275 lines
12 KiB
C#
Executable File
275 lines
12 KiB
C#
Executable File
/*
|
|
* 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;
|
|
|
|
namespace OpenSim.Region.Physics.BulletSPlugin
|
|
{
|
|
public sealed class BSLinksetCompound : BSLinkset
|
|
{
|
|
private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
|
|
|
|
public BSLinksetCompound(BSScene scene, BSPhysObject parent)
|
|
{
|
|
base.Initialize(scene, parent);
|
|
}
|
|
|
|
// For compound implimented linksets, if there are children, use compound shape for the root.
|
|
public override PhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor)
|
|
{
|
|
PhysicsShapeType ret = PhysicsShapeType.SHAPE_UNKNOWN;
|
|
if (IsRoot(requestor) && HasAnyChildren)
|
|
{
|
|
ret = PhysicsShapeType.SHAPE_COMPOUND;
|
|
}
|
|
// DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret);
|
|
return ret;
|
|
}
|
|
|
|
// When physical properties are changed the linkset needs to recalculate
|
|
// its internal properties.
|
|
// This is queued in the 'post taint' queue so the
|
|
// refresh will happen once after all the other taints are applied.
|
|
public override void Refresh(BSPhysObject requestor)
|
|
{
|
|
// External request for Refresh (from BSPrim) is not necessary
|
|
// InternalRefresh(requestor);
|
|
}
|
|
|
|
private void InternalRefresh(BSPhysObject requestor)
|
|
{
|
|
DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1}", LinksetRoot.LocalID, requestor.LocalID);
|
|
// Queue to happen after all the other taint processing
|
|
PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate()
|
|
{
|
|
if (IsRoot(requestor) && HasAnyChildren)
|
|
RecomputeLinksetCompound();
|
|
});
|
|
}
|
|
|
|
// 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
|
|
// has not yet been fully constructed.
|
|
// Return 'true' if any properties updated on the passed object.
|
|
// Called at taint-time!
|
|
public override bool MakeDynamic(BSPhysObject child)
|
|
{
|
|
bool ret = false;
|
|
DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
|
|
if (!IsRoot(child))
|
|
{
|
|
// Physical children are removed from the world as the shape ofthe root compound
|
|
// shape takes over.
|
|
BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
|
|
BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
|
|
ret = true;
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
// The object is going static (non-physical). Do any setup necessary for a static linkset.
|
|
// Return 'true' if any properties updated on the passed object.
|
|
// This doesn't normally happen -- OpenSim removes the objects from the physical
|
|
// world if it is a static linkset.
|
|
// Called at taint-time!
|
|
public override bool MakeStatic(BSPhysObject child)
|
|
{
|
|
bool ret = false;
|
|
DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
|
|
if (!IsRoot(child))
|
|
{
|
|
// The non-physical children can come back to life.
|
|
BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
|
|
// Don't force activation so setting of DISABLE_SIMULATION can stay.
|
|
BulletSimAPI.Activate2(child.PhysBody.ptr, false);
|
|
ret = true;
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
// Called at taint-time!!
|
|
public override void UpdateProperties(BSPhysObject updated)
|
|
{
|
|
// Nothing to do for constraints on property updates
|
|
}
|
|
|
|
// The children move around in relationship to the root.
|
|
// Just grab the current values of wherever it is right now.
|
|
public override OMV.Vector3 Position(BSPhysObject member)
|
|
{
|
|
return BulletSimAPI.GetPosition2(member.PhysBody.ptr);
|
|
}
|
|
|
|
public override OMV.Quaternion Orientation(BSPhysObject member)
|
|
{
|
|
return BulletSimAPI.GetOrientation2(member.PhysBody.ptr);
|
|
}
|
|
|
|
// Routine called when rebuilding the body of some member of the linkset.
|
|
// Since we don't keep in world relationships, do nothing unless it's a child changing.
|
|
// Returns 'true' of something was actually removed and would need restoring
|
|
// Called at taint-time!!
|
|
public override bool RemoveBodyDependencies(BSPrim child)
|
|
{
|
|
bool ret = false;
|
|
|
|
DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
|
|
child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"), IsRoot(child));
|
|
|
|
if (!IsRoot(child))
|
|
{
|
|
// Cause the current shape to be freed and the new one to be built.
|
|
InternalRefresh(LinksetRoot);
|
|
ret = true;
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
// Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true',
|
|
// this routine will restore the removed constraints.
|
|
// Called at taint-time!!
|
|
public override void RestoreBodyDependencies(BSPrim child)
|
|
{
|
|
// The Refresh operation queued by RemoveBodyDependencies() will build any missing constraints.
|
|
}
|
|
|
|
// ================================================================
|
|
|
|
// Add a new child to the linkset.
|
|
// Called while LinkActivity is locked.
|
|
protected override void AddChildToLinkset(BSPhysObject child)
|
|
{
|
|
if (!HasChild(child))
|
|
{
|
|
m_children.Add(child);
|
|
|
|
DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
|
|
|
|
// Cause constraints and assorted properties to be recomputed before the next simulation step.
|
|
InternalRefresh(LinksetRoot);
|
|
}
|
|
return;
|
|
}
|
|
|
|
// Remove the specified child from the linkset.
|
|
// Safe to call even if the child is not really in my linkset.
|
|
protected override void RemoveChildFromLinkset(BSPhysObject child)
|
|
{
|
|
if (m_children.Remove(child))
|
|
{
|
|
DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
|
|
child.LocalID,
|
|
LinksetRoot.LocalID, LinksetRoot.PhysBody.ptr.ToString("X"),
|
|
child.LocalID, child.PhysBody.ptr.ToString("X"));
|
|
|
|
// Cause the child's body to be rebuilt and thus restored to normal operation
|
|
child.ForceBodyShapeRebuild(false);
|
|
|
|
if (!HasAnyChildren)
|
|
{
|
|
// The linkset is now empty. The root needs rebuilding.
|
|
LinksetRoot.ForceBodyShapeRebuild(false);
|
|
}
|
|
else
|
|
{
|
|
// Schedule a rebuild of the linkset before the next simulation tick.
|
|
InternalRefresh(LinksetRoot);
|
|
}
|
|
}
|
|
return;
|
|
}
|
|
|
|
// Called before the simulation step to make sure the compound based linkset
|
|
// is all initialized.
|
|
// Constraint linksets are rebuilt every time.
|
|
// Note that this works for rebuilding just the root after a linkset is taken apart.
|
|
// Called at taint time!!
|
|
private void RecomputeLinksetCompound()
|
|
{
|
|
// Cause the root shape to be rebuilt as a compound object with just the root in it
|
|
LinksetRoot.ForceBodyShapeRebuild(true);
|
|
|
|
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
|
|
LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
|
|
|
|
// Add a shape for each of the other children in the linkset
|
|
ForEachMember(delegate(BSPhysObject cPrim)
|
|
{
|
|
if (!IsRoot(cPrim))
|
|
{
|
|
// Each child position and rotation is given relative to the root.
|
|
OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
|
|
OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
|
|
OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
|
|
|
|
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}",
|
|
LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, displacementPos, displacementRot);
|
|
|
|
if (cPrim.PhysShape.isNativeShape)
|
|
{
|
|
// Native shapes are not shared so we need to create a new one.
|
|
// A mesh or hull is created because scale is not available on a native shape.
|
|
// (TODO: Bullet does have a btScaledCollisionShape. Can that be used?)
|
|
BulletShape saveShape = cPrim.PhysShape;
|
|
cPrim.PhysShape.ptr = IntPtr.Zero; // Don't let the create free the child's shape
|
|
PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
|
|
BulletShape newShape = cPrim.PhysShape;
|
|
cPrim.PhysShape = saveShape;
|
|
BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot);
|
|
}
|
|
else
|
|
{
|
|
// For the shared shapes (meshes and hulls), just use the shape in the child.
|
|
if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape))
|
|
{
|
|
PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
|
|
LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
|
|
}
|
|
BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, displacementPos, displacementRot);
|
|
}
|
|
}
|
|
return false; // 'false' says to move onto the next child in the list
|
|
});
|
|
|
|
// With all of the linkset packed into the root prim, it has the mass of everyone.
|
|
float linksetMass = LinksetMass;
|
|
LinksetRoot.UpdatePhysicalMassProperties(linksetMass);
|
|
|
|
BulletSimAPI.RecalculateCompoundShapeLocalAabb2(LinksetRoot.PhysShape.ptr);
|
|
|
|
// DEBUG: see of inter-linkset collisions are causing problems for constraint linksets.
|
|
// BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
|
|
// (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
|
|
|
|
}
|
|
}
|
|
} |