386 lines
18 KiB
C#
Executable File
386 lines
18 KiB
C#
Executable File
/*
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* Copyright (c) Contributors, http://opensimulator.org/
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* See CONTRIBUTORS.TXT for a full list of copyright holders.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above copyrightD
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* * Neither the name of the OpenSimulator Project nor the
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* names of its contributors may be used to endorse or promote products
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* derived from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
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* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
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* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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using System;
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using System.Collections.Generic;
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using System.Text;
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using OMV = OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public sealed class BSLinksetConstraints : BSLinkset
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{
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// private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
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public BSLinksetConstraints(BSScene scene, BSPhysObject parent)
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{
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base.Initialize(scene, parent);
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}
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// When physical properties are changed the linkset needs to recalculate
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// its internal properties.
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// May be called at runtime or taint-time (just pass the appropriate flag).
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public override void Refresh(BSPhysObject requestor, bool inTaintTime)
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{
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// If there are no children or not root, I am not the one that recomputes the constraints
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if (!HasAnyChildren || !IsRoot(requestor))
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return;
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BSScene.TaintCallback refreshOperation = delegate()
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{
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RecomputeLinksetConstraintVariables();
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DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}",
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LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
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};
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if (inTaintTime)
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refreshOperation();
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else
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PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation);
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}
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// The object is going dynamic (physical). Do any setup necessary
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// for a dynamic linkset.
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// Only the state of the passed object can be modified. The rest of the linkset
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// has not yet been fully constructed.
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// Return 'true' if any properties updated on the passed object.
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// Called at taint-time!
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public override bool MakeDynamic(BSPhysObject child)
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{
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// What is done for each object in BSPrim is what we want.
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return false;
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}
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// The object is going static (non-physical). Do any setup necessary
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// for a static linkset.
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// Return 'true' if any properties updated on the passed object.
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// Called at taint-time!
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public override bool MakeStatic(BSPhysObject child)
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{
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// What is done for each object in BSPrim is what we want.
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return false;
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}
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// Called at taint-time!!
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public override void UpdateProperties(BSPhysObject updated)
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{
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// Nothing to do for constraints on property updates
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}
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// Routine used when rebuilding the body of the root of the linkset
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// Destroy all the constraints have have been made to root.
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// This is called when the root body is changing.
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// Returns 'true' of something eas actually removed and would need restoring
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// Called at taint-time!!
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public override bool RemoveBodyDependencies(BSPrim child)
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{
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bool ret = false;
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lock (m_linksetActivityLock)
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{
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if (IsRoot(child))
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{
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// If the one with the dependency is root, must undo all children
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DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
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child.LocalID, LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
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ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
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}
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else
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{
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DetailLog("{0},BSLinkset.RemoveBodyDependencies,removeSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
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child.LocalID,
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LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
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child.LocalID, child.BSBody.ptr.ToString("X"));
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// ret = PhysicallyUnlinkAChildFromRoot(LinksetRoot, child);
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// Despite the function name, this removes any link to the specified object.
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ret = PhysicallyUnlinkAllChildrenFromRoot(child);
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}
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}
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return ret;
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}
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// Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
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// this routine will restore the removed constraints.
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// Called at taint-time!!
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public override void RestoreBodyDependencies(BSPrim child)
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{
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lock (m_linksetActivityLock)
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{
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if (IsRoot(child))
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{
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DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreChildrenForRoot,rID={1},numChild={2}",
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child.LocalID, LinksetRoot.LocalID, m_taintChildren.Count);
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foreach (BSPhysObject bpo in m_taintChildren)
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{
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PhysicallyLinkAChildToRoot(LinksetRoot, bpo);
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}
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}
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else
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{
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DetailLog("{0},BSLinkset.RestoreBodyDependencies,restoreSingleChild,rID={1},rBody={2},cID={3},cBody={4}",
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LinksetRoot.LocalID,
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LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"),
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child.LocalID, child.BSBody.ptr.ToString("X"));
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PhysicallyLinkAChildToRoot(LinksetRoot, child);
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}
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}
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}
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// ================================================================
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// Below this point is internal magic
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// I am the root of a linkset and a new child is being added
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// Called while LinkActivity is locked.
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protected override void AddChildToLinkset(BSPhysObject child)
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{
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if (!HasChild(child))
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{
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m_children.Add(child);
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BSPhysObject rootx = LinksetRoot; // capture the root as of now
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BSPhysObject childx = child;
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DetailLog("{0},AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
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PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
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{
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DetailLog("{0},AddChildToLinkset,taint,rID={1},rBody={2},cID={3},cBody={4}",
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rootx.LocalID,
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rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
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childx.LocalID, childx.BSBody.ptr.ToString("X"));
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// Since this is taint-time, the body and shape could have changed for the child
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rootx.ForcePosition = rootx.Position; // DEBUG
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childx.ForcePosition = childx.Position; // DEBUG
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PhysicallyLinkAChildToRoot(rootx, childx);
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m_taintChildren.Add(child);
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});
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}
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return;
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}
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// Forcefully removing a child from a linkset.
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// This is not being called by the child so we have to make sure the child doesn't think
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// it's still connected to the linkset.
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// Normal OpenSimulator operation will never do this because other SceneObjectPart information
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// also has to be updated (like pointer to prim's parent).
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protected override void RemoveChildFromOtherLinkset(BSPhysObject pchild)
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{
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pchild.Linkset = BSLinkset.Factory(PhysicsScene, pchild);
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RemoveChildFromLinkset(pchild);
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}
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// I am the root of a linkset and one of my children is being removed.
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// Safe to call even if the child is not really in my linkset.
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protected override void RemoveChildFromLinkset(BSPhysObject child)
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{
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if (m_children.Remove(child))
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{
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BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
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BSPhysObject childx = child;
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DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
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childx.LocalID,
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rootx.LocalID, rootx.BSBody.ptr.ToString("X"),
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childx.LocalID, childx.BSBody.ptr.ToString("X"));
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PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
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{
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m_taintChildren.Remove(child);
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PhysicallyUnlinkAChildFromRoot(rootx, childx);
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RecomputeLinksetConstraintVariables();
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});
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}
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else
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{
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// This will happen if we remove the root of the linkset first. Non-fatal occurance.
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// PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
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}
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return;
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}
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// Create a constraint between me (root of linkset) and the passed prim (the child).
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// Called at taint time!
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private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
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{
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// Zero motion for children so they don't interpolate
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childPrim.ZeroMotion();
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// Relative position normalized to the root prim
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// Essentually a vector pointing from center of rootPrim to center of childPrim
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OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position;
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// real world coordinate of midpoint between the two objects
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OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
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DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
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rootPrim.LocalID,
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rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
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childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"),
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rootPrim.Position, childPrim.Position, midPoint);
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// create a constraint that allows no freedom of movement between the two objects
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// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
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BS6DofConstraint constrain = new BS6DofConstraint(
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PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody, midPoint, true, true );
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/* NOTE: below is an attempt to build constraint with full frame computation, etc.
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* Using the midpoint is easier since it lets the Bullet code manipulate the transforms
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* of the objects.
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* Code left as a warning to future programmers.
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// ==================================================================================
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// relative position normalized to the root prim
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OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
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OMV.Vector3 childRelativePosition = (childPrim.Position - rootPrim.Position) * invThisOrientation;
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// relative rotation of the child to the parent
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OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
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OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
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// create a constraint that allows no freedom of movement between the two objects
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// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
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DetailLog("{0},BSLinkset.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
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BS6DofConstraint constrain = new BS6DofConstraint(
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PhysicsScene.World, rootPrim.Body, childPrim.Body,
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OMV.Vector3.Zero,
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OMV.Quaternion.Inverse(rootPrim.Orientation),
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OMV.Vector3.Zero,
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OMV.Quaternion.Inverse(childPrim.Orientation),
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// A point half way between the parent and child
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// childRelativePosition/2,
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// childRelativeRotation,
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// childRelativePosition/2,
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// inverseChildRelativeRotation,
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true,
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true
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);
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// ==================================================================================
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*/
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PhysicsScene.Constraints.AddConstraint(constrain);
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// zero linear and angular limits makes the objects unable to move in relation to each other
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constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
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constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
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// tweek the constraint to increase stability
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constrain.UseFrameOffset(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintUseFrameOffset));
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constrain.TranslationalLimitMotor(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintEnableTransMotor),
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PhysicsScene.Params.linkConstraintTransMotorMaxVel,
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PhysicsScene.Params.linkConstraintTransMotorMaxForce);
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constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP);
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if (PhysicsScene.Params.linkConstraintSolverIterations != 0f)
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{
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constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
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}
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}
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// Remove linkage between myself and a particular child
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// The root and child bodies are passed in because we need to remove the constraint between
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// the bodies that were at unlink time.
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// Called at taint time!
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private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
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{
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bool ret = false;
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DetailLog("{0},BSLinkset.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
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rootPrim.LocalID,
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rootPrim.LocalID, rootPrim.BSBody.ptr.ToString("X"),
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childPrim.LocalID, childPrim.BSBody.ptr.ToString("X"));
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// Find the constraint for this link and get rid of it from the overall collection and from my list
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if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody))
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{
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// Make the child refresh its location
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BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr);
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ret = true;
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}
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return ret;
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}
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// Remove linkage between myself and any possible children I might have.
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// Called at taint time!
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private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
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{
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DetailLog("{0},BSLinkset.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
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bool ret = false;
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if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody))
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{
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ret = true;
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}
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return ret;
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}
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// Call each of the constraints that make up this linkset and recompute the
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// various transforms and variables. Used when objects are added or removed
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// from a linkset to make sure the constraints know about the new mass and
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// geometry.
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// Must only be called at taint time!!
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private void RecomputeLinksetConstraintVariables()
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{
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float linksetMass = LinksetMass;
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foreach (BSPhysObject child in m_taintChildren)
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{
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BSConstraint constrain;
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if (PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.BSBody, child.BSBody, out constrain))
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{
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// DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,taint,child={1},mass={2},A={3},B={4}",
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// LinksetRoot.LocalID, child.LocalID, linksetMass, constrain.Body1.ID, constrain.Body2.ID);
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constrain.RecomputeConstraintVariables(linksetMass);
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}
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else
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{
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// Non-fatal error that happens when children are being added to the linkset but
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// their constraints have not been created yet.
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break;
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}
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}
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// If the whole linkset is not here, doesn't make sense to recompute linkset wide values
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if (m_children.Count == m_taintChildren.Count)
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{
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// If this is a multiple object linkset, set everybody's center of mass to the set's center of mass
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OMV.Vector3 centerOfMass = ComputeLinksetCenterOfMass();
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BulletSimAPI.SetCenterOfMassByPosRot2(LinksetRoot.BSBody.ptr,
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centerOfMass, OMV.Quaternion.Identity);
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DetailLog("{0},BSLinkset.RecomputeLinksetConstraintVariables,setCenterOfMass,COM={1},rBody={2}",
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LinksetRoot.LocalID, centerOfMass, LinksetRoot.BSBody.ptr.ToString("X"));
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foreach (BSPhysObject child in m_taintChildren)
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{
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BulletSimAPI.SetCenterOfMassByPosRot2(child.BSBody.ptr,
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centerOfMass, OMV.Quaternion.Identity);
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}
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// BulletSimAPI.DumpAllInfo2(PhysicsScene.World.ptr); // DEBUG DEBUG DEBUG
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}
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return;
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}
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}
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}
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