clockwerk-opensim-stable – Rev 1
?pathlinks?
/*
* 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 OpenSim.Framework;
using OMV = OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
public sealed class BSLinksetCompound : BSLinkset
{
private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
public BSLinksetCompound(BSScene scene, BSPrimLinkable parent)
: base(scene, parent)
{
LinksetImpl = LinksetImplementation.Compound;
}
// ================================================================
// Changing the physical property of the linkset only needs to change the root
public override void SetPhysicalFriction(float friction)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.SetFriction(LinksetRoot.PhysBody, friction);
}
public override void SetPhysicalRestitution(float restitution)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.SetRestitution(LinksetRoot.PhysBody, restitution);
}
public override void SetPhysicalGravity(OMV.Vector3 gravity)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity);
}
public override void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass)
{
OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, linksetMass);
LinksetRoot.Inertia = inertia * inertiaFactor;
m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, linksetMass, LinksetRoot.Inertia);
m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody);
}
public override void SetPhysicalCollisionFlags(CollisionFlags collFlags)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags);
}
public override void AddToPhysicalCollisionFlags(CollisionFlags collFlags)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, collFlags);
}
public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.RemoveFromCollisionFlags(LinksetRoot.PhysBody, collFlags);
}
// ================================================================
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
public override void Refresh(BSPrimLinkable requestor)
{
// Something changed so do the rebuilding thing
ScheduleRebuild(requestor);
base.Refresh(requestor);
}
// Schedule a refresh to happen after all the other taint processing.
private void ScheduleRebuild(BSPrimLinkable requestor)
{
DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
// When rebuilding, it is possible to set properties that would normally require a rebuild.
// If already rebuilding, don't request another rebuild.
// If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
if (!Rebuilding && HasAnyChildren)
{
m_physicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
{
if (HasAnyChildren)
RecomputeLinksetCompound();
});
}
}
// The object is going dynamic (physical). Do any setup necessary for a dynamic linkset.
// Only the state of the passed object can be modified. The rest of the linkset
// has not yet been fully constructed.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public override bool MakeDynamic(BSPrimLinkable child)
{
bool ret = false;
DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
if (IsRoot(child))
{
// The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
Refresh(LinksetRoot);
}
return ret;
}
// The object is going static (non-physical). We do not do anything for static linksets.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public override bool MakeStatic(BSPrimLinkable child)
{
bool ret = false;
DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
child.ClearDisplacement();
if (IsRoot(child))
{
// Schedule a rebuild to verify that the root shape is set to the real shape.
Refresh(LinksetRoot);
}
return ret;
}
// 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then.
// Called at taint-time.
public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable updated)
{
if (!LinksetRoot.IsPhysicallyActive)
{
// No reason to do this physical stuff for static linksets.
DetailLog("{0},BSLinksetCompound.UpdateProperties,notPhysical", LinksetRoot.LocalID);
return;
}
// The user moving a child around requires the rebuilding of the linkset compound shape
// One problem is this happens when a border is crossed -- the simulator implementation
// stores the position into the group which causes the move of the object
// but it also means all the child positions get updated.
// What would cause an unnecessary rebuild so we make sure the linkset is in a
// region before bothering to do a rebuild.
if (!IsRoot(updated) && m_physicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
{
// If a child of the linkset is updating only the position or rotation, that can be done
// without rebuilding the linkset.
// If a handle for the child can be fetch, we update the child here. If a rebuild was
// scheduled by someone else, the rebuild will just replace this setting.
bool updatedChild = false;
// Anything other than updating position or orientation usually means a physical update
// and that is caused by us updating the object.
if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0)
{
// Find the physical instance of the child
if (LinksetRoot.PhysShape.HasPhysicalShape && m_physicsScene.PE.IsCompound(LinksetRoot.PhysShape.physShapeInfo))
{
// It is possible that the linkset is still under construction and the child is not yet
// inserted into the compound shape. A rebuild of the linkset in a pre-step action will
// build the whole thing with the new position or rotation.
// The index must be checked because Bullet references the child array but does no validity
// checking of the child index passed.
int numLinksetChildren = m_physicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape.physShapeInfo);
if (updated.LinksetChildIndex < numLinksetChildren)
{
BulletShape linksetChildShape = m_physicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex);
if (linksetChildShape.HasPhysicalShape)
{
// Found the child shape within the compound shape
m_physicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape.physShapeInfo, updated.LinksetChildIndex,
updated.RawPosition - LinksetRoot.RawPosition,
updated.RawOrientation * OMV.Quaternion.Inverse(LinksetRoot.RawOrientation),
true /* shouldRecalculateLocalAabb */);
updatedChild = true;
DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},pos={2},rot={3}",
updated.LocalID, whichUpdated, updated.RawPosition, updated.RawOrientation);
}
else // DEBUG DEBUG
{ // DEBUG DEBUG
DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}",
updated.LocalID, linksetChildShape);
} // DEBUG DEBUG
}
else // DEBUG DEBUG
{ // DEBUG DEBUG
// the child is not yet in the compound shape. This is non-fatal.
DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,childNotInCompoundShape,numChildren={1},index={2}",
updated.LocalID, numLinksetChildren, updated.LinksetChildIndex);
} // DEBUG DEBUG
}
else // DEBUG DEBUG
{ // DEBUG DEBUG
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.
// Note: there are several ways through this code that will not update the child if
// the linkset is being rebuilt. In this case, scheduling a rebuild is a NOOP since
// there will already be a rebuild scheduled.
DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}",
updated.LocalID, whichUpdated);
Refresh(updated);
}
}
}
}
// Routine called when rebuilding the body of some member of the linkset.
// If one of the bodies is being changed, the linkset needs rebuilding.
// For instance, a linkset is built and then a mesh asset is read in and the mesh is recreated.
// Returns 'true' of something was actually removed and would need restoring
// Called at taint-time!!
public override bool RemoveDependencies(BSPrimLinkable child)
{
bool ret = false;
DetailLog("{0},BSLinksetCompound.RemoveDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child));
Refresh(child);
return ret;
}
// ================================================================
// Add a new child to the linkset.
// Called while LinkActivity is locked.
protected override void AddChildToLinkset(BSPrimLinkable child)
{
if (!HasChild(child))
{
m_children.Add(child, new BSLinkInfo(child));
DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
// Rebuild the compound shape with the new child shape included
Refresh(child);
}
return;
}
// Remove the specified child from the linkset.
// Safe to call even if the child is not really in the linkset.
protected override void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime)
{
child.ClearDisplacement();
if (m_children.Remove(child))
{
DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
child.LocalID,
LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString,
child.LocalID, child.PhysBody.AddrString);
// Cause the child's body to be rebuilt and thus restored to normal operation
child.ForceBodyShapeRebuild(inTaintTime);
if (!HasAnyChildren)
{
// The linkset is now empty. The root needs rebuilding.
LinksetRoot.ForceBodyShapeRebuild(inTaintTime);
}
else
{
// Rebuild the compound shape with the child removed
Refresh(LinksetRoot);
}
}
return;
}
// Called before the simulation step to make sure the compound based linkset
// is all initialized.
// Constraint linksets are rebuilt every time.
// Note that this works for rebuilding just the root after a linkset is taken apart.
// Called at taint time!!
private bool UseBulletSimRootOffsetHack = false; // Attempt to have Bullet track the coords of root compound shape
private void RecomputeLinksetCompound()
{
try
{
Rebuilding = true;
// No matter what is being done, force the root prim's PhysBody and PhysShape to get set
// to what they should be as if the root was not in a linkset.
// Not that bad since we only get into this routine if there are children in the linkset and
// something has been updated/changed.
// Have to do the rebuild before checking for physical because this might be a linkset
// being destructed and going non-physical.
LinksetRoot.ForceBodyShapeRebuild(true);
// There is no reason to build all this physical stuff for a non-physical or empty linkset.
if (!LinksetRoot.IsPhysicallyActive || !HasAnyChildren)
{
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysicalOrNoChildren", LinksetRoot.LocalID);
return; // Note the 'finally' clause at the botton which will get executed.
}
// Get a new compound shape to build the linkset shape in.
BSShape linksetShape = BSShapeCompound.GetReference(m_physicsScene);
// Compute a displacement for each component so it is relative to the center-of-mass.
// Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass
OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass();
OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation));
OMV.Vector3 origRootPosition = LinksetRoot.RawPosition;
// 'centerDisplacementV' is the vehicle relative distance from the simulator root position to the center-of-mass
OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation;
if (UseBulletSimRootOffsetHack || !BSParam.LinksetOffsetCenterOfMass)
{
// Zero everything if center-of-mass displacement is not being done.
centerDisplacementV = OMV.Vector3.Zero;
LinksetRoot.ClearDisplacement();
}
else
{
// The actual center-of-mass could have been set by the user.
centerDisplacementV = LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV);
}
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}",
LinksetRoot.LocalID, origRootPosition, centerOfMassW, centerDisplacementV);
// Add the shapes of all the components of the linkset
int memberIndex = 1;
ForEachMember((cPrim) =>
{
if (IsRoot(cPrim))
{
// Root shape is always index zero.
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
BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim);
// Offset the child shape from the center-of-mass and rotate it to vehicle relative.
OMV.Vector3 offsetPos = (cPrim.RawPosition - origRootPosition) * invRootOrientation - centerDisplacementV;
OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation;
// Add the child shape to the compound shape being built
m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}",
LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot);
// Since we are borrowing the shape of the child, disable the origional child body
if (!IsRoot(cPrim))
{
m_physicsScene.PE.AddToCollisionFlags(cPrim.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
m_physicsScene.PE.ForceActivationState(cPrim.PhysBody, ActivationState.DISABLE_SIMULATION);
// We don't want collisions from the old linkset children.
m_physicsScene.PE.RemoveFromCollisionFlags(cPrim.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
cPrim.PhysBody.collisionType = CollisionType.LinksetChild;
}
return false; // 'false' says to move onto the next child in the list
});
// Replace the root shape with the built compound shape.
// Object removed and added to world to get collision cache rebuilt for new shape.
LinksetRoot.PhysShape.Dereference(m_physicsScene);
LinksetRoot.PhysShape = linksetShape;
m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody);
m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, linksetShape.physShapeInfo);
m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}",
LinksetRoot.LocalID, LinksetRoot.PhysBody, linksetShape);
// With all of the linkset packed into the root prim, it has the mass of everyone.
LinksetMass = ComputeLinksetMass();
LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
if (UseBulletSimRootOffsetHack)
{
// Enable the physical position updator to return the position and rotation of the root shape.
// This enables a feature in the C++ code to return the world coordinates of the first shape in the
// compound shape. This aleviates the need to offset the returned physical position by the
// center-of-mass offset.
// TODO: either debug this feature or remove it.
m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE);
}
}
finally
{
Rebuilding = false;
}
// See that the Aabb surrounds the new shape
m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo);
}
}
}
Generated by GNU Enscript 1.6.5.90.