added to our parent
if (m_parentScene is BSScene)
if (MegaRegionParentPhysicsScene is BSScene)
{
DetailLog("{0},SetTerrain.ToParent,offset={1},worldMax={2}",
BSScene.DetailLogZero, m_worldOffset, m_worldMax);
((BSScene)m_parentScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID,
((BSScene)MegaRegionParentPhysicsScene).TerrainManager.UpdateOrCreateTerrain(BSScene.CHILDTERRAIN_ID,
localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true);
}
}
@ -176,7 +182,8 @@ public class BSTerrainManager
// If not doing the mega-prim thing, just change the terrain
DetailLog("{0},SetTerrain.Existing", BSScene.DetailLogZero);
UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap, m_worldOffset, m_worldOffset + DefaultRegionSize, true);
UpdateOrCreateTerrain(BSScene.TERRAIN_ID, localHeightMap,
m_worldOffset, m_worldOffset + DefaultRegionSize, true);
}
});
}
@ -194,10 +201,10 @@ public class BSTerrainManager
// The 'doNow' boolean says whether to do all the unmanaged activities right now (like when
// calling this routine from initialization or taint-time routines) or whether to delay
// all the unmanaged activities to taint-time.
private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool doNow)
private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool atTaintTime)
{
DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},doNow={3}",
BSScene.DetailLogZero, minCoords, maxCoords, doNow);
DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},atTaintTime={3}",
BSScene.DetailLogZero, minCoords, maxCoords, atTaintTime);
float minZ = float.MaxValue;
float maxZ = float.MinValue;
@ -232,7 +239,7 @@ public class BSTerrainManager
BSScene.TaintCallback rebuildOperation = delegate()
{
if (m_parentScene != null)
if (MegaRegionParentPhysicsScene != null)
{
// It's possible that Combine() was called after this code was queued.
// If we are a child of combined regions, we don't create any terrain for us.
@ -245,17 +252,17 @@ public class BSTerrainManager
return;
}
if (mapInfo.terrainBody.Ptr != IntPtr.Zero)
if (mapInfo.terrainBody.ptr != IntPtr.Zero)
{
// Updating an existing terrain.
DetailLog("{0},UpdateOrCreateTerrain:UpdateExisting,taint,terrainBase={1},minC={2}, maxC={3}, szX={4}, szY={5}",
BSScene.DetailLogZero, terrainRegionBase, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.sizeX, mapInfo.sizeY);
// Remove from the dynamics world because we're going to mangle this object
BulletSimAPI.RemoveObjectFromWorld2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
// Get rid of the old terrain
BulletSimAPI.DestroyObject2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
BulletSimAPI.ReleaseHeightMapInfo2(mapInfo.Ptr);
mapInfo.Ptr = IntPtr.Zero;
@ -286,7 +293,7 @@ public class BSTerrainManager
BSScene.DetailLogZero, mapInfo.minCoords.X, mapInfo.minCoords.Y, minZ, maxZ);
mapInfo.ID = id;
mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(m_physicsScene.World.Ptr, mapInfo.ID,
mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, mapInfo.ID,
mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN);
// The terrain object initial position is at the center of the object
@ -296,43 +303,49 @@ public class BSTerrainManager
centerPos.Z = minZ + ((maxZ - minZ) / 2f);
// Create the terrain shape from the mapInfo
mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr));
mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr),
ShapeData.PhysicsShapeType.SHAPE_TERRAIN);
mapInfo.terrainBody = new BulletBody(mapInfo.ID,
BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.Ptr,
centerPos, Quaternion.Identity));
BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr,
id, centerPos, Quaternion.Identity));
}
// Make sure the entry is in the heightmap table
m_heightMaps[terrainRegionBase] = mapInfo;
// Set current terrain attributes
BulletSimAPI.SetFriction2(mapInfo.terrainBody.Ptr, m_physicsScene.Params.terrainFriction);
BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.Ptr, m_physicsScene.Params.terrainHitFraction);
BulletSimAPI.SetRestitution2(mapInfo.terrainBody.Ptr, m_physicsScene.Params.terrainRestitution);
BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.Ptr, CollisionFlags.CF_STATIC_OBJECT);
BulletSimAPI.SetFriction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction);
BulletSimAPI.SetHitFraction2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction);
BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
BulletSimAPI.SetMassProps2(mapInfo.terrainBody.Ptr, 0f, Vector3.Zero);
BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.Ptr);
BulletSimAPI.SetMassProps2(mapInfo.terrainBody.ptr, 0f, Vector3.Zero);
BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.ptr);
// Return the new terrain to the world of physical objects
BulletSimAPI.AddObjectToWorld2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
// redo its bounding box now that it is in the world
BulletSimAPI.UpdateSingleAabb2(m_physicsScene.World.Ptr, mapInfo.terrainBody.Ptr);
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);
BulletSimAPI.SetCollisionFilterMask2(mapInfo.terrainBody.ptr,
(uint)CollisionFilterGroups.TerrainFilter,
(uint)CollisionFilterGroups.TerrainMask);
// 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);
m_terrainModified = true;
};
// There is the option to do the changes now (we're already in 'taint time'), or
// to do the Bullet operations later.
if (doNow)
if (atTaintTime)
rebuildOperation();
else
m_physicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation);
PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation);
}
else
{
@ -357,7 +370,7 @@ public class BSTerrainManager
DetailLog("{0},UpdateOrCreateTerrain:NewTerrain,taint,baseX={1},baseY={2}", BSScene.DetailLogZero, minCoords.X, minCoords.Y);
// Create a new mapInfo that will be filled with the new info
mapInfo = new BulletHeightMapInfo(id, heightMapX,
BulletSimAPI.CreateHeightMapInfo2(m_physicsScene.World.Ptr, newTerrainID,
BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, newTerrainID,
minCoordsX, maxCoordsX, heightMapX, TERRAIN_COLLISION_MARGIN));
// Put the unfilled heightmap info into the collection of same
m_heightMaps.Add(terrainRegionBase, mapInfo);
@ -368,10 +381,10 @@ public class BSTerrainManager
};
// If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time.
if (doNow)
if (atTaintTime)
createOperation();
else
m_physicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation);
PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation);
}
}
@ -419,7 +432,7 @@ public class BSTerrainManager
catch
{
// Sometimes they give us wonky values of X and Y. Give a warning and return something.
m_physicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}",
PhysicsScene.Logger.WarnFormat("{0} Bad request for terrain height. terrainBase={1}, x={2}, y={3}",
LogHeader, terrainBaseXY, regionX, regionY);
ret = HEIGHT_GETHEIGHT_RET;
}
@ -428,8 +441,8 @@ public class BSTerrainManager
}
else
{
m_physicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
LogHeader, m_physicsScene.RegionName, tX, tY);
PhysicsScene.Logger.ErrorFormat("{0} GetTerrainHeightAtXY: terrain not found: region={1}, x={2}, y={3}",
LogHeader, PhysicsScene.RegionName, tX, tY);
}
m_terrainModified = false;
lastHeight = ret;
@ -453,7 +466,7 @@ public class BSTerrainManager
{
m_worldOffset = offset;
m_worldMax = extents;
m_parentScene = pScene;
MegaRegionParentPhysicsScene = pScene;
if (pScene != null)
{
// We are a child.
@ -474,7 +487,7 @@ public class BSTerrainManager
private void DetailLog(string msg, params Object[] args)
{
m_physicsScene.PhysicsLogging.Write(msg, args);
PhysicsScene.PhysicsLogging.Write(msg, args);
}
}
}

263
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
View File

@ -38,35 +38,112 @@ namespace OpenSim.Region.Physics.BulletSPlugin {
// The physics engine controller class created at initialization
public struct BulletSim
{
public BulletSim(uint worldId, BSScene bss, IntPtr xx) { worldID = worldId; scene = bss; Ptr = xx; }
public BulletSim(uint worldId, BSScene bss, IntPtr xx)
{
ptr = xx;
worldID = worldId;
physicsScene = bss;
}
public IntPtr ptr;
public uint worldID;
// The scene is only in here so very low level routines have a handle to print debug/error messages
public BSScene scene;
public IntPtr Ptr;
}
public struct BulletShape
{
public BulletShape(IntPtr xx) { Ptr = xx; }
public IntPtr Ptr;
public BSScene physicsScene;
}
// An allocated Bullet btRigidBody
public struct BulletBody
{
public BulletBody(uint id, IntPtr xx) { ID = id; Ptr = xx; }
public IntPtr Ptr;
public BulletBody(uint id, IntPtr xx)
{
ID = id;
ptr = xx;
collisionFilter = 0;
collisionMask = 0;
}
public IntPtr ptr;
public uint ID;
public CollisionFilterGroups collisionFilter;
public CollisionFilterGroups collisionMask;
public override string ToString()
{
StringBuilder buff = new StringBuilder();
buff.Append("<id=");
buff.Append(ID.ToString());
buff.Append(",p=");
buff.Append(ptr.ToString("X"));
if (collisionFilter != 0 && collisionMask != 0)
{
buff.Append(",f=");
buff.Append(collisionFilter.ToString("X"));
buff.Append(",m=");
buff.Append(collisionMask.ToString("X"));
}
buff.Append(">");
return buff.ToString();
}
}
public struct BulletShape
{
public BulletShape(IntPtr xx)
{
ptr = xx;
type=ShapeData.PhysicsShapeType.SHAPE_UNKNOWN;
shapeKey = 0;
isNativeShape = false;
}
public BulletShape(IntPtr xx, ShapeData.PhysicsShapeType typ)
{
ptr = xx;
type = typ;
shapeKey = 0;
isNativeShape = false;
}
public IntPtr ptr;
public ShapeData.PhysicsShapeType type;
public ulong shapeKey;
public bool isNativeShape;
// Hulls have an underlying mesh. A pointer to it is hidden here.
public override string ToString()
{
StringBuilder buff = new StringBuilder();
buff.Append("<p=");
buff.Append(ptr.ToString("X"));
buff.Append(",s=");
buff.Append(type.ToString());
buff.Append(",k=");
buff.Append(shapeKey.ToString("X"));
buff.Append(",n=");
buff.Append(isNativeShape.ToString());
buff.Append(">");
return buff.ToString();
}
}
// Constraint type values as defined by Bullet
public enum ConstraintType : int
{
POINT2POINT_CONSTRAINT_TYPE = 3,
HINGE_CONSTRAINT_TYPE,
CONETWIST_CONSTRAINT_TYPE,
D6_CONSTRAINT_TYPE,
SLIDER_CONSTRAINT_TYPE,
CONTACT_CONSTRAINT_TYPE,
D6_SPRING_CONSTRAINT_TYPE,
MAX_CONSTRAINT_TYPE
}
// An allocated Bullet btConstraint
public struct BulletConstraint
{
public BulletConstraint(IntPtr xx) { Ptr = xx; }
public IntPtr Ptr;
public BulletConstraint(IntPtr xx)
{
ptr = xx;
}
public IntPtr ptr;
}
// An allocated HeightMapThing which hold various heightmap info
// An allocated HeightMapThing which holds various heightmap info.
// Made a class rather than a struct so there would be only one
// instance of this and C# will pass around pointers rather
// than making copies.
@ -114,7 +191,9 @@ public struct ShapeData
SHAPE_CYLINDER = 4,
SHAPE_SPHERE = 5,
SHAPE_MESH = 6,
SHAPE_HULL = 7
SHAPE_HULL = 7,
SHAPE_GROUNDPLANE = 8,
SHAPE_TERRAIN = 9,
};
public uint ID;
public PhysicsShapeType Type;
@ -130,10 +209,21 @@ public struct ShapeData
public float Restitution;
public float Collidable; // true of things bump into this
public float Static; // true if a static object. Otherwise gravity, etc.
public float Solid; // true if object cannot be passed through
public Vector3 Size;
// note that bools are passed as floats since bool size changes by language and architecture
public const float numericTrue = 1f;
public const float numericFalse = 0f;
// The native shapes have predefined shape hash keys
public enum FixedShapeKey : ulong
{
KEY_BOX = 1,
KEY_SPHERE = 2,
KEY_CONE = 3,
KEY_CYLINDER = 4,
}
}
[StructLayout(LayoutKind.Sequential)]
public struct SweepHit
@ -227,7 +317,17 @@ public enum ActivationState : uint
ISLAND_SLEEPING,
WANTS_DEACTIVATION,
DISABLE_DEACTIVATION,
DISABLE_SIMULATION
DISABLE_SIMULATION,
}
public enum CollisionObjectTypes : int
{
CO_COLLISION_OBJECT = 1 << 0,
CO_RIGID_BODY = 1 << 1,
CO_GHOST_OBJECT = 1 << 2,
CO_SOFT_BODY = 1 << 3,
CO_HF_FLUID = 1 << 4,
CO_USER_TYPE = 1 << 5,
}
// Values used by Bullet and BulletSim to control object properties.
@ -244,77 +344,60 @@ public enum CollisionFlags : uint
CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
// Following used by BulletSim to control collisions
BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
BS_VOLUME_DETECT_OBJECT = 1 << 11,
BS_PHANTOM_OBJECT = 1 << 12,
BS_PHYSICAL_OBJECT = 1 << 13,
BS_TERRAIN_OBJECT = 1 << 14,
// BS_VOLUME_DETECT_OBJECT = 1 << 11,
// BS_PHANTOM_OBJECT = 1 << 12,
// BS_PHYSICAL_OBJECT = 1 << 13,
// BS_TERRAIN_OBJECT = 1 << 14,
BS_NONE = 0,
BS_ALL = 0xFFFFFFFF
BS_ALL = 0xFFFFFFFF,
// These are the collision flags switched depending on physical state.
// The other flags are used for other things and should not be fooled with.
BS_ACTIVE = CF_STATIC_OBJECT
| CF_KINEMATIC_OBJECT
| CF_NO_CONTACT_RESPONSE
// | BS_VOLUME_DETECT_OBJECT
// | BS_PHANTOM_OBJECT
// | BS_PHYSICAL_OBJECT,
};
// Values for collisions groups and masks
public enum CollisionFilterGroups : uint
{
NoneFilter = 0,
DefaultFilter = 1 << 0,
StaticFilter = 1 << 1,
KinematicFilter = 1 << 2,
DebrisFilter = 1 << 3,
SensorTrigger = 1 << 4,
CharacterFilter = 1 << 5,
AllFilter = 0xFFFFFFFF,
// Don't use the bit definitions!! Define the use in a
// filter/mask definition below. This way collision interactions
// are more easily debugged.
BNoneFilter = 0,
BDefaultFilter = 1 << 0,
BStaticFilter = 1 << 1,
BKinematicFilter = 1 << 2,
BDebrisFilter = 1 << 3,
BSensorTrigger = 1 << 4,
BCharacterFilter = 1 << 5,
BAllFilter = 0xFFFFFFFF,
// Filter groups defined by BulletSim
GroundPlaneFilter = 1 << 10,
TerrainFilter = 1 << 11,
RaycastFilter = 1 << 12,
SolidFilter = 1 << 13,
BGroundPlaneFilter = 1 << 10,
BTerrainFilter = 1 << 11,
BRaycastFilter = 1 << 12,
BSolidFilter = 1 << 13,
// The collsion filters and masked are defined in one place -- don't want them scattered
AvatarFilter = BCharacterFilter,
AvatarMask = BAllFilter,
ObjectFilter = BSolidFilter,
ObjectMask = BAllFilter,
StaticObjectFilter = BStaticFilter,
StaticObjectMask = BAllFilter,
VolumeDetectFilter = BSensorTrigger,
VolumeDetectMask = ~BSensorTrigger,
TerrainFilter = BTerrainFilter,
TerrainMask = BAllFilter & ~BStaticFilter,
GroundPlaneFilter = BAllFilter,
GroundPlaneMask = BAllFilter
};
// For each type, we first clear and then set the collision flags
public enum ClearCollisionFlag : uint
{
Terrain = CollisionFlags.BS_ALL,
Phantom = CollisionFlags.BS_ALL,
VolumeDetect = CollisionFlags.BS_ALL,
PhysicalObject = CollisionFlags.BS_ALL,
StaticObject = CollisionFlags.BS_ALL
}
public enum SetCollisionFlag : uint
{
Terrain = CollisionFlags.CF_STATIC_OBJECT
| CollisionFlags.BS_TERRAIN_OBJECT,
Phantom = CollisionFlags.CF_STATIC_OBJECT
| CollisionFlags.BS_PHANTOM_OBJECT
| CollisionFlags.CF_NO_CONTACT_RESPONSE,
VolumeDetect = CollisionFlags.CF_STATIC_OBJECT
| CollisionFlags.BS_VOLUME_DETECT_OBJECT
| CollisionFlags.CF_NO_CONTACT_RESPONSE,
PhysicalObject = CollisionFlags.BS_PHYSICAL_OBJECT,
StaticObject = CollisionFlags.CF_STATIC_OBJECT,
}
// Collision filters used for different types of objects
public enum SetCollisionFilter : uint
{
Terrain = CollisionFilterGroups.AllFilter,
Phantom = CollisionFilterGroups.GroundPlaneFilter
| CollisionFilterGroups.TerrainFilter,
VolumeDetect = CollisionFilterGroups.AllFilter,
PhysicalObject = CollisionFilterGroups.AllFilter,
StaticObject = CollisionFilterGroups.AllFilter,
}
// Collision masks used for different types of objects
public enum SetCollisionMask : uint
{
Terrain = CollisionFilterGroups.AllFilter,
Phantom = CollisionFilterGroups.GroundPlaneFilter
| CollisionFilterGroups.TerrainFilter,
VolumeDetect = CollisionFilterGroups.AllFilter,
PhysicalObject = CollisionFilterGroups.AllFilter,
StaticObject = CollisionFilterGroups.AllFilter
}
// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
// ERP controls amount of correction per tick. Usable range=0.1..0.8. Default=0.2.
@ -516,11 +599,10 @@ public static extern IntPtr CreateHullShape2(IntPtr world,
int hullCount, [MarshalAs(UnmanagedType.LPArray)] float[] hulls);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr BuildHullShape2(IntPtr world, IntPtr meshShape);
public static extern IntPtr BuildHullShapeFromMesh2(IntPtr world, IntPtr meshShape);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr BuildNativeShape2(IntPtr world,
float shapeType, float collisionMargin, Vector3 scale);
public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool IsNativeShape2(IntPtr shape);
@ -535,16 +617,25 @@ public static extern void AddChildToCompoundShape2(IntPtr cShape, IntPtr addShap
public static extern void RemoveChildFromCompoundShape2(IntPtr cShape, IntPtr removeShape);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, IntPtr constructionInfo);
public static extern IntPtr DuplicateCollisionShape2(IntPtr sim, IntPtr srcShape, uint id);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateBodyFromShapeAndInfo2(IntPtr sim, IntPtr shape, uint id, IntPtr constructionInfo);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern bool DeleteCollisionShape2(IntPtr world, IntPtr shape);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, Vector3 pos, Quaternion rot);
public static extern int GetBodyType2(IntPtr obj);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, Vector3 pos, Quaternion rot);
public static extern IntPtr CreateBodyFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateBodyWithDefaultMotionState2(IntPtr shape, uint id, Vector3 pos, Quaternion rot);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr CreateGhostFromShape2(IntPtr sim, IntPtr shape, uint id, Vector3 pos, Quaternion rot);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern IntPtr AllocateBodyInfo2(IntPtr obj);
@ -963,6 +1054,9 @@ public static extern Vector3 GetPushVelocity2(IntPtr obj);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern Vector3 GetTurnVelocity2(IntPtr obj);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask);
// =====================================================================================
// btCollisionShape entries
@ -1014,9 +1108,6 @@ public static extern void SetMargin2(IntPtr shape, float val);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern float GetMargin2(IntPtr shape);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetCollisionFilterMask(IntPtr shape, uint filter, uint mask);
// =====================================================================================
// Debugging
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]

6
bin/OpenSimDefaults.ini
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@ -936,10 +936,10 @@
MaxPersistantManifoldPoolSize = 0
ShouldDisableContactPoolDynamicAllocation = False
ShouldForceUpdateAllAabbs = False
ShouldRandomizeSolverOrder = False
ShouldSplitSimulationIslands = False
ShouldRandomizeSolverOrder = True
ShouldSplitSimulationIslands = True
ShouldEnableFrictionCaching = False
NumberOfSolverIterations = 0;
NumberOfSolverIterations = 0
; Linkset constraint parameters
LinkConstraintUseFrameOffset = False

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