clockwerk-opensim – Blame information for rev 1
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1 | vero | 1 | /* |
2 | * Copyright (c) Contributors, http://opensimulator.org/ |
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3 | * See CONTRIBUTORS.TXT for a full list of copyright holders. |
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4 | * |
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5 | * Redistribution and use in source and binary forms, with or without |
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6 | * modification, are permitted provided that the following conditions are met: |
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7 | * * Redistributions of source code must retain the above copyright |
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8 | * notice, this list of conditions and the following disclaimer. |
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9 | * * Redistributions in binary form must reproduce the above copyrightD |
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10 | * notice, this list of conditions and the following disclaimer in the |
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11 | * documentation and/or other materials provided with the distribution. |
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12 | * * Neither the name of the OpenSimulator Project nor the |
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13 | * names of its contributors may be used to endorse or promote products |
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14 | * derived from this software without specific prior written permission. |
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15 | * |
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16 | * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY |
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17 | * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED |
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18 | * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE |
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19 | * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY |
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20 | * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES |
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21 | * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
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22 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND |
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23 | * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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24 | * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS |
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25 | * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. |
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26 | */ |
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27 | using System; |
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28 | using System.Collections.Generic; |
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29 | using System.Text; |
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30 | |||
31 | using OpenSim.Framework; |
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32 | |||
33 | using OMV = OpenMetaverse; |
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34 | |||
35 | namespace OpenSim.Region.Physics.BulletSPlugin |
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36 | { |
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37 | |||
38 | public sealed class BSLinksetCompound : BSLinkset |
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39 | { |
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40 | #pragma warning disable 414 |
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41 | private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; |
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42 | #pragma warning restore 414 |
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43 | |||
44 | public BSLinksetCompound(BSScene scene, BSPrimLinkable parent) |
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45 | : base(scene, parent) |
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46 | { |
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47 | LinksetImpl = LinksetImplementation.Compound; |
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48 | } |
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49 | |||
50 | // ================================================================ |
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51 | // Changing the physical property of the linkset only needs to change the root |
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52 | public override void SetPhysicalFriction(float friction) |
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53 | { |
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54 | if (LinksetRoot.PhysBody.HasPhysicalBody) |
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55 | m_physicsScene.PE.SetFriction(LinksetRoot.PhysBody, friction); |
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56 | } |
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57 | public override void SetPhysicalRestitution(float restitution) |
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58 | { |
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59 | if (LinksetRoot.PhysBody.HasPhysicalBody) |
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60 | m_physicsScene.PE.SetRestitution(LinksetRoot.PhysBody, restitution); |
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61 | } |
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62 | public override void SetPhysicalGravity(OMV.Vector3 gravity) |
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63 | { |
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64 | if (LinksetRoot.PhysBody.HasPhysicalBody) |
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65 | m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity); |
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66 | } |
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67 | public override void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass) |
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68 | { |
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69 | OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, linksetMass); |
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70 | LinksetRoot.Inertia = inertia * inertiaFactor; |
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71 | m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, linksetMass, LinksetRoot.Inertia); |
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72 | m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody); |
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73 | } |
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74 | public override void SetPhysicalCollisionFlags(CollisionFlags collFlags) |
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75 | { |
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76 | if (LinksetRoot.PhysBody.HasPhysicalBody) |
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77 | m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags); |
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78 | } |
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79 | public override void AddToPhysicalCollisionFlags(CollisionFlags collFlags) |
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80 | { |
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81 | if (LinksetRoot.PhysBody.HasPhysicalBody) |
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82 | m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, collFlags); |
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83 | } |
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84 | public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags) |
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85 | { |
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86 | if (LinksetRoot.PhysBody.HasPhysicalBody) |
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87 | m_physicsScene.PE.RemoveFromCollisionFlags(LinksetRoot.PhysBody, collFlags); |
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88 | } |
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89 | // ================================================================ |
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90 | |||
91 | // When physical properties are changed the linkset needs to recalculate |
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92 | // its internal properties. |
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93 | public override void Refresh(BSPrimLinkable requestor) |
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94 | { |
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95 | // Something changed so do the rebuilding thing |
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96 | ScheduleRebuild(requestor); |
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97 | base.Refresh(requestor); |
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98 | } |
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99 | |||
100 | // Schedule a refresh to happen after all the other taint processing. |
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101 | private void ScheduleRebuild(BSPrimLinkable requestor) |
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102 | { |
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103 | DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", |
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104 | requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); |
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105 | |||
106 | // When rebuilding, it is possible to set properties that would normally require a rebuild. |
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107 | // If already rebuilding, don't request another rebuild. |
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108 | // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. |
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109 | if (!Rebuilding && HasAnyChildren) |
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110 | { |
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111 | m_physicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate() |
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112 | { |
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113 | if (HasAnyChildren) |
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114 | RecomputeLinksetCompound(); |
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115 | }); |
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116 | } |
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117 | } |
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118 | |||
119 | // The object is going dynamic (physical). Do any setup necessary for a dynamic linkset. |
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120 | // Only the state of the passed object can be modified. The rest of the linkset |
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121 | // has not yet been fully constructed. |
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122 | // Return 'true' if any properties updated on the passed object. |
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123 | // Called at taint-time! |
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124 | public override bool MakeDynamic(BSPrimLinkable child) |
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125 | { |
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126 | bool ret = false; |
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127 | DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); |
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128 | if (IsRoot(child)) |
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129 | { |
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130 | // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly. |
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131 | Refresh(LinksetRoot); |
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132 | } |
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133 | return ret; |
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134 | } |
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135 | |||
136 | // The object is going static (non-physical). We do not do anything for static linksets. |
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137 | // Return 'true' if any properties updated on the passed object. |
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138 | // Called at taint-time! |
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139 | public override bool MakeStatic(BSPrimLinkable child) |
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140 | { |
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141 | bool ret = false; |
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142 | |||
143 | DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); |
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144 | child.ClearDisplacement(); |
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145 | if (IsRoot(child)) |
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146 | { |
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147 | // Schedule a rebuild to verify that the root shape is set to the real shape. |
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148 | Refresh(LinksetRoot); |
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149 | } |
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150 | return ret; |
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151 | } |
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152 | |||
153 | // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then. |
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154 | // Called at taint-time. |
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155 | public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable updated) |
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156 | { |
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157 | if (!LinksetRoot.IsPhysicallyActive) |
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158 | { |
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159 | // No reason to do this physical stuff for static linksets. |
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160 | DetailLog("{0},BSLinksetCompound.UpdateProperties,notPhysical", LinksetRoot.LocalID); |
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161 | return; |
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162 | } |
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163 | |||
164 | // The user moving a child around requires the rebuilding of the linkset compound shape |
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165 | // One problem is this happens when a border is crossed -- the simulator implementation |
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166 | // stores the position into the group which causes the move of the object |
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167 | // but it also means all the child positions get updated. |
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168 | // What would cause an unnecessary rebuild so we make sure the linkset is in a |
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169 | // region before bothering to do a rebuild. |
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170 | if (!IsRoot(updated) && m_physicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) |
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171 | { |
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172 | // If a child of the linkset is updating only the position or rotation, that can be done |
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173 | // without rebuilding the linkset. |
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174 | // If a handle for the child can be fetch, we update the child here. If a rebuild was |
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175 | // scheduled by someone else, the rebuild will just replace this setting. |
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176 | |||
177 | bool updatedChild = false; |
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178 | // Anything other than updating position or orientation usually means a physical update |
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179 | // and that is caused by us updating the object. |
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180 | if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0) |
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181 | { |
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182 | // Find the physical instance of the child |
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183 | if (LinksetRoot.PhysShape.HasPhysicalShape && m_physicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo)) |
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184 | { |
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185 | // It is possible that the linkset is still under construction and the child is not yet |
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186 | // inserted into the compound shape. A rebuild of the linkset in a pre-step action will |
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187 | // build the whole thing with the new position or rotation. |
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188 | // The index must be checked because Bullet references the child array but does no validity |
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189 | // checking of the child index passed. |
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190 | int numLinksetChildren = m_physicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape.physShapeInfo); |
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191 | if (updated.LinksetChildIndex < numLinksetChildren) |
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192 | { |
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193 | BulletShape linksetChildShape = m_physicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex); |
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194 | if (linksetChildShape.HasPhysicalShape) |
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195 | { |
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196 | // Found the child shape within the compound shape |
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197 | m_physicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex, |
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198 | updated.RawPosition - LinksetRoot.RawPosition, |
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199 | updated.RawOrientation * OMV.Quaternion.Inverse(LinksetRoot.RawOrientation), |
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200 | true /* shouldRecalculateLocalAabb */); |
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201 | updatedChild = true; |
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202 | DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},pos={2},rot={3}", |
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203 | updated.LocalID, whichUpdated, updated.RawPosition, updated.RawOrientation); |
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204 | } |
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205 | else // DEBUG DEBUG |
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206 | { // DEBUG DEBUG |
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207 | DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}", |
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208 | updated.LocalID, linksetChildShape); |
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209 | } // DEBUG DEBUG |
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210 | } |
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211 | else // DEBUG DEBUG |
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212 | { // DEBUG DEBUG |
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213 | // the child is not yet in the compound shape. This is non-fatal. |
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214 | DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,childNotInCompoundShape,numChildren={1},index={2}", |
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215 | updated.LocalID, numLinksetChildren, updated.LinksetChildIndex); |
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216 | } // DEBUG DEBUG |
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217 | } |
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218 | else // DEBUG DEBUG |
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219 | { // DEBUG DEBUG |
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220 | DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noBodyOrNotCompound", updated.LocalID); |
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221 | } // DEBUG DEBUG |
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222 | |||
223 | if (!updatedChild) |
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224 | { |
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225 | // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info. |
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226 | // Note: there are several ways through this code that will not update the child if |
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227 | // the linkset is being rebuilt. In this case, scheduling a rebuild is a NOOP since |
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228 | // there will already be a rebuild scheduled. |
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229 | DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}", |
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230 | updated.LocalID, whichUpdated); |
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231 | Refresh(updated); |
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232 | } |
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233 | } |
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234 | } |
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235 | } |
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236 | |||
237 | // Routine called when rebuilding the body of some member of the linkset. |
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238 | // If one of the bodies is being changed, the linkset needs rebuilding. |
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239 | // For instance, a linkset is built and then a mesh asset is read in and the mesh is recreated. |
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240 | // Returns 'true' of something was actually removed and would need restoring |
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241 | // Called at taint-time!! |
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242 | public override bool RemoveDependencies(BSPrimLinkable child) |
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243 | { |
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244 | bool ret = false; |
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245 | |||
246 | DetailLog("{0},BSLinksetCompound.RemoveDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}", |
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247 | child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child)); |
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248 | |||
249 | Refresh(child); |
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250 | |||
251 | return ret; |
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252 | } |
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253 | |||
254 | // ================================================================ |
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255 | |||
256 | // Add a new child to the linkset. |
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257 | // Called while LinkActivity is locked. |
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258 | protected override void AddChildToLinkset(BSPrimLinkable child) |
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259 | { |
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260 | if (!HasChild(child)) |
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261 | { |
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262 | m_children.Add(child, new BSLinkInfo(child)); |
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263 | |||
264 | DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID); |
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265 | |||
266 | // Rebuild the compound shape with the new child shape included |
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267 | Refresh(child); |
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268 | } |
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269 | return; |
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270 | } |
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271 | |||
272 | // Remove the specified child from the linkset. |
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273 | // Safe to call even if the child is not really in the linkset. |
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274 | protected override void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime) |
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275 | { |
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276 | child.ClearDisplacement(); |
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277 | |||
278 | if (m_children.Remove(child)) |
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279 | { |
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280 | DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}", |
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281 | child.LocalID, |
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282 | LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, |
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283 | child.LocalID, child.PhysBody.AddrString); |
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284 | |||
285 | // Cause the child's body to be rebuilt and thus restored to normal operation |
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286 | child.ForceBodyShapeRebuild(inTaintTime); |
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287 | |||
288 | if (!HasAnyChildren) |
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289 | { |
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290 | // The linkset is now empty. The root needs rebuilding. |
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291 | LinksetRoot.ForceBodyShapeRebuild(inTaintTime); |
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292 | } |
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293 | else |
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294 | { |
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295 | // Rebuild the compound shape with the child removed |
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296 | Refresh(LinksetRoot); |
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297 | } |
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298 | } |
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299 | return; |
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300 | } |
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301 | |||
302 | // Called before the simulation step to make sure the compound based linkset |
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303 | // is all initialized. |
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304 | // Constraint linksets are rebuilt every time. |
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305 | // Note that this works for rebuilding just the root after a linkset is taken apart. |
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306 | // Called at taint time!! |
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307 | private bool UseBulletSimRootOffsetHack = false; // Attempt to have Bullet track the coords of root compound shape |
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308 | // Number of times to perform rebuilds on broken linkset children. This should only happen when |
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309 | // a linkset is initially being created and should happen only one or two times at the most. |
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310 | // This exists to cause a looping problem to be reported while not rebuilding a linkset forever. |
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311 | private static int LinksetRebuildFailureLoopPrevention = 10; |
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312 | private void RecomputeLinksetCompound() |
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313 | { |
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314 | try |
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315 | { |
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316 | Rebuilding = true; |
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317 | |||
318 | // No matter what is being done, force the root prim's PhysBody and PhysShape to get set |
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319 | // to what they should be as if the root was not in a linkset. |
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320 | // Not that bad since we only get into this routine if there are children in the linkset and |
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321 | // something has been updated/changed. |
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322 | // Have to do the rebuild before checking for physical because this might be a linkset |
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323 | // being destructed and going non-physical. |
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324 | LinksetRoot.ForceBodyShapeRebuild(true); |
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325 | |||
326 | // There is no reason to build all this physical stuff for a non-physical or empty linkset. |
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327 | if (!LinksetRoot.IsPhysicallyActive || !HasAnyChildren) |
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328 | { |
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329 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysicalOrNoChildren", LinksetRoot.LocalID); |
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330 | return; // Note the 'finally' clause at the botton which will get executed. |
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331 | } |
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332 | |||
333 | // Get a new compound shape to build the linkset shape in. |
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334 | BSShape linksetShape = BSShapeCompound.GetReference(m_physicsScene); |
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335 | |||
336 | // Compute a displacement for each component so it is relative to the center-of-mass. |
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337 | // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass |
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338 | OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass(); |
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339 | |||
340 | OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation)); |
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341 | OMV.Vector3 origRootPosition = LinksetRoot.RawPosition; |
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342 | |||
343 | // 'centerDisplacementV' is the vehicle relative distance from the simulator root position to the center-of-mass |
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344 | OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation; |
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345 | if (UseBulletSimRootOffsetHack || !BSParam.LinksetOffsetCenterOfMass) |
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346 | { |
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347 | // Zero everything if center-of-mass displacement is not being done. |
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348 | centerDisplacementV = OMV.Vector3.Zero; |
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349 | LinksetRoot.ClearDisplacement(); |
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350 | } |
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351 | else |
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352 | { |
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353 | // The actual center-of-mass could have been set by the user. |
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354 | centerDisplacementV = LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV); |
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355 | } |
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356 | |||
357 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}", |
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358 | LinksetRoot.LocalID, origRootPosition, centerOfMassW, centerDisplacementV); |
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359 | |||
360 | // Add the shapes of all the components of the linkset |
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361 | int memberIndex = 1; |
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362 | ForEachMember((cPrim) => |
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363 | { |
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364 | if (IsRoot(cPrim)) |
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365 | { |
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366 | // Root shape is always index zero. |
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367 | cPrim.LinksetChildIndex = 0; |
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368 | } |
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369 | else |
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370 | { |
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371 | cPrim.LinksetChildIndex = memberIndex; |
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372 | memberIndex++; |
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373 | } |
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374 | |||
375 | // Get a reference to the shape of the child for adding of that shape to the linkset compound shape |
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376 | BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim); |
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377 | |||
378 | // Offset the child shape from the center-of-mass and rotate it to vehicle relative. |
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379 | OMV.Vector3 offsetPos = (cPrim.RawPosition - origRootPosition) * invRootOrientation - centerDisplacementV; |
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380 | OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation; |
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381 | |||
382 | // Add the child shape to the compound shape being built |
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383 | if (childShape.physShapeInfo.HasPhysicalShape) |
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384 | { |
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385 | m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); |
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386 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}", |
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387 | LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot); |
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388 | |||
389 | // Since we are borrowing the shape of the child, disable the origional child body |
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390 | if (!IsRoot(cPrim)) |
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391 | { |
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392 | m_physicsScene.PE.AddToCollisionFlags(cPrim.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE); |
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393 | m_physicsScene.PE.ForceActivationState(cPrim.PhysBody, ActivationState.DISABLE_SIMULATION); |
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394 | // We don't want collisions from the old linkset children. |
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395 | m_physicsScene.PE.RemoveFromCollisionFlags(cPrim.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); |
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396 | cPrim.PhysBody.collisionType = CollisionType.LinksetChild; |
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397 | } |
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398 | } |
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399 | else |
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400 | { |
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401 | // The linkset must be in an intermediate state where all the children have not yet |
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402 | // been constructed. This sometimes happens on startup when everything is getting |
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403 | // built and some shapes have to wait for assets to be read in. |
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404 | // Just skip this linkset for the moment and cause the shape to be rebuilt next tick. |
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405 | // One problem might be that the shape is broken somehow and it never becomes completely |
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406 | // available. This might cause the rebuild to happen over and over. |
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407 | LinksetRoot.ForceBodyShapeRebuild(false); |
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408 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChildWithNoShape,indx={1},cShape={2},offPos={3},offRot={4}", |
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409 | LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot); |
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410 | // Output an annoying warning. It should only happen once but if it keeps coming out, |
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411 | // the user knows there is something wrong and will report it. |
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412 | m_physicsScene.Logger.WarnFormat("{0} Linkset rebuild warning. If this happens more than one or two times, please report in Mantis 7191", LogHeader); |
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413 | m_physicsScene.Logger.WarnFormat("{0} pName={1}, childIdx={2}, shape={3}", |
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414 | LogHeader, LinksetRoot.Name, cPrim.LinksetChildIndex, childShape); |
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415 | |||
416 | // This causes the loop to bail on building the rest of this linkset. |
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417 | // The rebuild operation should fix it up or declare the object unbuildable. |
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418 | return true; |
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419 | } |
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420 | |||
421 | return false; // 'false' says to move onto the next child in the list |
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422 | }); |
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423 | |||
424 | // Replace the root shape with the built compound shape. |
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425 | // Object removed and added to world to get collision cache rebuilt for new shape. |
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426 | LinksetRoot.PhysShape.Dereference(m_physicsScene); |
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427 | LinksetRoot.PhysShape = linksetShape; |
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428 | m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody); |
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429 | m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, linksetShape.physShapeInfo); |
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430 | m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody); |
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431 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}", |
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432 | LinksetRoot.LocalID, LinksetRoot.PhysBody, linksetShape); |
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433 | |||
434 | // With all of the linkset packed into the root prim, it has the mass of everyone. |
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435 | LinksetMass = ComputeLinksetMass(); |
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436 | LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); |
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437 | |||
438 | if (UseBulletSimRootOffsetHack) |
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439 | { |
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440 | // Enable the physical position updator to return the position and rotation of the root shape. |
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441 | // This enables a feature in the C++ code to return the world coordinates of the first shape in the |
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442 | // compound shape. This aleviates the need to offset the returned physical position by the |
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443 | // center-of-mass offset. |
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444 | // TODO: either debug this feature or remove it. |
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445 | m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); |
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446 | } |
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447 | } |
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448 | finally |
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449 | { |
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450 | Rebuilding = false; |
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451 | } |
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452 | |||
453 | // See that the Aabb surrounds the new shape |
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454 | m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo); |
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455 | } |
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456 | } |
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457 | } |