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;
entprop.Velocity = OMV.Vector3.Zero;
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)
{
// 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)
{
// 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);
}
// 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);
}
// 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));
}
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);
}
// Update the physical location and motion of the object. Called with data from Bullet. public abstract void UpdateProperties(EntityProperties 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;
entprop.Velocity = OMV.Vector3.Zero;
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)
{
// 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);
}
// 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;
// Suppress small movement velocity
if (entprop.Velocity.LengthSquared() < BSParam.AvatarStopZeroThresholdSquared) {
m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,OnPreUpdate,zeroing velocity={1}", m_controllingPrim.LocalID, entprop.Velocity);
entprop.Velocity = OMV.Vector3.Zero;
}
m_physicsScene.PE.SetTranslation(m_controllingPrim.PhysBody, entprop.Position, entprop.Rotation);
}
}
// 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);
}
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;
}
}
// Update the physical location and motion of the object. Called with data from Bullet. public abstract void UpdateProperties(EntityProperties entprop);
// Initialization and simulation
public abstract BulletWorld Initialize(Vector3 maxPosition, ConfigurationParameters parms,
int maxCollisions, ref CollisionDesc[] collisionArray,
int maxUpdates, ref EntityProperties[] updateArray
);
protected void TriggerPreUpdatePropertyAction(ref EntityProperties entprop)
{
PreUpdatePropertyAction actions = OnPreUpdateProperty;
if (actions != null)
actions(ref entprop);
}
