protected void TriggerPreUpdatePropertyAction(ref EntityProperties entprop)
{
PreUpdatePropertyAction actions = OnPreUpdateProperty;
if (actions != null)
{
actions(ref entprop);
}
}
// Called just as the property update is received from the physics engine.
// Do any mode necessary for avatar movement.
private void Process_OnPreUpdateProperty(ref EntityProperties entprop)
{
// Don't change position if standing on a stationary object.
if (m_controllingPrim.IsStationary)
{
entprop.Position = m_controllingPrim.RawPosition;
m_physicsScene.PE.SetTranslation(m_controllingPrim.PhysBody, entprop.Position, entprop.Rotation);
}
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
// Don't change position if standing on a stationary object.
if (!IsStationary)
{
_position = entprop.Position;
}
_orientation = entprop.Rotation;
if (entprop.Velocity != OMV.Vector3.Zero && entprop.Velocity.ApproxEquals(OMV.Vector3.Zero, 0.01f) && Velocity != OMV.Vector3.Zero)
{
entprop.Velocity = OMV.Vector3.Zero;
entprop.Acceleration = OMV.Vector3.Zero;
entprop.RotationalVelocity = OMV.Vector3.Zero;
Velocity = OMV.Vector3.Zero;
TriggerSignificantMovement();
TriggerMovementUpdate();
}
if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.4f))
{
RawVelocity = entprop.Velocity;
TriggerSignificantMovement();
TriggerMovementUpdate();
}
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
if (PositionSanityCheck(true))
{
DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, _position);
entprop.Position = _position;
}
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
// Tell the linkset about value changes
// Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, RawVelocity, _acceleration, _rotationalVelocity);
}
public override void UpdateProperties(EntityProperties entprop)
{
// Undo any center-of-mass displacement that might have been done.
if (PositionDisplacement != OMV.Vector3.Zero || OrientationDisplacement != OMV.Quaternion.Identity)
{
// Correct for any rotation around the center-of-mass
// TODO!!!
entprop.Position = entprop.Position + (PositionDisplacement * entprop.Rotation);
// entprop.Rotation = something;
}
base.UpdateProperties(entprop);
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
// Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator.
TriggerPreUpdatePropertyAction(ref entprop);
RawPosition = entprop.Position;
RawOrientation = entprop.Rotation;
// Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar
// and will send agent updates to the clients if velocity changes by more than
// 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many
// extra updates.
//
// XXX: Contrary to the above comment, setting an update threshold here above 0.4 actually introduces jitter to
// avatar movement rather than removes it. The larger the threshold, the bigger the jitter.
// This is most noticeable in level flight and can be seen with
// the "show updates" option in a viewer. With an update threshold, the RawVelocity cycles between a lower
// bound and an upper bound, where the difference between the two is enough to trigger a large delta v update
// and subsequently trigger an update in ScenePresence.SendTerseUpdateToAllClients(). The cause of this cycle (feedback?)
// has not yet been identified.
//
// If there is a threshold below 0.4 or no threshold check at all (as in ODE), then RawVelocity stays constant and extra
// updates are not triggered in ScenePresence.SendTerseUpdateToAllClients().
// if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.1f))
RawVelocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
if (PositionSanityCheck(true))
{
DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, RawPosition);
entprop.Position = RawPosition;
}
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
// Tell the linkset about value changes
// Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// PhysScene.PostUpdate(this);
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, RawPosition, RawOrientation, RawVelocity, _acceleration, _rotationalVelocity);
}
public override void UpdateProperties(EntityProperties entprop)
{
// Undo any center-of-mass displacement that might have been done.
if (PositionDisplacement != OMV.Vector3.Zero || OrientationDisplacement != OMV.Quaternion.Identity)
{
// Correct for any rotation around the center-of-mass
// TODO!!!
OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation);
DetailLog("{0},BSPrimDisplaced.ForcePosition,physPos={1},disp={2},newPos={3}", LocalID, entprop.Position, PositionDisplacement, displacedPos);
entprop.Position = displacedPos;
// entprop.Rotation = something;
}
base.UpdateProperties(entprop);
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
PositionSanityCheck2();
float heightHere = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); // only for debug
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity, heightHere);
}
public override void UpdateProperties(EntityProperties entprop)
{
// Undo any center-of-mass displacement that might have been done.
if (PositionDisplacement != OMV.Vector3.Zero)
{
// The origional shape was offset from 'zero' by PositionDisplacement.
// These physical location must be back converted to be centered around the displaced
// root shape.
// Move the returned center-of-mass location to the root prim location.
OMV.Vector3 displacement = PositionDisplacement * entprop.Rotation;
OMV.Vector3 displacedPos = entprop.Position - displacement;
DetailLog("{0},BSPrimDisplaced.UpdateProperties,physPos={1},disp={2},simPos={3}",
LocalID, entprop.Position, displacement, displacedPos);
entprop.Position = displacedPos;
}
base.UpdateProperties(entprop);
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
// Don't change position if standing on a stationary object.
if (!IsStationary)
{
_position = entprop.Position;
}
_orientation = entprop.Rotation;
// Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar
// and will send agent updates to the clients if velocity changes by more than
// 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many
// extra updates.
if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.1f))
{
RawVelocity = entprop.Velocity;
}
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
if (PositionSanityCheck(true))
{
DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, _position);
entprop.Position = _position;
}
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
// Tell the linkset about value changes
// Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, RawVelocity, _acceleration, _rotationalVelocity);
}
// Called after a simulation step for the changes in physical object properties.
// Do any filtering/modification needed for linksets.
public override void UpdateProperties(EntityProperties entprop)
{
if (Linkset.IsRoot(this) || Linkset.ShouldReportPropertyUpdates(this))
{
// Properties are only updated for the roots of a linkset.
// TODO: this will have to change when linksets are articulated.
base.UpdateProperties(entprop);
}
/*
* else
* {
* // For debugging, report the movement of children
* DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
* LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
* entprop.Acceleration, entprop.RotationalVelocity);
* }
*/
// The linkset might like to know about changing locations
Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public void UpdateProperties(EntityProperties entprop)
{
bool changed = false;
// we assign to the local variables so the normal set action does not happen
if (_position != entprop.Position)
{
_position = entprop.Position;
changed = true;
}
if (_orientation != entprop.Rotation)
{
_orientation = entprop.Rotation;
changed = true;
}
if (_velocity != entprop.Velocity)
{
_velocity = entprop.Velocity;
changed = true;
}
if (_acceleration != entprop.Acceleration)
{
_acceleration = entprop.Acceleration;
changed = true;
}
if (_rotationalVelocity != entprop.RotationalVelocity)
{
_rotationalVelocity = entprop.RotationalVelocity;
changed = true;
}
if (changed)
{
// m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
// Avatar movement is not done by generating this event. There is a system that
// checks for avatar updates each heartbeat loop.
// base.RequestPhysicsterseUpdate();
}
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
PositionSanityCheck(true);
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
// Tell the linkset about value changes
Linkset.UpdateProperties(this, true);
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
}
public override void UpdatesLoop()
{
//Things work better if we do this... however bad it may be
foreach (BSCharacter character in m_avatars.Values)
{
character.UpdateProperties(new EntityProperties());
}
// If any of the objects had updated properties, tell the object it has been changed by the physics engine
EntityProperties[] props = null;
lock (m_entProperties)
{
if (m_entProperties.Count > 0)
{
props = new EntityProperties[m_entProperties.Count];
m_entProperties.CopyTo(props);
m_entProperties.Clear();
}
}
if (props != null)
{
foreach (EntityProperties entprop in props)
{
// MainConsole.Instance.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position);
BSCharacter character;
if (m_avatars.TryGetValue(entprop.ID, out character))
{
character.UpdateProperties(entprop);
}
BSPrim prim;
if (m_prims.TryGetValue(entprop.ID, out prim))
{
prim.UpdateProperties(entprop);
}
}
}
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
// NOTE: BSPrim.UpdateProperties is overloaded by BSPrimLinkable which modifies updates from root and children prims.
// NOTE: BSPrim.UpdateProperties is overloaded by BSPrimDisplaced which handles mapping physical position to simulator position.
public override void UpdateProperties(EntityProperties entprop)
{
// Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator.
TriggerPreUpdatePropertyAction(ref entprop);
// DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
// Assign directly to the local variables so the normal set actions do not happen
RawPosition = entprop.Position;
RawOrientation = entprop.Rotation;
// DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be
// very sensitive to velocity changes.
if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(RawVelocity, BSParam.UpdateVelocityChangeThreshold))
RawVelocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG
// The sanity check can change the velocity and/or position.
if (PositionSanityCheck(true /* inTaintTime */ ))
{
entprop.Position = RawPosition;
entprop.Velocity = RawVelocity;
entprop.RotationalVelocity = _rotationalVelocity;
entprop.Acceleration = _acceleration;
}
OMV.Vector3 direction = OMV.Vector3.UnitX * RawOrientation; // DEBUG DEBUG DEBUG
DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
PhysScene.PostUpdate(this);
}
// Called just as the property update is received from the physics engine.
// Do any mode necessary for avatar movement.
private void Process_OnPreUpdateProperty(ref EntityProperties entprop)
{
// Don't change position if standing on a stationary object.
if (m_controllingPrim.IsStationary)
{
entprop.Position = m_controllingPrim.RawPosition;
m_physicsScene.PE.SetTranslation(m_controllingPrim.PhysBody, entprop.Position, entprop.Rotation);
}
}
public override void UpdateProperties(EntityProperties entprop)
{
/*
UpdatedProperties changed = 0;
// assign to the local variables so the normal set action does not happen
// if (_position != entprop.Position)
if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE))
{
_position = entprop.Position;
changed |= UpdatedProperties.Position;
}
// if (_orientation != entprop.Rotation)
if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE))
{
_orientation = entprop.Rotation;
changed |= UpdatedProperties.Rotation;
}
// if (_velocity != entprop.Velocity)
if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE))
{
_velocity = entprop.Velocity;
changed |= UpdatedProperties.Velocity;
}
// if (_acceleration != entprop.Acceleration)
if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE))
{
_acceleration = entprop.Acceleration;
changed |= UpdatedProperties.Acceleration;
}
// if (_rotationalVelocity != entprop.RotationalVelocity)
if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE))
{
_rotationalVelocity = entprop.RotationalVelocity;
changed |= UpdatedProperties.RotationalVel;
}
if (changed != 0)
{
// Only update the position of single objects and linkset roots
if (this._parentPrim == null)
{
base.RequestPhysicsterseUpdate();
}
}
*/
// Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
// Updates only for individual prims and for the root object of a linkset.
if (Linkset.IsRoot(this))
{
// Assign to the local variables so the normal set action does not happen
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
PositionSanityCheck(true);
DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
// BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr); // DEBUG DEBUG DEBUG
base.RequestPhysicsterseUpdate();
}
/*
else
{
// For debugging, report the movement of children
DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
entprop.Acceleration, entprop.RotationalVelocity);
}
*/
// The linkset implimentation might want to know about this.
Linkset.UpdateProperties(this);
}
// Initialization and simulation
public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
int maxCollisions, ref CollisionDesc[] collisionArray,
int maxUpdates, ref EntityProperties[] updateArray
)
{
// Pin down the memory that will be used to pass object collisions and updates back from unmanaged code
m_paramsHandle = GCHandle.Alloc(parms, GCHandleType.Pinned);
m_collisionArrayPinnedHandle = GCHandle.Alloc(collisionArray, GCHandleType.Pinned);
m_updateArrayPinnedHandle = GCHandle.Alloc(updateArray, GCHandleType.Pinned);
// If Debug logging level, enable logging from the unmanaged code
m_DebugLogCallbackHandle = null;
if (BSScene.m_log.IsDebugEnabled && PhysicsScene.PhysicsLogging.Enabled)
{
BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader);
if (PhysicsScene.PhysicsLogging.Enabled)
// The handle is saved in a variable to make sure it doesn't get freed after this call
m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLoggerPhysLog);
else
m_DebugLogCallbackHandle = new BSAPICPP.DebugLogCallback(BulletLogger);
}
// Get the version of the DLL
// TODO: this doesn't work yet. Something wrong with marshaling the returned string.
// BulletEngineVersion = BulletSimAPI.GetVersion2();
BulletEngineVersion = "";
// Call the unmanaged code with the buffers and other information
return new BulletWorldUnman(0, PhysicsScene, BSAPICPP.Initialize2(maxPosition, m_paramsHandle.AddrOfPinnedObject(),
maxCollisions, m_collisionArrayPinnedHandle.AddrOfPinnedObject(),
maxUpdates, m_updateArrayPinnedHandle.AddrOfPinnedObject(),
m_DebugLogCallbackHandle));
}
protected void TriggerPreUpdatePropertyAction(ref EntityProperties entprop)
{
PreUpdatePropertyAction actions = OnPreUpdateProperty;
if (actions != null)
actions(ref entprop);
}
public override void UpdateProperties(EntityProperties entprop)
{
if (Linkset.IsRoot(this))
{
// Properties are only updated for the roots of a linkset.
// TODO: this will have to change when linksets are articulated.
base.UpdateProperties(entprop);
}
// The linkset might like to know about changing locations
Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
}
public override void UpdatesLoop()
{
//Things work better if we do this... however bad it may be
foreach (BSCharacter character in m_avatars.Values)
{
character.UpdateProperties(new EntityProperties());
}
// If any of the objects had updated properties, tell the object it has been changed by the physics engine
EntityProperties[] props = null;
lock (m_entProperties)
{
if (m_entProperties.Count > 0)
{
props = new EntityProperties[m_entProperties.Count];
m_entProperties.CopyTo(props);
m_entProperties.Clear();
}
}
if (props != null)
{
foreach (EntityProperties entprop in props)
{
// MainConsole.Instance.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position);
BSCharacter character;
if (m_avatars.TryGetValue(entprop.ID, out character))
character.UpdateProperties(entprop);
BSPrim prim;
if (m_prims.TryGetValue(entprop.ID, out prim))
prim.UpdateProperties(entprop);
}
}
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
// Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator.
TriggerPreUpdatePropertyAction(ref entprop);
// DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
// Assign directly to the local variables so the normal set actions do not happen
_position = entprop.Position;
_orientation = entprop.Rotation;
bool terseUpdate = false;
if (entprop.Velocity != OMV.Vector3.Zero && entprop.Velocity.ApproxEquals(OMV.Vector3.Zero, 0.01f) && Velocity != OMV.Vector3.Zero)
{
entprop.Velocity = OMV.Vector3.Zero;
entprop.Acceleration = OMV.Vector3.Zero;
entprop.RotationalVelocity = OMV.Vector3.Zero;
Velocity = RawVelocity = OMV.Vector3.Zero;
ZeroMotion(true);
terseUpdate = true;
}
// DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be
// very sensitive to velocity changes.
if (entprop.Velocity == OMV.Vector3.Zero || (VehicleType != 0 /*&& !entprop.Velocity.ApproxEquals(RawVelocity, 0.01f)*/) ||
!entprop.Velocity.ApproxEquals(RawVelocity, BSParam.UpdateVelocityChangeThreshold / 2f))
{
terseUpdate = true;
RawVelocity = entprop.Velocity;
}
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG
// The sanity check can change the velocity and/or position.
if (PositionSanityCheck(true /* inTaintTime */ ))
{
entprop.Position = _position;
entprop.Velocity = RawVelocity;
entprop.RotationalVelocity = _rotationalVelocity;
entprop.Acceleration = _acceleration;
}
OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
//DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
if (terseUpdate)
base.RequestPhysicsterseUpdate();
/*
else
{
// For debugging, report the movement of children
DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
entprop.Acceleration, entprop.RotationalVelocity);
}
*/
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
PositionSanityCheck(true);
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
// Tell the linkset about value changes
Linkset.UpdateProperties(this, true);
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
}
// Simulate one timestep
public override float Simulate(float timeStep)
{
int updatedEntityCount;
IntPtr updatedEntitiesPtr;
int collidersCount;
IntPtr collidersPtr;
// prevent simulation until we've been initialized
if (!m_initialized)
{
return(10.0f);
}
// update the prim states while we know the physics engine is not busy
ProcessTaints();
// Some of the prims operate with special vehicle properties
ProcessVehicles(timeStep);
ProcessTaints(); // the vehicles might have added taints
// step the physical world one interval
m_simulationStep++;
int numSubSteps = BulletSimAPI.PhysicsStep(m_worldID, timeStep, m_maxSubSteps, m_fixedTimeStep,
out updatedEntityCount, out updatedEntitiesPtr, out collidersCount, out collidersPtr);
// Don't have to use the pointers passed back since we know it is the same pinned memory we passed in
// Get a value for 'now' so all the collision and update routines don't have to get their own
m_simulationNowTime = Util.EnvironmentTickCount();
// If there were collisions, process them by sending the event to the prim.
// Collisions must be processed before updates.
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;
SendCollision(cA, cB, point, normal, 0.01f);
SendCollision(cB, cA, point, -normal, 0.01f);
}
}
// If any of the objects had updated properties, tell the object it has been changed by the physics engine
if (updatedEntityCount > 0)
{
for (int ii = 0; ii < updatedEntityCount; ii++)
{
EntityProperties entprop = m_updateArray[ii];
// m_log.DebugFormat("{0}: entprop[{1}]: id={2}, pos={3}", LogHeader, ii, entprop.ID, entprop.Position);
BSCharacter actor;
if (m_avatars.TryGetValue(entprop.ID, out actor))
{
actor.UpdateProperties(entprop);
continue;
}
BSPrim prim;
if (m_prims.TryGetValue(entprop.ID, out prim))
{
prim.UpdateProperties(entprop);
}
}
}
if (m_detailedStatsStep > 0)
{
if ((m_simulationStep % m_detailedStatsStep) == 0)
{
BulletSimAPI.DumpBulletStatistics();
}
}
// TODO: FIX THIS: fps calculation wrong. This calculation always returns about 1 in normal operation.
return(timeStep / (numSubSteps * m_fixedTimeStep) * 1000f);
}
public override void UpdateProperties(EntityProperties entprop)
{
// Undo any center-of-mass displacement that might have been done.
if (PositionDisplacement != OMV.Vector3.Zero)
{
// The origional shape was offset from 'zero' by PositionDisplacement.
// These physical location must be back converted to be centered around the displaced
// root shape.
// Move the returned center-of-mass location to the root prim location.
OMV.Vector3 displacement = PositionDisplacement * entprop.Rotation;
OMV.Vector3 displacedPos = entprop.Position - displacement;
DetailLog("{0},BSPrimDisplaced.UpdateProperties,physPos={1},disp={2},simPos={3}",
LocalID, entprop.Position, displacement, displacedPos);
entprop.Position = displacedPos;
}
base.UpdateProperties(entprop);
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
PositionSanityCheck(true);
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
if (entprop.Velocity != LastEntityProperties.Velocity)
{
// Changes in the velocity are suppressed in avatars.
// That's just the way they are defined.
OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
_velocity = avVel;
BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel);
}
// Tell the linkset about value changes
Linkset.UpdateProperties(this);
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
}
// Update the physical location and motion of the object. Called with data from Bullet. public abstract void UpdateProperties(EntityProperties entprop);
public override void UpdateProperties(EntityProperties entprop)
{
if (Linkset.IsRoot(this))
{
// Properties are only updated for the roots of a linkset.
// TODO: this will have to change when linksets are articulated.
base.UpdateProperties(entprop);
}
/*
else
{
// For debugging, report the movement of children
DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
entprop.Acceleration, entprop.RotationalVelocity);
}
*/
// The linkset might like to know about changing locations
Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public void UpdateProperties(EntityProperties entprop)
{
bool changed = false;
#region Updating Position
if (entprop.ID != 0)
{
// we assign to the local variables so the normal set action does not happen
if (_position != entprop.Position)
{
_position = entprop.Position;
changed = true;
}
if (_orientation != entprop.Rotation)
{
_orientation = entprop.Rotation;
changed = true;
}
if (_velocity != entprop.Velocity)
{
changed = true;
_velocity = entprop.Velocity;
}
if (_acceleration != entprop.Acceleration)
{
_acceleration = entprop.Acceleration;
changed = true;
}
if (_rotationalVelocity != entprop.RotationalVelocity)
{
changed = true;
_rotationalVelocity = entprop.RotationalVelocity;
}
if (changed)
TriggerMovementUpdate();
}
#endregion
#region Jump code
if (_preJumping && Util.EnvironmentTickCountSubtract(_preJumpTime) > _scene.PreJumpTime)
{
//Time to jump
_jumping = true;
_preJumping = false;
Velocity += _preJumpForce;
_targetVelocityIsDecaying = false;
TriggerMovementUpdate();
}
if (_jumping && Util.EnvironmentTickCountSubtract(_preJumpTime) > _scene.PreJumpTime + 2000)
{
_jumping = false;
_targetVelocity = Vector3.Zero;
TriggerMovementUpdate();
}
else if (_jumping && Util.EnvironmentTickCountSubtract(_preJumpTime) > _scene.PreJumpTime + 750)
{
_targetVelocityIsDecaying = false;
TriggerMovementUpdate();
}
else if (_jumping && Util.EnvironmentTickCountSubtract(_preJumpTime) > _scene.PreJumpTime + 500)
{
_targetVelocityIsDecaying = false;
Velocity -= _preJumpForce/100; //Cut down on going up
TriggerMovementUpdate();
}
#endregion
#region Decaying velocity
if (_targetVelocityIsDecaying)
{
_targetVelocity *= _scene.DelayingVelocityMultiplier;
if (_targetVelocity.ApproxEquals(Vector3.Zero, 0.1f) || _velocity == Vector3.Zero)
_targetVelocity = Vector3.Zero;
}
if (_targetVelocity != Vector3.Zero)
Velocity = new Vector3(
_targetVelocity.X == 0
? Velocity.X
: (_targetVelocity.X*0.25f) + (Velocity.X*0.75f),
_targetVelocity.Y == 0
? Velocity.Y
: (_targetVelocity.Y*0.25f) + (Velocity.Y*0.75f),
_targetVelocity.Z == 0
? Velocity.Z
: (_targetVelocity.Z*0.25f) + (Velocity.Z*0.75f));
else if (Velocity.X != 0 || Velocity.Y != 0 || Velocity.Z > 0)
Velocity *= _scene.DelayingVelocityMultiplier;
if (Velocity.ApproxEquals(Vector3.Zero, 0.3f))
Velocity = Vector3.Zero;
#endregion
}
// Initialization and simulation
public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
int maxCollisions, ref CollisionDesc[] collisionArray,
int maxUpdates, ref EntityProperties[] updateArray
);
// 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;
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
TriggerPreUpdatePropertyAction(ref entprop);
// A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
// TODO: handle physics introduced by Bullet with computed vehicle physics.
if (VehicleController.IsActive)
{
entprop.RotationalVelocity = OMV.Vector3.Zero;
}
// DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
// Assign directly to the local variables so the normal set actions do not happen
_position = entprop.Position;
_orientation = entprop.Rotation;
// DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be
// very sensitive to velocity changes.
if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(_velocity, BSParam.UpdateVelocityChangeThreshold))
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG
// The sanity check can change the velocity and/or position.
if (PositionSanityCheck(true /* inTaintTime */ ))
{
entprop.Position = _position;
entprop.Velocity = _velocity;
entprop.RotationalVelocity = _rotationalVelocity;
entprop.Acceleration = _acceleration;
}
OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
base.RequestPhysicsterseUpdate();
/*
else
{
// For debugging, report the movement of children
DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
entprop.Acceleration, entprop.RotationalVelocity);
}
*/
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public void UpdateProperties(EntityProperties entprop)
{
bool changed = false;
#region Updating Position
if (entprop.ID != 0)
{
// we assign to the local variables so the normal set action does not happen
if (_position != entprop.Position)
{
_position = entprop.Position;
changed = true;
}
if (_orientation != entprop.Rotation)
{
_orientation = entprop.Rotation;
changed = true;
}
if (_velocity != entprop.Velocity)
{
changed = true;
_velocity = entprop.Velocity;
}
if (_acceleration != entprop.Acceleration)
{
_acceleration = entprop.Acceleration;
changed = true;
}
if (_rotationalVelocity != entprop.RotationalVelocity)
{
changed = true;
_rotationalVelocity = entprop.RotationalVelocity;
}
if (changed)
{
TriggerMovementUpdate();
}
}
#endregion
#region Jump code
if (_preJumping && Util.EnvironmentTickCountSubtract(_preJumpTime) > _scene.PreJumpTime)
{
//Time to jump
_jumping = true;
_preJumping = false;
Velocity += _preJumpForce;
_targetVelocityIsDecaying = false;
TriggerMovementUpdate();
}
if (_jumping && Util.EnvironmentTickCountSubtract(_preJumpTime) > _scene.PreJumpTime + 2000)
{
_jumping = false;
_targetVelocity = Vector3.Zero;
TriggerMovementUpdate();
}
else if (_jumping && Util.EnvironmentTickCountSubtract(_preJumpTime) > _scene.PreJumpTime + 750)
{
_targetVelocityIsDecaying = false;
TriggerMovementUpdate();
}
else if (_jumping && Util.EnvironmentTickCountSubtract(_preJumpTime) > _scene.PreJumpTime + 500)
{
_targetVelocityIsDecaying = false;
Velocity -= _preJumpForce / 100; //Cut down on going up
TriggerMovementUpdate();
}
#endregion
#region Decaying velocity
if (_targetVelocityIsDecaying)
{
_targetVelocity *= _scene.DelayingVelocityMultiplier;
if (_targetVelocity.ApproxEquals(Vector3.Zero, 0.1f) || _velocity == Vector3.Zero)
{
_targetVelocity = Vector3.Zero;
}
}
if (_targetVelocity != Vector3.Zero)
{
Velocity = new Vector3(
_targetVelocity.X == 0
? Velocity.X
: (_targetVelocity.X * 0.25f) + (Velocity.X * 0.75f),
_targetVelocity.Y == 0
? Velocity.Y
: (_targetVelocity.Y * 0.25f) + (Velocity.Y * 0.75f),
_targetVelocity.Z == 0
? Velocity.Z
: (_targetVelocity.Z * 0.25f) + (Velocity.Z * 0.75f));
}
else if (Velocity.X != 0 || Velocity.Y != 0 || Velocity.Z > 0)
{
Velocity *= _scene.DelayingVelocityMultiplier;
}
if (Velocity.ApproxEquals(Vector3.Zero, 0.3f))
{
Velocity = Vector3.Zero;
}
#endregion
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
// TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate()
public void UpdateProperties(EntityProperties entprop)
{
UpdatedProperties changed = 0;
if (SHOULD_DAMP_UPDATES && !IsStatic) //Only physical prims get updated tyvm
{
// assign to the local variables so the normal set action does not happen
// if (_position != entprop.Position)
if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE))
{
_position = entprop.Position;
// MainConsole.Instance.DebugFormat("{0}: UpdateProperties: id={1}, pos = {2}", LogHeader, LocalID, _position);
//changed |= UpdatedProperties.Position;
}
// if (_orientation != entprop.Rotation)
if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE))
{
_orientation = entprop.Rotation;
// MainConsole.Instance.DebugFormat("{0}: UpdateProperties: id={1}, rot = {2}", LogHeader, LocalID, _orientation);
//changed |= UpdatedProperties.Rotation;
}
// if (_velocity != entprop.Velocity)
if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE))
{
if (!_lastVelocity.ApproxEquals(entprop.Velocity, 0.1f))
{
_lastVelocity = entprop.Velocity;
changed |= UpdatedProperties.Velocity;
}
_velocity = entprop.Velocity;
// MainConsole.Instance.DebugFormat("{0}: UpdateProperties: velocity = {1}", LogHeader, _velocity);
}
// if (_acceleration != entprop.Acceleration)
if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE))
{
_acceleration = entprop.Acceleration;
// MainConsole.Instance.DebugFormat("{0}: UpdateProperties: acceleration = {1}", LogHeader, _acceleration);
//changed |= UpdatedProperties.Acceleration;
}
// if (_rotationalVelocity != entprop.RotationalVelocity)
if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE))
{
if (!_lastRotationalVelocity.ApproxEquals(entprop.RotationalVelocity, 0.1f))
{
_lastRotationalVelocity = entprop.RotationalVelocity;
changed |= UpdatedProperties.RotationalVel;
}
_rotationalVelocity = entprop.RotationalVelocity;
// MainConsole.Instance.DebugFormat("{0}: UpdateProperties: rotationalVelocity = {1}", LogHeader, _rotationalVelocity);
}
if (changed != 0)
{
// MainConsole.Instance.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
// Only update the position of single objects and linkset roots
if (this._parentPrim == null && _limitedUpdatesCount > 7)
{
_limitedUpdatesCount = 0;
// MainConsole.Instance.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
base.RequestPhysicsterseUpdate();
}
else
_limitedUpdatesCount++;
}
}
/*else
{
// Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
if (this._parentPrim == null)
{
// Assign to the local variables so the normal set action does not happen
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// MainConsole.Instance.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
base.RequestPhysicsterseUpdate();
}
}*/
}
// Update the physical location and motion of the object. Called with data from Bullet. public abstract void UpdateProperties(EntityProperties entprop);
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
// Don't change position if standing on a stationary object.
if (!IsStationary)
_position = entprop.Position;
_orientation = entprop.Rotation;
if (entprop.Velocity != OMV.Vector3.Zero && entprop.Velocity.ApproxEquals(OMV.Vector3.Zero, 0.01f) && Velocity != OMV.Vector3.Zero)
{
entprop.Velocity = OMV.Vector3.Zero;
entprop.Acceleration = OMV.Vector3.Zero;
entprop.RotationalVelocity = OMV.Vector3.Zero;
Velocity = OMV.Vector3.Zero;
TriggerSignificantMovement();
TriggerMovementUpdate();
}
if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.4f))
{
RawVelocity = entprop.Velocity;
TriggerSignificantMovement();
TriggerMovementUpdate();
}
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
if (PositionSanityCheck(true))
{
DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, _position);
entprop.Position = _position;
}
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
// Tell the linkset about value changes
// Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, RawVelocity, _acceleration, _rotationalVelocity);
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
// Don't change position if standing on a stationary object.
if (!IsStationary)
_position = entprop.Position;
_orientation = entprop.Rotation;
// Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar
// and will send agent updates to the clients if velocity changes by more than
// 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many
// extra updates.
if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.1f))
RawVelocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
if (PositionSanityCheck(true))
{
DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, _position);
entprop.Position = _position;
}
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
// Tell the linkset about value changes
// Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, RawVelocity, _acceleration, _rotationalVelocity);
}
public override void UpdateProperties(EntityProperties entprop)
{
// Undo any center-of-mass displacement that might have been done.
if (PositionDisplacement != OMV.Vector3.Zero || OrientationDisplacement != OMV.Quaternion.Identity)
{
// Correct for any rotation around the center-of-mass
// TODO!!!
OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation);
DetailLog("{0},BSPrimDisplaced.ForcePosition,physPos={1},disp={2},newPos={3}", LocalID, entprop.Position, PositionDisplacement, displacedPos);
entprop.Position = displacedPos;
// entprop.Rotation = something;
}
base.UpdateProperties(entprop);
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
// Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator.
TriggerPreUpdatePropertyAction(ref entprop);
RawPosition = entprop.Position;
RawOrientation = entprop.Rotation;
// Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar
// and will send agent updates to the clients if velocity changes by more than
// 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many
// extra updates.
//
// XXX: Contrary to the above comment, setting an update threshold here above 0.4 actually introduces jitter to
// avatar movement rather than removes it. The larger the threshold, the bigger the jitter.
// This is most noticeable in level flight and can be seen with
// the "show updates" option in a viewer. With an update threshold, the RawVelocity cycles between a lower
// bound and an upper bound, where the difference between the two is enough to trigger a large delta v update
// and subsequently trigger an update in ScenePresence.SendTerseUpdateToAllClients(). The cause of this cycle (feedback?)
// has not yet been identified.
//
// If there is a threshold below 0.4 or no threshold check at all (as in ODE), then RawVelocity stays constant and extra
// updates are not triggered in ScenePresence.SendTerseUpdateToAllClients().
// if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.1f))
RawVelocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
if (PositionSanityCheck(true))
{
DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, RawPosition);
entprop.Position = RawPosition;
}
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
// Tell the linkset about value changes
// Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// PhysScene.PostUpdate(this);
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, RawPosition, RawOrientation, RawVelocity, _acceleration, _rotationalVelocity);
}
// Simulate one timestep
public override float Simulate(float timeStep)
{
// prevent simulation until we've been initialized
if (!m_initialized)
{
return(5.0f);
}
LastTimeStep = timeStep;
int updatedEntityCount = 0;
int collidersCount = 0;
int beforeTime = 0;
int simTime = 0;
// update the prim states while we know the physics engine is not busy
int numTaints = _taintOperations.Count;
InTaintTime = true; // Only used for debugging so locking is not necessary.
ProcessTaints();
// Some of the physical objects requre individual, pre-step calls
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
{
if (PhysicsLogging.Enabled)
{
beforeTime = Util.EnvironmentTickCount();
}
numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount);
if (PhysicsLogging.Enabled)
{
simTime = Util.EnvironmentTickCountSubtract(beforeTime);
DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps,
updatedEntityCount, collidersCount, ObjectsWithCollisions.Count);
}
}
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;
}
if ((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();
// If there were collisions, process them by sending the event to the prim.
// Collisions must be processed before updates.
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;
SendCollision(cA, cB, point, normal, 0.01f);
SendCollision(cB, cA, point, -normal, 0.01f);
}
}
// The above SendCollision's batch up the collisions on the objects.
// Now push the collisions into the simulator.
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 enables
// the simulator to generate the 'collision end' event.
if (ObjectsWithNoMoreCollisions.Count > 0)
{
foreach (BSPhysObject po in ObjectsWithNoMoreCollisions)
{
ObjectsWithCollisions.Remove(po);
}
ObjectsWithNoMoreCollisions.Clear();
}
// Done with collisions.
// If any of the objects had updated properties, tell the object it has been changed by the physics engine
if (updatedEntityCount > 0)
{
for (int ii = 0; ii < updatedEntityCount; ii++)
{
EntityProperties entprop = m_updateArray[ii];
BSPhysObject pobj;
if (PhysObjects.TryGetValue(entprop.ID, out pobj))
{
pobj.UpdateProperties(entprop);
}
}
}
TriggerPostStepEvent(timeStep);
// 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).
return((float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate);
}
private void PreUpdateProperty(ref EntityProperties entprop)
{
// A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
// TODO: handle physics introduced by Bullet with computed vehicle physics.
if (IsActive)
{
entprop.RotationalVelocity = Vector3.Zero;
}
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
PositionSanityCheck2();
float heightHere = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); // only for debug
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5},terrain={6}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity, heightHere);
}
public void UpdateProperties(EntityProperties entprop)
{
UpdatedProperties changed = 0;
if (SHOULD_DAMP_UPDATES)
{
// assign to the local variables so the normal set action does not happen
// if (_position != entprop.Position)
if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE))
{
_position = entprop.Position;
// m_log.DebugFormat("{0}: UpdateProperties: id={1}, pos = {2}", LogHeader, LocalID, _position);
changed |= UpdatedProperties.Position;
}
// if (_orientation != entprop.Rotation)
if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE))
{
_orientation = entprop.Rotation;
// m_log.DebugFormat("{0}: UpdateProperties: id={1}, rot = {2}", LogHeader, LocalID, _orientation);
changed |= UpdatedProperties.Rotation;
}
// if (_velocity != entprop.Velocity)
if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE))
{
_velocity = entprop.Velocity;
// m_log.DebugFormat("{0}: UpdateProperties: velocity = {1}", LogHeader, _velocity);
changed |= UpdatedProperties.Velocity;
}
// if (_acceleration != entprop.Acceleration)
if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE))
{
_acceleration = entprop.Acceleration;
// m_log.DebugFormat("{0}: UpdateProperties: acceleration = {1}", LogHeader, _acceleration);
changed |= UpdatedProperties.Acceleration;
}
// if (_rotationalVelocity != entprop.RotationalVelocity)
if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE))
{
_rotationalVelocity = entprop.RotationalVelocity;
// m_log.DebugFormat("{0}: UpdateProperties: rotationalVelocity = {1}", LogHeader, _rotationalVelocity);
changed |= UpdatedProperties.RotationalVel;
}
if (changed != 0)
{
// m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
// Only update the position of single objects and linkset roots
if (this._parentPrim == null)
{
// m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
base.RequestPhysicsterseUpdate();
}
}
}
else
{
// Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
// Only updates only for individual prims and for the root object of a linkset.
if (this._parentPrim == null)
{
// Assign to the local variables so the normal set action does not happen
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
base.RequestPhysicsterseUpdate();
}
}
}
public override void UpdateProperties(EntityProperties entprop)
{
// Undo any center-of-mass displacement that might have been done.
if (PositionDisplacement != OMV.Vector3.Zero || OrientationDisplacement != OMV.Quaternion.Identity)
{
// Correct for any rotation around the center-of-mass
// TODO!!!
entprop.Position = entprop.Position + (PositionDisplacement * entprop.Rotation);
// entprop.Rotation = something;
}
base.UpdateProperties(entprop);
}
// The physics engine says that properties have updated. Update same and inform
// the world that things have changed.
public void UpdateProperties(EntityProperties entprop)
{
bool changed = false;
// we assign to the local variables so the normal set action does not happen
if (_position != entprop.Position)
{
_position = entprop.Position;
changed = true;
}
if (_orientation != entprop.Rotation)
{
_orientation = entprop.Rotation;
changed = true;
}
if (_velocity != entprop.Velocity)
{
_velocity = entprop.Velocity;
changed = true;
}
if (_acceleration != entprop.Acceleration)
{
_acceleration = entprop.Acceleration;
changed = true;
}
if (_rotationalVelocity != entprop.RotationalVelocity)
{
_rotationalVelocity = entprop.RotationalVelocity;
changed = true;
}
if (changed)
{
// m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
// Avatar movement is not done by generating this event. There is a system that
// checks for avatar updates each heartbeat loop.
// base.RequestPhysicsterseUpdate();
}
}
public override void UpdateProperties(EntityProperties entprop)
{
// Updates only for individual prims and for the root object of a linkset.
if (Linkset.IsRoot(this))
{
// A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
// TODO: handle physics introduced by Bullet with computed vehicle physics.
if (_vehicle.IsActive)
{
entprop.RotationalVelocity = OMV.Vector3.Zero;
}
// Assign directly to the local variables so the normal set action does not happen
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// The sanity check can change the velocity and/or position.
if (IsPhysical && PositionSanityCheck(true))
{
entprop.Position = _position;
entprop.Velocity = _velocity;
}
OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
base.RequestPhysicsterseUpdate();
}
/*
else
{
// For debugging, report the movement of children
DetailLog("{0},BSPrim.UpdateProperties,child,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
entprop.Acceleration, entprop.RotationalVelocity);
}
*/
// The linkset implimentation might want to know about this.
Linkset.UpdateProperties(this, true);
}
