opensim – Rev 1
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Reflection;
using System.Runtime.InteropServices;
using System.Text;
using System.Threading;
using OpenSim.Framework;
using OpenSim.Region.Framework;
using OpenSim.Region.CoreModules;
using Logging = OpenSim.Region.CoreModules.Framework.Statistics.Logging;
using OpenSim.Region.Physics.Manager;
using Nini.Config;
using log4net;
using OpenMetaverse;
namespace OpenSim.Region.Physics.BulletSPlugin
{
public sealed class BSScene : PhysicsScene, IPhysicsParameters
{
internal static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
internal static readonly string LogHeader = "[BULLETS SCENE]";
// The name of the region we're working for.
public string RegionName { get; private set; }
public string BulletSimVersion = "?";
// The handle to the underlying managed or unmanaged version of Bullet being used.
public string BulletEngineName { get; private set; }
public BSAPITemplate PE;
// If the physics engine is running on a separate thread
public Thread m_physicsThread;
public Dictionary<uint, BSPhysObject> PhysObjects;
public BSShapeCollection Shapes;
// Keeping track of the objects with collisions so we can report begin and end of a collision
public HashSet<BSPhysObject> ObjectsWithCollisions = new HashSet<BSPhysObject>();
public HashSet<BSPhysObject> ObjectsWithNoMoreCollisions = new HashSet<BSPhysObject>();
// All the collision processing is protected with this lock object
public Object CollisionLock = new Object();
// Properties are updated here
public Object UpdateLock = new Object();
public HashSet<BSPhysObject> ObjectsWithUpdates = new HashSet<BSPhysObject>();
// Keep track of all the avatars so we can send them a collision event
// every tick so OpenSim will update its animation.
private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>();
// let my minuions use my logger
public ILog Logger { get { return m_log; } }
public IMesher mesher;
public uint WorldID { get; private set; }
public BulletWorld World { get; private set; }
// All the constraints that have been allocated in this instance.
public BSConstraintCollection Constraints { get; private set; }
// Simulation parameters
internal float m_physicsStepTime; // if running independently, the interval simulated by default
internal int m_maxSubSteps;
internal float m_fixedTimeStep;
internal float m_simulatedTime; // the time simulated previously. Used for physics framerate calc.
internal long m_simulationStep = 0; // The current simulation step.
public long SimulationStep { get { return m_simulationStep; } }
// A number to use for SimulationStep that is probably not any step value
// Used by the collision code (which remembers the step when a collision happens) to remember not any simulation step.
public static long NotASimulationStep = -1234;
internal float LastTimeStep { get; private set; } // The simulation time from the last invocation of Simulate()
internal float NominalFrameRate { get; set; } // Parameterized ideal frame rate that simulation is scaled to
// Physical objects can register for prestep or poststep events
public delegate void PreStepAction(float timeStep);
public delegate void PostStepAction(float timeStep);
public event PreStepAction BeforeStep;
public event PostStepAction AfterStep;
// A value of the time 'now' so all the collision and update routines do not have to get their own
// Set to 'now' just before all the prims and actors are called for collisions and updates
public int SimulationNowTime { get; private set; }
// True if initialized and ready to do simulation steps
private bool m_initialized = false;
// Flag which is true when processing taints.
// Not guaranteed to be correct all the time (don't depend on this) but good for debugging.
public bool InTaintTime { get; private set; }
// Pinned memory used to pass step information between managed and unmanaged
internal int m_maxCollisionsPerFrame;
internal CollisionDesc[] m_collisionArray;
internal int m_maxUpdatesPerFrame;
internal EntityProperties[] m_updateArray;
public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero
public const uint GROUNDPLANE_ID = 1;
public const uint CHILDTERRAIN_ID = 2; // Terrain allocated based on our mega-prim childre start here
public float SimpleWaterLevel { get; set; }
public BSTerrainManager TerrainManager { get; private set; }
public ConfigurationParameters Params
{
get { return UnmanagedParams[0]; }
}
public Vector3 DefaultGravity
{
get { return new Vector3(0f, 0f, Params.gravity); }
}
// Just the Z value of the gravity
public float DefaultGravityZ
{
get { return Params.gravity; }
}
// When functions in the unmanaged code must be called, it is only
// done at a known time just before the simulation step. The taint
// system saves all these function calls and executes them in
// order before the simulation.
public delegate void TaintCallback();
private struct TaintCallbackEntry
{
public String originator;
public String ident;
public TaintCallback callback;
public TaintCallbackEntry(string pIdent, TaintCallback pCallBack)
{
originator = BSScene.DetailLogZero;
ident = pIdent;
callback = pCallBack;
}
public TaintCallbackEntry(string pOrigin, string pIdent, TaintCallback pCallBack)
{
originator = pOrigin;
ident = pIdent;
callback = pCallBack;
}
}
private Object _taintLock = new Object(); // lock for using the next object
private List<TaintCallbackEntry> _taintOperations;
private Dictionary<string, TaintCallbackEntry> _postTaintOperations;
private List<TaintCallbackEntry> _postStepOperations;
// A pointer to an instance if this structure is passed to the C++ code
// Used to pass basic configuration values to the unmanaged code.
internal ConfigurationParameters[] UnmanagedParams;
// Sometimes you just have to log everything.
public Logging.LogWriter PhysicsLogging;
private bool m_physicsLoggingEnabled;
private string m_physicsLoggingDir;
private string m_physicsLoggingPrefix;
private int m_physicsLoggingFileMinutes;
private bool m_physicsLoggingDoFlush;
private bool m_physicsPhysicalDumpEnabled;
public int PhysicsMetricDumpFrames { get; set; }
// 'true' of the vehicle code is to log lots of details
public bool VehicleLoggingEnabled { get; private set; }
public bool VehiclePhysicalLoggingEnabled { get; private set; }
#region Construction and Initialization
public BSScene(string engineType, string identifier)
{
m_initialized = false;
// The name of the region we're working for is passed to us. Keep for identification.
RegionName = identifier;
// Set identifying variables in the PhysicsScene interface.
EngineType = engineType;
Name = EngineType + "/" + RegionName;
}
// Old version of initialization that assumes legacy sized regions (256x256)
public override void Initialise(IMesher meshmerizer, IConfigSource config)
{
m_log.ErrorFormat("{0} WARNING WARNING WARNING! BulletSim initialized without region extent specification. Terrain will be messed up.");
Vector3 regionExtent = new Vector3( Constants.RegionSize, Constants.RegionSize, Constants.RegionSize);
Initialise(meshmerizer, config, regionExtent);
}
public override void Initialise(IMesher meshmerizer, IConfigSource config, Vector3 regionExtent)
{
mesher = meshmerizer;
_taintOperations = new List<TaintCallbackEntry>();
_postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
_postStepOperations = new List<TaintCallbackEntry>();
PhysObjects = new Dictionary<uint, BSPhysObject>();
Shapes = new BSShapeCollection(this);
m_simulatedTime = 0f;
LastTimeStep = 0.1f;
// Allocate pinned memory to pass parameters.
UnmanagedParams = new ConfigurationParameters[1];
// Set default values for physics parameters plus any overrides from the ini file
GetInitialParameterValues(config);
// Force some parameters to values depending on other configurations
// Only use heightmap terrain implementation if terrain larger than legacy size
if ((uint)regionExtent.X > Constants.RegionSize || (uint)regionExtent.Y > Constants.RegionSize)
{
m_log.WarnFormat("{0} Forcing terrain implementation to heightmap for large region", LogHeader);
BSParam.TerrainImplementation = (float)BSTerrainPhys.TerrainImplementation.Heightmap;
}
// Get the connection to the physics engine (could be native or one of many DLLs)
PE = SelectUnderlyingBulletEngine(BulletEngineName);
// Enable very detailed logging.
// By creating an empty logger when not logging, the log message invocation code
// can be left in and every call doesn't have to check for null.
if (m_physicsLoggingEnabled)
{
PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes, m_physicsLoggingDoFlush);
PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output its own error messages.
}
else
{
PhysicsLogging = new Logging.LogWriter();
}
// Allocate memory for returning of the updates and collisions from the physics engine
m_collisionArray = new CollisionDesc[m_maxCollisionsPerFrame];
m_updateArray = new EntityProperties[m_maxUpdatesPerFrame];
// The bounding box for the simulated world. The origin is 0,0,0 unless we're
// a child in a mega-region.
// Bullet actually doesn't care about the extents of the simulated
// area. It tracks active objects no matter where they are.
Vector3 worldExtent = regionExtent;
World = PE.Initialize(worldExtent, Params, m_maxCollisionsPerFrame, ref m_collisionArray, m_maxUpdatesPerFrame, ref m_updateArray);
Constraints = new BSConstraintCollection(World);
TerrainManager = new BSTerrainManager(this, worldExtent);
TerrainManager.CreateInitialGroundPlaneAndTerrain();
// Put some informational messages into the log file.
m_log.InfoFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
InTaintTime = false;
m_initialized = true;
// If the physics engine runs on its own thread, start same.
if (BSParam.UseSeparatePhysicsThread)
{
// The physics simulation should happen independently of the heartbeat loop
m_physicsThread = new Thread(BulletSPluginPhysicsThread);
m_physicsThread.Name = BulletEngineName;
m_physicsThread.Start();
}
}
// All default parameter values are set here. There should be no values set in the
// variable definitions.
private void GetInitialParameterValues(IConfigSource config)
{
ConfigurationParameters parms = new ConfigurationParameters();
UnmanagedParams[0] = parms;
BSParam.SetParameterDefaultValues(this);
if (config != null)
{
// If there are specifications in the ini file, use those values
IConfig pConfig = config.Configs["BulletSim"];
if (pConfig != null)
{
BSParam.SetParameterConfigurationValues(this, pConfig);
// There are two Bullet implementations to choose from
BulletEngineName = pConfig.GetString("BulletEngine", "BulletUnmanaged");
// Very detailed logging for physics debugging
// TODO: the boolean values can be moved to the normal parameter processing.
m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
m_physicsPhysicalDumpEnabled = pConfig.GetBoolean("PhysicsPhysicalDumpEnabled", false);
// Very detailed logging for vehicle debugging
VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
// Do any replacements in the parameters
m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
}
else
{
// Nothing in the configuration INI file so assume unmanaged and other defaults.
BulletEngineName = "BulletUnmanaged";
m_physicsLoggingEnabled = false;
VehicleLoggingEnabled = false;
}
// The material characteristics.
BSMaterials.InitializeFromDefaults(Params);
if (pConfig != null)
{
// Let the user add new and interesting material property values.
BSMaterials.InitializefromParameters(pConfig);
}
}
}
// A helper function that handles a true/false parameter and returns the proper float number encoding
float ParamBoolean(IConfig config, string parmName, float deflt)
{
float ret = deflt;
if (config.Contains(parmName))
{
ret = ConfigurationParameters.numericFalse;
if (config.GetBoolean(parmName, false))
{
ret = ConfigurationParameters.numericTrue;
}
}
return ret;
}
// Select the connection to the actual Bullet implementation.
// The main engine selection is the engineName up to the first hypen.
// So "Bullet-2.80-OpenCL-Intel" specifies the 'bullet' class here and the whole name
// is passed to the engine to do its special selection, etc.
private BSAPITemplate SelectUnderlyingBulletEngine(string engineName)
{
// For the moment, do a simple switch statement.
// Someday do fancyness with looking up the interfaces in the assembly.
BSAPITemplate ret = null;
string selectionName = engineName.ToLower();
int hyphenIndex = engineName.IndexOf("-");
if (hyphenIndex > 0)
selectionName = engineName.ToLower().Substring(0, hyphenIndex - 1);
switch (selectionName)
{
case "bullet":
case "bulletunmanaged":
ret = new BSAPIUnman(engineName, this);
break;
case "bulletxna":
ret = new BSAPIXNA(engineName, this);
// Disable some features that are not implemented in BulletXNA
m_log.InfoFormat("{0} Disabling some physics features not implemented by BulletXNA", LogHeader);
m_log.InfoFormat("{0} Disabling ShouldUseBulletHACD", LogHeader);
BSParam.ShouldUseBulletHACD = false;
m_log.InfoFormat("{0} Disabling ShouldUseSingleConvexHullForPrims", LogHeader);
BSParam.ShouldUseSingleConvexHullForPrims = false;
m_log.InfoFormat("{0} Disabling ShouldUseGImpactShapeForPrims", LogHeader);
BSParam.ShouldUseGImpactShapeForPrims = false;
m_log.InfoFormat("{0} Setting terrain implimentation to Heightmap", LogHeader);
BSParam.TerrainImplementation = (float)BSTerrainPhys.TerrainImplementation.Heightmap;
break;
}
if (ret == null)
{
m_log.ErrorFormat("{0) COULD NOT SELECT BULLET ENGINE: '[BulletSim]PhysicsEngine' must be either 'BulletUnmanaged-*' or 'BulletXNA-*'", LogHeader);
}
else
{
m_log.InfoFormat("{0} Selected bullet engine {1} -> {2}/{3}", LogHeader, engineName, ret.BulletEngineName, ret.BulletEngineVersion);
}
return ret;
}
public override void Dispose()
{
// m_log.DebugFormat("{0}: Dispose()", LogHeader);
// make sure no stepping happens while we're deleting stuff
m_initialized = false;
foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
{
kvp.Value.Destroy();
}
PhysObjects.Clear();
// Now that the prims are all cleaned up, there should be no constraints left
if (Constraints != null)
{
Constraints.Dispose();
Constraints = null;
}
if (Shapes != null)
{
Shapes.Dispose();
Shapes = null;
}
if (TerrainManager != null)
{
TerrainManager.ReleaseGroundPlaneAndTerrain();
TerrainManager.Dispose();
TerrainManager = null;
}
// Anything left in the unmanaged code should be cleaned out
PE.Shutdown(World);
// Not logging any more
PhysicsLogging.Close();
}
#endregion // Construction and Initialization
#region Prim and Avatar addition and removal
public override PhysicsActor AddAvatar(string avName, Vector3 position, Vector3 size, bool isFlying)
{
m_log.ErrorFormat("{0}: CALL TO AddAvatar in BSScene. NOT IMPLEMENTED", LogHeader);
return null;
}
public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, bool isFlying)
{
// m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName);
if (!m_initialized) return null;
BSCharacter actor = new BSCharacter(localID, avName, this, position, size, isFlying);
lock (PhysObjects)
PhysObjects.Add(localID, actor);
// TODO: Remove kludge someday.
// We must generate a collision for avatars whether they collide or not.
// This is required by OpenSim to update avatar animations, etc.
lock (m_avatars)
m_avatars.Add(actor);
return actor;
}
public override void RemoveAvatar(PhysicsActor actor)
{
// m_log.DebugFormat("{0}: RemoveAvatar", LogHeader);
if (!m_initialized) return;
BSCharacter bsactor = actor as BSCharacter;
if (bsactor != null)
{
try
{
lock (PhysObjects)
PhysObjects.Remove(bsactor.LocalID);
// Remove kludge someday
lock (m_avatars)
m_avatars.Remove(bsactor);
}
catch (Exception e)
{
m_log.WarnFormat("{0}: Attempt to remove avatar that is not in physics scene: {1}", LogHeader, e);
}
bsactor.Destroy();
// bsactor.dispose();
}
else
{
m_log.ErrorFormat("{0}: Requested to remove avatar that is not a BSCharacter. ID={1}, type={2}",
LogHeader, actor.LocalID, actor.GetType().Name);
}
}
public override void RemovePrim(PhysicsActor prim)
{
if (!m_initialized) return;
BSPhysObject bsprim = prim as BSPhysObject;
if (bsprim != null)
{
DetailLog("{0},RemovePrim,call", bsprim.LocalID);
// m_log.DebugFormat("{0}: RemovePrim. id={1}/{2}", LogHeader, bsprim.Name, bsprim.LocalID);
try
{
lock (PhysObjects) PhysObjects.Remove(bsprim.LocalID);
}
catch (Exception e)
{
m_log.ErrorFormat("{0}: Attempt to remove prim that is not in physics scene: {1}", LogHeader, e);
}
bsprim.Destroy();
// bsprim.dispose();
}
else
{
m_log.ErrorFormat("{0}: Attempt to remove prim that is not a BSPrim type.", LogHeader);
}
}
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
Vector3 size, Quaternion rotation, bool isPhysical, uint localID)
{
// m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
if (!m_initialized) return null;
// DetailLog("{0},BSScene.AddPrimShape,call", localID);
BSPhysObject prim = new BSPrimLinkable(localID, primName, this, position, size, rotation, pbs, isPhysical);
lock (PhysObjects) PhysObjects.Add(localID, prim);
return prim;
}
// This is a call from the simulator saying that some physical property has been updated.
// The BulletSim driver senses the changing of relevant properties so this taint
// information call is not needed.
public override void AddPhysicsActorTaint(PhysicsActor prim) { }
#endregion // Prim and Avatar addition and removal
#region Simulation
// Call from the simulator to send physics information to the simulator objects.
// This pushes all the collision and property update events into the objects in
// the simulator and, since it is on the heartbeat thread, there is an implicit
// locking of those data structures from other heartbeat events.
// If the physics engine is running on a separate thread, the update information
// will be in the ObjectsWithCollions and ObjectsWithUpdates structures.
public override float Simulate(float timeStep)
{
if (!BSParam.UseSeparatePhysicsThread)
{
DoPhysicsStep(timeStep);
}
return SendUpdatesToSimulator(timeStep);
}
// Call the physics engine to do one 'timeStep' and collect collisions and updates
// into ObjectsWithCollisions and ObjectsWithUpdates data structures.
private void DoPhysicsStep(float timeStep)
{
// prevent simulation until we've been initialized
if (!m_initialized) return;
LastTimeStep = timeStep;
int updatedEntityCount = 0;
int collidersCount = 0;
int beforeTime = Util.EnvironmentTickCount();
int simTime = 0;
int numTaints = _taintOperations.Count;
InTaintTime = true; // Only used for debugging so locking is not necessary.
// update the prim states while we know the physics engine is not busy
ProcessTaints();
// Some of the physical objects requre individual, pre-step calls
// (vehicles and avatar movement, in particular)
TriggerPreStepEvent(timeStep);
// the prestep actions might have added taints
numTaints += _taintOperations.Count;
ProcessTaints();
InTaintTime = false; // Only used for debugging so locking is not necessary.
// The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
// Only enable this in a limited test world with few objects.
if (m_physicsPhysicalDumpEnabled)
PE.DumpAllInfo(World);
// step the physical world one interval
m_simulationStep++;
int numSubSteps = 0;
try
{
numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount);
}
catch (Exception e)
{
m_log.WarnFormat("{0},PhysicsStep Exception: nTaints={1}, substeps={2}, updates={3}, colliders={4}, e={5}",
LogHeader, numTaints, numSubSteps, updatedEntityCount, collidersCount, e);
DetailLog("{0},PhysicsStepException,call, nTaints={1}, substeps={2}, updates={3}, colliders={4}",
DetailLogZero, numTaints, numSubSteps, updatedEntityCount, collidersCount);
updatedEntityCount = 0;
collidersCount = 0;
}
// Make the physics engine dump useful statistics periodically
if (PhysicsMetricDumpFrames != 0 && ((m_simulationStep % PhysicsMetricDumpFrames) == 0))
PE.DumpPhysicsStatistics(World);
// Get a value for 'now' so all the collision and update routines don't have to get their own.
SimulationNowTime = Util.EnvironmentTickCount();
// Send collision information to the colliding objects. The objects decide if the collision
// is 'real' (like linksets don't collide with themselves) and the individual objects
// know if the simulator has subscribed to collisions.
lock (CollisionLock)
{
if (collidersCount > 0)
{
for (int ii = 0; ii < collidersCount; ii++)
{
uint cA = m_collisionArray[ii].aID;
uint cB = m_collisionArray[ii].bID;
Vector3 point = m_collisionArray[ii].point;
Vector3 normal = m_collisionArray[ii].normal;
float penetration = m_collisionArray[ii].penetration;
SendCollision(cA, cB, point, normal, penetration);
SendCollision(cB, cA, point, -normal, penetration);
}
}
}
// If any of the objects had updated properties, tell the managed objects about the update
// and remember that there was a change so it will be passed to the simulator.
lock (UpdateLock)
{
if (updatedEntityCount > 0)
{
for (int ii = 0; ii < updatedEntityCount; ii++)
{
EntityProperties entprop = m_updateArray[ii];
BSPhysObject pobj;
if (PhysObjects.TryGetValue(entprop.ID, out pobj))
{
if (pobj.IsInitialized)
pobj.UpdateProperties(entprop);
}
}
}
}
// Some actors want to know when the simulation step is complete.
TriggerPostStepEvent(timeStep);
simTime = Util.EnvironmentTickCountSubtract(beforeTime);
if (PhysicsLogging.Enabled)
{
DetailLog("{0},DoPhysicsStep,complete,frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps,
updatedEntityCount, collidersCount, ObjectsWithCollisions.Count);
}
// The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
// Only enable this in a limited test world with few objects.
if (m_physicsPhysicalDumpEnabled)
PE.DumpAllInfo(World);
// The physics engine returns the number of milliseconds it simulated this call.
// These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
// Multiply by a fixed nominal frame rate to give a rate similar to the simulator (usually 55).
m_simulatedTime += (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate;
}
// Called by a BSPhysObject to note that it has changed properties and this information
// should be passed up to the simulator at the proper time.
// Note: this is called by the BSPhysObject from invocation via DoPhysicsStep() above so
// this is is under UpdateLock.
public void PostUpdate(BSPhysObject updatee)
{
ObjectsWithUpdates.Add(updatee);
}
// The simulator thinks it is physics time so return all the collisions and position
// updates that were collected in actual physics simulation.
private float SendUpdatesToSimulator(float timeStep)
{
if (!m_initialized) return 5.0f;
DetailLog("{0},SendUpdatesToSimulator,collisions={1},updates={2},simedTime={3}",
BSScene.DetailLogZero, ObjectsWithCollisions.Count, ObjectsWithUpdates.Count, m_simulatedTime);
// Push the collisions into the simulator.
lock (CollisionLock)
{
if (ObjectsWithCollisions.Count > 0)
{
foreach (BSPhysObject bsp in ObjectsWithCollisions)
if (!bsp.SendCollisions())
{
// If the object is done colliding, see that it's removed from the colliding list
ObjectsWithNoMoreCollisions.Add(bsp);
}
}
// This is a kludge to get avatar movement updates.
// The simulator expects collisions for avatars even if there are have been no collisions.
// The event updates avatar animations and stuff.
// If you fix avatar animation updates, remove this overhead and let normal collision processing happen.
foreach (BSPhysObject bsp in m_avatars)
if (!ObjectsWithCollisions.Contains(bsp)) // don't call avatars twice
bsp.SendCollisions();
// Objects that are done colliding are removed from the ObjectsWithCollisions list.
// Not done above because it is inside an iteration of ObjectWithCollisions.
// This complex collision processing is required to create an empty collision
// event call after all real collisions have happened on an object. This allows
// the simulator to generate the 'collision end' event.
if (ObjectsWithNoMoreCollisions.Count > 0)
{
foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
ObjectsWithCollisions.Remove(po);
ObjectsWithNoMoreCollisions.Clear();
}
}
// Call the simulator for each object that has physics property updates.
HashSet<BSPhysObject> updatedObjects = null;
lock (UpdateLock)
{
if (ObjectsWithUpdates.Count > 0)
{
updatedObjects = ObjectsWithUpdates;
ObjectsWithUpdates = new HashSet<BSPhysObject>();
}
}
if (updatedObjects != null)
{
foreach (BSPhysObject obj in updatedObjects)
{
obj.RequestPhysicsterseUpdate();
}
updatedObjects.Clear();
}
// Return the framerate simulated to give the above returned results.
// (Race condition here but this is just bookkeeping so rare mistakes do not merit a lock).
float simTime = m_simulatedTime;
m_simulatedTime = 0f;
return simTime;
}
// Something has collided
private void SendCollision(uint localID, uint collidingWith, Vector3 collidePoint, Vector3 collideNormal, float penetration)
{
if (localID <= TerrainManager.HighestTerrainID)
{
return; // don't send collisions to the terrain
}
BSPhysObject collider;
if (!PhysObjects.TryGetValue(localID, out collider))
{
// If the object that is colliding cannot be found, just ignore the collision.
DetailLog("{0},BSScene.SendCollision,colliderNotInObjectList,id={1},with={2}", DetailLogZero, localID, collidingWith);
return;
}
// Note: the terrain is not in the physical object list so 'collidee' can be null when Collide() is called.
BSPhysObject collidee = null;
PhysObjects.TryGetValue(collidingWith, out collidee);
// DetailLog("{0},BSScene.SendCollision,collide,id={1},with={2}", DetailLogZero, localID, collidingWith);
if (collider.IsInitialized)
{
if (collider.Collide(collidingWith, collidee, collidePoint, collideNormal, penetration))
{
// If a collision was 'good', remember to send it to the simulator
ObjectsWithCollisions.Add(collider);
}
}
return;
}
public void BulletSPluginPhysicsThread()
{
while (m_initialized)
{
int beginSimulationRealtimeMS = Util.EnvironmentTickCount();
DoPhysicsStep(BSParam.PhysicsTimeStep);
int simulationRealtimeMS = Util.EnvironmentTickCountSubtract(beginSimulationRealtimeMS);
int simulationTimeVsRealtimeDifferenceMS = ((int)(BSParam.PhysicsTimeStep*1000f)) - simulationRealtimeMS;
if (simulationTimeVsRealtimeDifferenceMS > 0)
{
// The simulation of the time interval took less than realtime.
// Do a sleep for the rest of realtime.
Thread.Sleep(simulationTimeVsRealtimeDifferenceMS);
}
else
{
// The simulation took longer than realtime.
// Do some scaling of simulation time.
// TODO.
DetailLog("{0},BulletSPluginPhysicsThread,longerThanRealtime={1}", BSScene.DetailLogZero, simulationTimeVsRealtimeDifferenceMS);
}
}
}
#endregion // Simulation
public override void GetResults() { }
#region Terrain
public override void SetTerrain(float[] heightMap) {
TerrainManager.SetTerrain(heightMap);
}
public override void SetWaterLevel(float baseheight)
{
SimpleWaterLevel = baseheight;
}
public override void DeleteTerrain()
{
// m_log.DebugFormat("{0}: DeleteTerrain()", LogHeader);
}
// Although no one seems to check this, I do support combining.
public override bool SupportsCombining()
{
return TerrainManager.SupportsCombining();
}
// This call says I am a child to region zero in a mega-region. 'pScene' is that
// of region zero, 'offset' is my offset from regions zero's origin, and
// 'extents' is the largest XY that is handled in my region.
public override void Combine(PhysicsScene pScene, Vector3 offset, Vector3 extents)
{
TerrainManager.Combine(pScene, offset, extents);
}
// Unhook all the combining that I know about.
public override void UnCombine(PhysicsScene pScene)
{
TerrainManager.UnCombine(pScene);
}
#endregion // Terrain
public override Dictionary<uint, float> GetTopColliders()
{
Dictionary<uint, float> topColliders;
lock (PhysObjects)
{
foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
{
kvp.Value.ComputeCollisionScore();
}
List<BSPhysObject> orderedPrims = new List<BSPhysObject>(PhysObjects.Values);
orderedPrims.OrderByDescending(p => p.CollisionScore);
topColliders = orderedPrims.Take(25).ToDictionary(p => p.LocalID, p => p.CollisionScore);
}
return topColliders;
}
public override bool IsThreaded { get { return false; } }
#region Extensions
public override object Extension(string pFunct, params object[] pParams)
{
DetailLog("{0} BSScene.Extension,op={1}", DetailLogZero, pFunct);
return base.Extension(pFunct, pParams);
}
#endregion // Extensions
#region Taints
// The simulation execution order is:
// Simulate()
// DoOneTimeTaints
// TriggerPreStepEvent
// DoOneTimeTaints
// Step()
// ProcessAndSendToSimulatorCollisions
// ProcessAndSendToSimulatorPropertyUpdates
// TriggerPostStepEvent
// Calls to the PhysicsActors can't directly call into the physics engine
// because it might be busy. We delay changes to a known time.
// We rely on C#'s closure to save and restore the context for the delegate.
public void TaintedObject(string pOriginator, string pIdent, TaintCallback pCallback)
{
TaintedObject(false /*inTaintTime*/, pOriginator, pIdent, pCallback);
}
public void TaintedObject(uint pOriginator, String pIdent, TaintCallback pCallback)
{
TaintedObject(false /*inTaintTime*/, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback);
}
public void TaintedObject(bool inTaintTime, String pIdent, TaintCallback pCallback)
{
TaintedObject(inTaintTime, BSScene.DetailLogZero, pIdent, pCallback);
}
public void TaintedObject(bool inTaintTime, uint pOriginator, String pIdent, TaintCallback pCallback)
{
TaintedObject(inTaintTime, m_physicsLoggingEnabled ? pOriginator.ToString() : BSScene.DetailLogZero, pIdent, pCallback);
}
// Sometimes a potentially tainted operation can be used in and out of taint time.
// This routine executes the command immediately if in taint-time otherwise it is queued.
public void TaintedObject(bool inTaintTime, string pOriginator, string pIdent, TaintCallback pCallback)
{
if (!m_initialized) return;
if (inTaintTime)
pCallback();
else
{
lock (_taintLock)
{
_taintOperations.Add(new TaintCallbackEntry(pOriginator, pIdent, pCallback));
}
}
}
private void TriggerPreStepEvent(float timeStep)
{
PreStepAction actions = BeforeStep;
if (actions != null)
actions(timeStep);
}
private void TriggerPostStepEvent(float timeStep)
{
PostStepAction actions = AfterStep;
if (actions != null)
actions(timeStep);
}
// When someone tries to change a property on a BSPrim or BSCharacter, the object queues
// a callback into itself to do the actual property change. That callback is called
// here just before the physics engine is called to step the simulation.
public void ProcessTaints()
{
ProcessRegularTaints();
ProcessPostTaintTaints();
}
private void ProcessRegularTaints()
{
if (m_initialized && _taintOperations.Count > 0) // save allocating new list if there is nothing to process
{
// swizzle a new list into the list location so we can process what's there
List<TaintCallbackEntry> oldList;
lock (_taintLock)
{
oldList = _taintOperations;
_taintOperations = new List<TaintCallbackEntry>();
}
foreach (TaintCallbackEntry tcbe in oldList)
{
try
{
DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", tcbe.originator, tcbe.ident); // DEBUG DEBUG DEBUG
tcbe.callback();
}
catch (Exception e)
{
m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e);
}
}
oldList.Clear();
}
}
// Schedule an update to happen after all the regular taints are processed.
// Note that new requests for the same operation ("ident") for the same object ("ID")
// will replace any previous operation by the same object.
public void PostTaintObject(String ident, uint ID, TaintCallback callback)
{
string IDAsString = ID.ToString();
string uniqueIdent = ident + "-" + IDAsString;
lock (_taintLock)
{
_postTaintOperations[uniqueIdent] = new TaintCallbackEntry(IDAsString, uniqueIdent, callback);
}
return;
}
// Taints that happen after the normal taint processing but before the simulation step.
private void ProcessPostTaintTaints()
{
if (m_initialized && _postTaintOperations.Count > 0)
{
Dictionary<string, TaintCallbackEntry> oldList;
lock (_taintLock)
{
oldList = _postTaintOperations;
_postTaintOperations = new Dictionary<string, TaintCallbackEntry>();
}
foreach (KeyValuePair<string,TaintCallbackEntry> kvp in oldList)
{
try
{
DetailLog("{0},BSScene.ProcessPostTaintTaints,doTaint,id={1}", DetailLogZero, kvp.Key); // DEBUG DEBUG DEBUG
kvp.Value.callback();
}
catch (Exception e)
{
m_log.ErrorFormat("{0}: ProcessPostTaintTaints: {1}: Exception: {2}", LogHeader, kvp.Key, e);
}
}
oldList.Clear();
}
}
// Only used for debugging. Does not change state of anything so locking is not necessary.
public bool AssertInTaintTime(string whereFrom)
{
if (!InTaintTime)
{
DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
// Util.PrintCallStack(DetailLog);
}
return InTaintTime;
}
#endregion // Taints
#region IPhysicsParameters
// Get the list of parameters this physics engine supports
public PhysParameterEntry[] GetParameterList()
{
BSParam.BuildParameterTable();
return BSParam.SettableParameters;
}
// Set parameter on a specific or all instances.
// Return 'false' if not able to set the parameter.
// Setting the value in the m_params block will change the value the physics engine
// will use the next time since it's pinned and shared memory.
// Some of the values require calling into the physics engine to get the new
// value activated ('terrainFriction' for instance).
public bool SetPhysicsParameter(string parm, string val, uint localID)
{
bool ret = false;
BSParam.ParameterDefnBase theParam;
if (BSParam.TryGetParameter(parm, out theParam))
{
// Set the value in the C# code
theParam.SetValue(this, val);
// Optionally set the parameter in the unmanaged code
if (theParam.HasSetOnObject)
{
// update all the localIDs specified
// If the local ID is APPLY_TO_NONE, just change the default value
// If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
// If the localID is a specific object, apply the parameter change to only that object
List<uint> objectIDs = new List<uint>();
switch (localID)
{
case PhysParameterEntry.APPLY_TO_NONE:
// This will cause a call into the physical world if some operation is specified (SetOnObject).
objectIDs.Add(TERRAIN_ID);
TaintedUpdateParameter(parm, objectIDs, val);
break;
case PhysParameterEntry.APPLY_TO_ALL:
lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
TaintedUpdateParameter(parm, objectIDs, val);
break;
default:
// setting only one localID
objectIDs.Add(localID);
TaintedUpdateParameter(parm, objectIDs, val);
break;
}
}
ret = true;
}
return ret;
}
// schedule the actual updating of the paramter to when the phys engine is not busy
private void TaintedUpdateParameter(string parm, List<uint> lIDs, string val)
{
string xval = val;
List<uint> xlIDs = lIDs;
string xparm = parm;
TaintedObject(DetailLogZero, "BSScene.UpdateParameterSet", delegate() {
BSParam.ParameterDefnBase thisParam;
if (BSParam.TryGetParameter(xparm, out thisParam))
{
if (thisParam.HasSetOnObject)
{
foreach (uint lID in xlIDs)
{
BSPhysObject theObject = null;
if (PhysObjects.TryGetValue(lID, out theObject))
thisParam.SetOnObject(this, theObject);
}
}
}
});
}
// Get parameter.
// Return 'false' if not able to get the parameter.
public bool GetPhysicsParameter(string parm, out string value)
{
string val = String.Empty;
bool ret = false;
BSParam.ParameterDefnBase theParam;
if (BSParam.TryGetParameter(parm, out theParam))
{
val = theParam.GetValue(this);
ret = true;
}
value = val;
return ret;
}
#endregion IPhysicsParameters
// Invoke the detailed logger and output something if it's enabled.
public void DetailLog(string msg, params Object[] args)
{
PhysicsLogging.Write(msg, args);
}
// Used to fill in the LocalID when there isn't one. It's the correct number of characters.
public const string DetailLogZero = "0000000000";
}
}