478 lines
17 KiB
C#
Executable File
478 lines
17 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 abstract class BSLinkset
|
|
{
|
|
// private static string LogHeader = "[BULLETSIM LINKSET]";
|
|
|
|
public enum LinksetImplementation
|
|
{
|
|
Constraint = 0, // linkset tied together with constraints
|
|
Compound = 1, // linkset tied together as a compound object
|
|
Manual = 2 // linkset tied together manually (code moves all the pieces)
|
|
}
|
|
// Create the correct type of linkset for this child
|
|
public static BSLinkset Factory(BSScene physScene, BSPrimLinkable parent)
|
|
{
|
|
BSLinkset ret = null;
|
|
|
|
switch (parent.LinksetType)
|
|
{
|
|
case LinksetImplementation.Constraint:
|
|
ret = new BSLinksetConstraints(physScene, parent);
|
|
break;
|
|
case LinksetImplementation.Compound:
|
|
ret = new BSLinksetCompound(physScene, parent);
|
|
break;
|
|
case LinksetImplementation.Manual:
|
|
// ret = new BSLinksetManual(physScene, parent);
|
|
break;
|
|
default:
|
|
ret = new BSLinksetCompound(physScene, parent);
|
|
break;
|
|
}
|
|
if (ret == null)
|
|
{
|
|
physScene.Logger.ErrorFormat("[BULLETSIM LINKSET] Factory could not create linkset. Parent name={1}, ID={2}", parent.Name, parent.LocalID);
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
public class BSLinkInfo
|
|
{
|
|
public BSPrimLinkable member;
|
|
public BSLinkInfo(BSPrimLinkable pMember)
|
|
{
|
|
member = pMember;
|
|
}
|
|
public virtual void ResetLink() { }
|
|
public virtual void SetLinkParameters(BSConstraint constrain) { }
|
|
// Returns 'true' if physical property updates from the child should be reported to the simulator
|
|
public virtual bool ShouldUpdateChildProperties() { return false; }
|
|
}
|
|
|
|
public LinksetImplementation LinksetImpl { get; protected set; }
|
|
|
|
public BSPrimLinkable LinksetRoot { get; protected set; }
|
|
|
|
protected BSScene m_physicsScene { get; private set; }
|
|
|
|
static int m_nextLinksetID = 1;
|
|
public int LinksetID { get; private set; }
|
|
|
|
// The children under the root in this linkset.
|
|
// protected HashSet<BSPrimLinkable> m_children;
|
|
protected Dictionary<BSPrimLinkable, BSLinkInfo> m_children;
|
|
|
|
// We lock the diddling of linkset classes to prevent any badness.
|
|
// This locks the modification of the instances of this class. Changes
|
|
// to the physical representation is done via the tainting mechenism.
|
|
protected object m_linksetActivityLock = new Object();
|
|
|
|
// We keep the prim's mass in the linkset structure since it could be dependent on other prims
|
|
public float LinksetMass { get; protected set; }
|
|
|
|
public virtual bool LinksetIsColliding { get { return false; } }
|
|
|
|
public OMV.Vector3 CenterOfMass
|
|
{
|
|
get { return ComputeLinksetCenterOfMass(); }
|
|
}
|
|
|
|
public OMV.Vector3 GeometricCenter
|
|
{
|
|
get { return ComputeLinksetGeometricCenter(); }
|
|
}
|
|
|
|
protected BSLinkset(BSScene scene, BSPrimLinkable parent)
|
|
{
|
|
// A simple linkset of one (no children)
|
|
LinksetID = m_nextLinksetID++;
|
|
// We create LOTS of linksets.
|
|
if (m_nextLinksetID <= 0)
|
|
m_nextLinksetID = 1;
|
|
m_physicsScene = scene;
|
|
LinksetRoot = parent;
|
|
m_children = new Dictionary<BSPrimLinkable, BSLinkInfo>();
|
|
LinksetMass = parent.RawMass;
|
|
Rebuilding = false;
|
|
|
|
parent.ClearDisplacement();
|
|
}
|
|
|
|
// 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(BSPrimLinkable child)
|
|
{
|
|
lock (m_linksetActivityLock)
|
|
{
|
|
// Don't add the root to its own linkset
|
|
if (!IsRoot(child))
|
|
AddChildToLinkset(child);
|
|
LinksetMass = ComputeLinksetMass();
|
|
}
|
|
return this;
|
|
}
|
|
|
|
// 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(BSPrimLinkable child, bool inTaintTime)
|
|
{
|
|
lock (m_linksetActivityLock)
|
|
{
|
|
if (IsRoot(child))
|
|
{
|
|
// Cannot remove the root from a linkset.
|
|
return this;
|
|
}
|
|
RemoveChildFromLinkset(child, inTaintTime);
|
|
LinksetMass = ComputeLinksetMass();
|
|
}
|
|
|
|
// The child is down to a linkset of just itself
|
|
return BSLinkset.Factory(m_physicsScene, child);
|
|
}
|
|
|
|
// Return 'true' if the passed object is the root object of this linkset
|
|
public bool IsRoot(BSPrimLinkable requestor)
|
|
{
|
|
return (requestor.LocalID == LinksetRoot.LocalID);
|
|
}
|
|
|
|
public int NumberOfChildren { get { return m_children.Count; } }
|
|
|
|
// Return 'true' if this linkset has any children (more than the root member)
|
|
public bool HasAnyChildren { get { return (m_children.Count > 0); } }
|
|
|
|
// Return 'true' if this child is in this linkset
|
|
public bool HasChild(BSPrimLinkable child)
|
|
{
|
|
bool ret = false;
|
|
lock (m_linksetActivityLock)
|
|
{
|
|
ret = m_children.ContainsKey(child);
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
// Perform an action on each member of the linkset including root prim.
|
|
// Depends on the action on whether this should be done at taint time.
|
|
public delegate bool ForEachMemberAction(BSPrimLinkable obj);
|
|
public virtual bool ForEachMember(ForEachMemberAction action)
|
|
{
|
|
bool ret = false;
|
|
lock (m_linksetActivityLock)
|
|
{
|
|
action(LinksetRoot);
|
|
foreach (BSPrimLinkable po in m_children.Keys)
|
|
{
|
|
if (action(po))
|
|
break;
|
|
}
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
public bool TryGetLinkInfo(BSPrimLinkable child, out BSLinkInfo foundInfo)
|
|
{
|
|
bool ret = false;
|
|
BSLinkInfo found = null;
|
|
lock (m_linksetActivityLock)
|
|
{
|
|
ret = m_children.TryGetValue(child, out found);
|
|
}
|
|
foundInfo = found;
|
|
return ret;
|
|
}
|
|
// Perform an action on each member of the linkset including root prim.
|
|
// Depends on the action on whether this should be done at taint time.
|
|
public delegate bool ForEachLinkInfoAction(BSLinkInfo obj);
|
|
public virtual bool ForEachLinkInfo(ForEachLinkInfoAction action)
|
|
{
|
|
bool ret = false;
|
|
lock (m_linksetActivityLock)
|
|
{
|
|
foreach (BSLinkInfo po in m_children.Values)
|
|
{
|
|
if (action(po))
|
|
break;
|
|
}
|
|
}
|
|
return ret;
|
|
}
|
|
|
|
// Check the type of the link and return 'true' if the link is flexible and the
|
|
// updates from the child should be sent to the simulator so things change.
|
|
public virtual bool ShouldReportPropertyUpdates(BSPrimLinkable child)
|
|
{
|
|
bool ret = false;
|
|
|
|
BSLinkInfo linkInfo;
|
|
if (m_children.TryGetValue(child, out linkInfo))
|
|
{
|
|
ret = linkInfo.ShouldUpdateChildProperties();
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
// Called after a simulation step to post a collision with this object.
|
|
// Return 'true' if linkset processed the collision. 'false' says the linkset didn't have
|
|
// anything to add for the collision and it should be passed through normal processing.
|
|
// Default processing for a linkset.
|
|
public virtual bool HandleCollide(uint collidingWith, BSPhysObject collidee,
|
|
OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
|
|
{
|
|
bool ret = false;
|
|
|
|
// prims in the same linkset cannot collide with each other
|
|
BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
|
|
if (convCollidee != null && (LinksetID == convCollidee.Linkset.LinksetID))
|
|
{
|
|
// By returning 'true', we tell the caller the collision has been 'handled' so it won't
|
|
// do anything about this collision and thus, effectivily, ignoring the collision.
|
|
ret = true;
|
|
}
|
|
else
|
|
{
|
|
// Not a collision between members of the linkset. Must be a real collision.
|
|
// So the linkset root can know if there is a collision anywhere in the linkset.
|
|
LinksetRoot.SomeCollisionSimulationStep = m_physicsScene.SimulationStep;
|
|
}
|
|
|
|
return ret;
|
|
}
|
|
|
|
// I am the root of a linkset and a new child is being added
|
|
// Called while LinkActivity is locked.
|
|
protected abstract void AddChildToLinkset(BSPrimLinkable child);
|
|
|
|
// I am the root of a linkset and one of my children is being removed.
|
|
// Safe to call even if the child is not really in my linkset.
|
|
protected abstract void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime);
|
|
|
|
// When physical properties are changed the linkset needs to recalculate
|
|
// its internal properties.
|
|
// May be called at runtime or taint-time.
|
|
public virtual void Refresh(BSPrimLinkable requestor)
|
|
{
|
|
LinksetMass = ComputeLinksetMass();
|
|
}
|
|
|
|
// Flag denoting the linkset is in the process of being rebuilt.
|
|
// Used to know not the schedule a rebuild in the middle of a rebuild.
|
|
protected bool Rebuilding { get; set; }
|
|
|
|
// 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 abstract bool MakeDynamic(BSPrimLinkable child);
|
|
|
|
// 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.
|
|
// Called at taint-time!
|
|
public abstract bool MakeStatic(BSPrimLinkable child);
|
|
|
|
// Called when a parameter update comes from the physics engine for any object
|
|
// of the linkset is received.
|
|
// Passed flag is update came from physics engine (true) or the user (false).
|
|
// Called at taint-time!!
|
|
public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable physObject);
|
|
|
|
// 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 was actually removed and would need restoring
|
|
// Called at taint-time!!
|
|
public abstract bool RemoveDependencies(BSPrimLinkable child);
|
|
|
|
// ================================================================
|
|
// Some physical setting happen to all members of the linkset
|
|
public virtual void SetPhysicalFriction(float friction)
|
|
{
|
|
ForEachMember((member) =>
|
|
{
|
|
if (member.PhysBody.HasPhysicalBody)
|
|
m_physicsScene.PE.SetFriction(member.PhysBody, friction);
|
|
return false; // 'false' says to continue looping
|
|
}
|
|
);
|
|
}
|
|
public virtual void SetPhysicalRestitution(float restitution)
|
|
{
|
|
ForEachMember((member) =>
|
|
{
|
|
if (member.PhysBody.HasPhysicalBody)
|
|
m_physicsScene.PE.SetRestitution(member.PhysBody, restitution);
|
|
return false; // 'false' says to continue looping
|
|
}
|
|
);
|
|
}
|
|
public virtual void SetPhysicalGravity(OMV.Vector3 gravity)
|
|
{
|
|
ForEachMember((member) =>
|
|
{
|
|
if (member.PhysBody.HasPhysicalBody)
|
|
m_physicsScene.PE.SetGravity(member.PhysBody, gravity);
|
|
return false; // 'false' says to continue looping
|
|
}
|
|
);
|
|
}
|
|
public virtual void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass)
|
|
{
|
|
ForEachMember((member) =>
|
|
{
|
|
if (member.PhysBody.HasPhysicalBody)
|
|
{
|
|
OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, linksetMass);
|
|
member.Inertia = inertia * inertiaFactor;
|
|
m_physicsScene.PE.SetMassProps(member.PhysBody, linksetMass, member.Inertia);
|
|
m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
|
|
DetailLog("{0},BSLinkset.ComputeAndSetLocalInertia,m.mass={1}, inertia={2}", member.LocalID, linksetMass, member.Inertia);
|
|
|
|
}
|
|
return false; // 'false' says to continue looping
|
|
}
|
|
);
|
|
}
|
|
public virtual void SetPhysicalCollisionFlags(CollisionFlags collFlags)
|
|
{
|
|
ForEachMember((member) =>
|
|
{
|
|
if (member.PhysBody.HasPhysicalBody)
|
|
m_physicsScene.PE.SetCollisionFlags(member.PhysBody, collFlags);
|
|
return false; // 'false' says to continue looping
|
|
}
|
|
);
|
|
}
|
|
public virtual void AddToPhysicalCollisionFlags(CollisionFlags collFlags)
|
|
{
|
|
ForEachMember((member) =>
|
|
{
|
|
if (member.PhysBody.HasPhysicalBody)
|
|
m_physicsScene.PE.AddToCollisionFlags(member.PhysBody, collFlags);
|
|
return false; // 'false' says to continue looping
|
|
}
|
|
);
|
|
}
|
|
public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
|
|
{
|
|
ForEachMember((member) =>
|
|
{
|
|
if (member.PhysBody.HasPhysicalBody)
|
|
m_physicsScene.PE.RemoveFromCollisionFlags(member.PhysBody, collFlags);
|
|
return false; // 'false' says to continue looping
|
|
}
|
|
);
|
|
}
|
|
// ================================================================
|
|
protected virtual float ComputeLinksetMass()
|
|
{
|
|
float mass = LinksetRoot.RawMass;
|
|
if (HasAnyChildren)
|
|
{
|
|
lock (m_linksetActivityLock)
|
|
{
|
|
foreach (BSPrimLinkable bp in m_children.Keys)
|
|
{
|
|
mass += bp.RawMass;
|
|
}
|
|
}
|
|
}
|
|
return mass;
|
|
}
|
|
|
|
// Computes linkset's center of mass in world coordinates.
|
|
protected virtual OMV.Vector3 ComputeLinksetCenterOfMass()
|
|
{
|
|
OMV.Vector3 com;
|
|
lock (m_linksetActivityLock)
|
|
{
|
|
com = LinksetRoot.Position * LinksetRoot.RawMass;
|
|
float totalMass = LinksetRoot.RawMass;
|
|
|
|
foreach (BSPrimLinkable bp in m_children.Keys)
|
|
{
|
|
com += bp.Position * bp.RawMass;
|
|
totalMass += bp.RawMass;
|
|
}
|
|
if (totalMass != 0f)
|
|
com /= totalMass;
|
|
}
|
|
|
|
return com;
|
|
}
|
|
|
|
protected virtual OMV.Vector3 ComputeLinksetGeometricCenter()
|
|
{
|
|
OMV.Vector3 com;
|
|
lock (m_linksetActivityLock)
|
|
{
|
|
com = LinksetRoot.Position;
|
|
|
|
foreach (BSPrimLinkable bp in m_children.Keys)
|
|
{
|
|
com += bp.Position;
|
|
}
|
|
com /= (m_children.Count + 1);
|
|
}
|
|
|
|
return com;
|
|
}
|
|
|
|
#region Extension
|
|
public virtual object Extension(string pFunct, params object[] pParams)
|
|
{
|
|
return null;
|
|
}
|
|
#endregion // Extension
|
|
|
|
// Invoke the detailed logger and output something if it's enabled.
|
|
protected void DetailLog(string msg, params Object[] args)
|
|
{
|
|
if (m_physicsScene.PhysicsLogging.Enabled)
|
|
m_physicsScene.DetailLog(msg, args);
|
|
}
|
|
}
|
|
}
|