WebSVN – clockwerk-opensim-stable – Blame – Rev 1 – /OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs

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vero

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/*

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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 OpenSim.Framework;

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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 BSLinksetCompound : BSLinkset

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{

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private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";

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public BSLinksetCompound(BSScene scene, BSPrimLinkable parent)

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: base(scene, parent)

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{

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LinksetImpl = LinksetImplementation.Compound;

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}

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// ================================================================

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// Changing the physical property of the linkset only needs to change the root

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public override void SetPhysicalFriction(float friction)

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{

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if (LinksetRoot.PhysBody.HasPhysicalBody)

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m_physicsScene.PE.SetFriction(LinksetRoot.PhysBody, friction);

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}

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public override void SetPhysicalRestitution(float restitution)

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{

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if (LinksetRoot.PhysBody.HasPhysicalBody)

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m_physicsScene.PE.SetRestitution(LinksetRoot.PhysBody, restitution);

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}

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public override void SetPhysicalGravity(OMV.Vector3 gravity)

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{

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if (LinksetRoot.PhysBody.HasPhysicalBody)

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m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity);

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}

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public override void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass)

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{

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OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, linksetMass);

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LinksetRoot.Inertia = inertia * inertiaFactor;

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m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, linksetMass, LinksetRoot.Inertia);

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m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody);

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}

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public override void SetPhysicalCollisionFlags(CollisionFlags collFlags)

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{

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if (LinksetRoot.PhysBody.HasPhysicalBody)

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m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags);

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}

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public override void AddToPhysicalCollisionFlags(CollisionFlags collFlags)

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{

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if (LinksetRoot.PhysBody.HasPhysicalBody)

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m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, collFlags);

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}

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public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)

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{

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if (LinksetRoot.PhysBody.HasPhysicalBody)

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m_physicsScene.PE.RemoveFromCollisionFlags(LinksetRoot.PhysBody, collFlags);

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}

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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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public override void Refresh(BSPrimLinkable requestor)

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{

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// Something changed so do the rebuilding thing

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ScheduleRebuild(requestor);

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base.Refresh(requestor);

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}

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// Schedule a refresh to happen after all the other taint processing.

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private void ScheduleRebuild(BSPrimLinkable requestor)

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{

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DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",

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requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));

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// When rebuilding, it is possible to set properties that would normally require a rebuild.

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// If already rebuilding, don't request another rebuild.

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// If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.

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if (!Rebuilding && HasAnyChildren)

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{

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m_physicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()

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{

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if (HasAnyChildren)

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RecomputeLinksetCompound();

});

}

}

// The object is going dynamic (physical). Do any setup necessary 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(BSPrimLinkable child)

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{

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bool ret = false;

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DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));

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if (IsRoot(child))

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{

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// The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.

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Refresh(LinksetRoot);

}

return ret;

}

// The object is going static (non-physical). We do not do anything for static linksets.

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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(BSPrimLinkable child)

{

bool ret = false;

DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));

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child.ClearDisplacement();

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if (IsRoot(child))

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{

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// Schedule a rebuild to verify that the root shape is set to the real shape.

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Refresh(LinksetRoot);

}

return ret;

}

// 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then.

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// Called at taint-time.

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public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable updated)

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{

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if (!LinksetRoot.IsPhysicallyActive)

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{

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// No reason to do this physical stuff for static linksets.

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DetailLog("{0},BSLinksetCompound.UpdateProperties,notPhysical", LinksetRoot.LocalID);

return;

}

// The user moving a child around requires the rebuilding of the linkset compound shape

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// One problem is this happens when a border is crossed -- the simulator implementation

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// stores the position into the group which causes the move of the object

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// but it also means all the child positions get updated.

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// What would cause an unnecessary rebuild so we make sure the linkset is in a

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// region before bothering to do a rebuild.

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if (!IsRoot(updated) && m_physicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))

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{

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// If a child of the linkset is updating only the position or rotation, that can be done

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// without rebuilding the linkset.

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// If a handle for the child can be fetch, we update the child here. If a rebuild was

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// scheduled by someone else, the rebuild will just replace this setting.

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bool updatedChild = false;

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// Anything other than updating position or orientation usually means a physical update

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// and that is caused by us updating the object.

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if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0)

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{

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// Find the physical instance of the child

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                if (LinksetRoot.PhysShape.HasPhysicalShape && m_physicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo))

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{

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// It is possible that the linkset is still under construction and the child is not yet

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// inserted into the compound shape. A rebuild of the linkset in a pre-step action will

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// build the whole thing with the new position or rotation.

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// The index must be checked because Bullet references the child array but does no validity

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// checking of the child index passed.

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                    int numLinksetChildren = m_physicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape.physShapeInfo);

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if (updated.LinksetChildIndex < numLinksetChildren)

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{

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                        BulletShape linksetChildShape = m_physicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex);

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if (linksetChildShape.HasPhysicalShape)

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{

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// Found the child shape within the compound shape

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                            m_physicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex,

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updated.RawPosition - LinksetRoot.RawPosition,

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                                                                        updated.RawOrientation * OMV.Quaternion.Inverse(LinksetRoot.RawOrientation),

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true /* shouldRecalculateLocalAabb */);

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updatedChild = true;

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                            DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},pos={2},rot={3}",

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                                                        updated.LocalID, whichUpdated, updated.RawPosition, updated.RawOrientation);

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}

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else // DEBUG DEBUG

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{ // DEBUG DEBUG

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                            DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}",

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updated.LocalID, linksetChildShape);

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} // DEBUG DEBUG

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}

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else // DEBUG DEBUG

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{ // DEBUG DEBUG

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// the child is not yet in the compound shape. This is non-fatal.

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                        DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,childNotInCompoundShape,numChildren={1},index={2}",

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                                                                    updated.LocalID, numLinksetChildren, updated.LinksetChildIndex);

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} // DEBUG DEBUG

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}

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else // DEBUG DEBUG

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{ // DEBUG DEBUG

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                    DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noBodyOrNotCompound", updated.LocalID);

} // DEBUG DEBUG

if (!updatedChild)

{

                    // If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info.

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// Note: there are several ways through this code that will not update the child if

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// the linkset is being rebuilt. In this case, scheduling a rebuild is a NOOP since

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// there will already be a rebuild scheduled.

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                    DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}",

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updated.LocalID, whichUpdated);

Refresh(updated);

}

}

}

}

// Routine called when rebuilding the body of some member of the linkset.

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// If one of the bodies is being changed, the linkset needs rebuilding.

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// For instance, a linkset is built and then a mesh asset is read in and the mesh is recreated.

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// Returns 'true' of something was actually removed and would need restoring

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// Called at taint-time!!

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public override bool RemoveDependencies(BSPrimLinkable child)

{

bool ret = false;

DetailLog("{0},BSLinksetCompound.RemoveDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",

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child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child));

Refresh(child);

return ret;

}

// ================================================================

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// Add a new child to the linkset.

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// Called while LinkActivity is locked.

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protected override void AddChildToLinkset(BSPrimLinkable child)

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{

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if (!HasChild(child))

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{

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m_children.Add(child, new BSLinkInfo(child));

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DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);

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// Rebuild the compound shape with the new child shape included

Refresh(child);

}

return;

}

// Remove the specified child from the linkset.

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// Safe to call even if the child is not really in the linkset.

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protected override void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime)

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{

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child.ClearDisplacement();

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if (m_children.Remove(child))

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{

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DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",

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child.LocalID,

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LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString,

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child.LocalID, child.PhysBody.AddrString);

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// Cause the child's body to be rebuilt and thus restored to normal operation

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child.ForceBodyShapeRebuild(inTaintTime);

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if (!HasAnyChildren)

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{

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// The linkset is now empty. The root needs rebuilding.

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LinksetRoot.ForceBodyShapeRebuild(inTaintTime);

}

else

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// Rebuild the compound shape with the child removed

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Refresh(LinksetRoot);

}

}

return;

}

// Called before the simulation step to make sure the compound based linkset

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// is all initialized.

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// Constraint linksets are rebuilt every time.

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// Note that this works for rebuilding just the root after a linkset is taken apart.

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// Called at taint time!!

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    private bool UseBulletSimRootOffsetHack = false;    // Attempt to have Bullet track the coords of root compound shape

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private void RecomputeLinksetCompound()

{

try

{

Rebuilding = true;

// No matter what is being done, force the root prim's PhysBody and PhysShape to get set

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// to what they should be as if the root was not in a linkset.

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// Not that bad since we only get into this routine if there are children in the linkset and

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// something has been updated/changed.

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// Have to do the rebuild before checking for physical because this might be a linkset

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// being destructed and going non-physical.

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LinksetRoot.ForceBodyShapeRebuild(true);

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// There is no reason to build all this physical stuff for a non-physical or empty linkset.

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if (!LinksetRoot.IsPhysicallyActive || !HasAnyChildren)

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{

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                DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysicalOrNoChildren", LinksetRoot.LocalID);

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return; // Note the 'finally' clause at the botton which will get executed.

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}

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// Get a new compound shape to build the linkset shape in.

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BSShape linksetShape = BSShapeCompound.GetReference(m_physicsScene);

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// Compute a displacement for each component so it is relative to the center-of-mass.

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// Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass

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OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass();

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            OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation));

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OMV.Vector3 origRootPosition = LinksetRoot.RawPosition;

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            // 'centerDisplacementV' is the vehicle relative distance from the simulator root position to the center-of-mass

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OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation;

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if (UseBulletSimRootOffsetHack || !BSParam.LinksetOffsetCenterOfMass)

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{

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// Zero everything if center-of-mass displacement is not being done.

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centerDisplacementV = OMV.Vector3.Zero;

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LinksetRoot.ClearDisplacement();

}

else

{

// The actual center-of-mass could have been set by the user.

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centerDisplacementV = LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV);

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}

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DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}",

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LinksetRoot.LocalID, origRootPosition, centerOfMassW, centerDisplacementV);

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// Add the shapes of all the components of the linkset

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int memberIndex = 1;

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ForEachMember((cPrim) =>

{

if (IsRoot(cPrim))

{

// Root shape is always index zero.

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cPrim.LinksetChildIndex = 0;

}

else

{

cPrim.LinksetChildIndex = memberIndex;

memberIndex++;

}

// Get a reference to the shape of the child for adding of that shape to the linkset compound shape

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BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim);

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// Offset the child shape from the center-of-mass and rotate it to vehicle relative.

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                OMV.Vector3 offsetPos = (cPrim.RawPosition - origRootPosition) * invRootOrientation - centerDisplacementV;

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OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation;

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// Add the child shape to the compound shape being built

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                m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot);

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                DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}",

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LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot);

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// Since we are borrowing the shape of the child, disable the origional child body

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if (!IsRoot(cPrim))

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{

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m_physicsScene.PE.AddToCollisionFlags(cPrim.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);

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m_physicsScene.PE.ForceActivationState(cPrim.PhysBody, ActivationState.DISABLE_SIMULATION);

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// We don't want collisions from the old linkset children.

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                    m_physicsScene.PE.RemoveFromCollisionFlags(cPrim.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);

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cPrim.PhysBody.collisionType = CollisionType.LinksetChild;

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}

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return false; // 'false' says to move onto the next child in the list

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});

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// Replace the root shape with the built compound shape.

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// Object removed and added to world to get collision cache rebuilt for new shape.

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LinksetRoot.PhysShape.Dereference(m_physicsScene);

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LinksetRoot.PhysShape = linksetShape;

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m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody);

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m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, linksetShape.physShapeInfo);

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m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody);

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DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}",

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LinksetRoot.LocalID, LinksetRoot.PhysBody, linksetShape);

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// With all of the linkset packed into the root prim, it has the mass of everyone.

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LinksetMass = ComputeLinksetMass();

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LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);

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if (UseBulletSimRootOffsetHack)

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{

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// Enable the physical position updator to return the position and rotation of the root shape.

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// This enables a feature in the C++ code to return the world coordinates of the first shape in the

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// compound shape. This aleviates the need to offset the returned physical position by the

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// center-of-mass offset.

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// TODO: either debug this feature or remove it.

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                m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE);

}

}

finally

{

Rebuilding = false;

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}

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// See that the Aabb surrounds the new shape

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m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo);

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}

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}

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}

clockwerk-opensim-stable – Blame information for rev 1