// Create the correct type of linkset for this child
public static BSLinkset Factory(BSScene physScene, BSPrimLinkable parent)
{
BSLinkset ret = null;
switch (parent.LinksetType)
{
case LinksetImplementation.Constraint:
ret = new BSLinksetConstraints(physScene, parent);
break;
case LinksetImplementation.Compound:
ret = new BSLinksetCompound(physScene, parent);
break;
case LinksetImplementation.Manual:
// ret = new BSLinksetManual(physScene, parent);
break;
default:
ret = new BSLinksetCompound(physScene, parent);
break;
}
if (ret == null)
{
physScene.Logger.ErrorFormat(
"[BULLETSIM LINKSET] Factory could not create linkset. Parent name={1}, ID={2}", parent.Name,
parent.LocalID);
}
return ret;
}
// TODO!!! rename to RemoveDependencies!
// Routine called when rebuilding the body of some member of the linkset.
// Since we don't keep in world relationships, do nothing unless it's a child changing.
// Returns 'true' of something was actually removed and would need restoring
// Called at taint-time!!
public override bool RemoveBodyDependencies(BSPrimLinkable child)
{
bool ret = false;
DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child));
Refresh(child);
return(ret);
}
// The object is going static (non-physical). Do any setup necessary for a static linkset.
// Return 'true' if any properties updated on the passed object.
// This doesn't normally happen -- WhiteCore removes the objects from the physical
// world if it is a static linkset.
// Called at taint-time!
public override bool MakeStatic(BSPrimLinkable child)
{
bool ret = false;
DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
child.ClearDisplacement();
if (IsRoot(child))
{
Refresh(LinksetRoot);
}
return(ret);
}
// The object is going dynamic (physical). Do any setup necessary for a dynamic linkset.
// Only the state of the passed object can be modified. The rest of the linkset
// has not yet been fully constructed.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public override bool MakeDynamic(BSPrimLinkable child)
{
bool ret = false;
DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
if (IsRoot(child))
{
// The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
Refresh(LinksetRoot);
}
return(ret);
}
// TODO!!! public override void SetPhysicalFriction
// TODO!!! public override void SetPhysicalRestitution
// TODO!!! public override void SetPhysicalGravity
// TODO!!! public override void ComputeAndSetLocalInertia
// TODO!!! public override void SetPhysicalCollisionFlags
// TODO!!! public override void AddToPhysicalCollisionFlags
// TODO!!! public override void RemoveFromPhysicalCollisionFlags
// For compound implimented linksets, if there are children, use compound shape for the root.
public override BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor)
{
// Returning 'unknown' means we don't have a preference.
BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN;
if (IsRoot(requestor) && HasAnyChildren)
{
ret = BSPhysicsShapeType.SHAPE_COMPOUND;
}
// DetailLog("{0},BSLinksetCompound.PreferredPhysicalShape,call,shape={1}", LinksetRoot.LocalID, ret);
return(ret);
}
// Link to a linkset where the child knows the parent.
// Parent changing should not happen so do some sanity checking.
// We return the parent's linkset so the child can track its membership.
// Called at runtime.
public BSLinkset AddMeToLinkset(BSPrimLinkable child)
{
lock (m_linksetActivityLock)
{
// Don't add the root to its own linkset
if (!IsRoot(child))
{
AddChildToLinkset(child);
}
LinksetMass = ComputeLinksetMass();
}
return(this);
}
// ================================================================
// Add a new child to the linkset.
// Called while LinkActivity is locked.
protected override void AddChildToLinkset(BSPrimLinkable child)
{
if (!HasChild(child))
{
m_children.Add(child, new BSLinkInfo(child));
DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
// Rebuild the compound shape with the new child shape included
Refresh(child);
}
return;
}
// Schedule a refresh to happen after all the other taint processing.
protected override void ScheduleRebuild(BSPrimLinkable requestor)
{
// When rebuilding, it is possible to set properties that would normally require a rebuild.
// If already rebuilding, don't request another rebuild.
// If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
lock (m_linksetActivityLock)
{
if (!RebuildScheduled && !Rebuilding && HasAnyChildren)
{
InternalScheduleRebuild(requestor);
}
}
}
// 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape)
public BSLinksetCompoundInfo(int indx, BSPrimLinkable root, BSPrimLinkable child, OMV.Vector3 centerDisplacement)
{
// Each child position and rotation is given relative to the center-of-mass.
OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation);
OMV.Vector3 displacementFromRoot = (child.RawPosition - root.RawPosition) * invRootOrientation;
OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement;
OMV.Quaternion displacementRot = child.RawOrientation * invRootOrientation;
// Save relative position for recomputing child's world position after moving linkset.
Index = indx;
OffsetFromRoot = displacementFromRoot;
OffsetFromCenterOfMass = displacementFromCOM;
OffsetRot = displacementRot;
}
// 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape)
public BSLinksetCompoundInfo(int indx, BSPrimLinkable root, BSPrimLinkable child, OMV.Vector3 centerDisplacement)
{
// Each child position and rotation is given relative to the center-of-mass.
OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation);
OMV.Vector3 displacementFromRoot = (child.RawPosition - root.RawPosition) * invRootOrientation;
OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement;
OMV.Quaternion displacementRot = child.RawOrientation * invRootOrientation;
// Save relative position for recomputing child's world position after moving linkset.
Index = indx;
OffsetFromRoot = displacementFromRoot;
OffsetFromCenterOfMass = displacementFromCOM;
OffsetRot = displacementRot;
}
// ================================================================
// Add a new child to the linkset.
// Called while LinkActivity is locked.
protected override void AddChildToLinkset(BSPrimLinkable child)
{
if (!HasChild(child))
{
m_children.Add(child, new BSLinkInfoConstraint(child));
DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID,
child.LocalID);
// Cause constraints and assorted properties to be recomputed before the next simulation step.
Refresh(LinksetRoot);
}
return;
}
// TODO!!! Rename to RemoveDependencies
// Routine called when rebuilding the body of some member of the linkset.
// Destroy all the constraints have have been made to root and set
// up to rebuild the constraints before the next simulation step.
// Returns 'true' of something was actually removed and would need restoring
// Called at taint-time!!
public override bool RemoveBodyDependencies(BSPrimLinkable child)
{
bool ret = false;
DetailLog("{0},BSLinksetConstraint.RemoveBodyDependencies,removeChildrenForRoot,rID={1},rBody={2}",
child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString);
lock (m_linksetActivityLock)
{
// Just undo all the constraints for this linkset. Rebuild at the end of the step.
ret = PhysicallyUnlinkAllChildrenFromRoot(LinksetRoot);
// Cause the constraints, et al to be rebuilt before the next simulation step.
Refresh(LinksetRoot);
}
return(ret);
}
// Remove a child from a linkset.
// Returns a new linkset for the child which is a linkset of one (just the
// orphened child).
// Called at runtime.
public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child, bool inTaintTime)
{
lock (m_linksetActivityLock)
{
if (IsRoot(child))
{
// Cannot remove the root from a linkset.
return(this);
}
}
RemoveChildFromLinkset(child, inTaintTime); // this establishes it's own lock
LinksetMass = ComputeLinksetMass();
// The child is down to a linkset of just itself
return(BSLinkset.Factory(PhysicsScene, child));
}
protected BSLinkset(BSScene scene, BSPrimLinkable parent)
{
// A simple linkset of one (no children)
LinksetID = m_nextLinksetID++;
// We create LOTS of linksets.
if (m_nextLinksetID <= 0)
{
m_nextLinksetID = 1;
}
PhysicsScene = scene;
LinksetRoot = parent;
//m_children = new HashSet<BSPrimLinkable>();
m_children = new Dictionary <BSPrimLinkable, BSLinkInfo>();
LinksetMass = parent.RawMass;
Rebuilding = false;
RebuildScheduled = false;
parent.ClearDisplacement();
}
public override void Link(PhysicsActor obj)
{
BSPrimLinkable parent = obj as BSPrimLinkable;
if (parent != null)
{
BSPhysObject parentBefore = Linkset.LinksetRoot;
int childrenBefore = Linkset.NumberOfChildren;
Linkset = parent.Linkset.AddMeToLinkset(this);
if (Linkset != null)
{
DetailLog(
"{0},BSPrimLinkset.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
}
}
return;
}
// Remove linkage between the linkset root and a particular child
// The root and child bodies are passed in because we need to remove the constraint between
// the bodies that were present at unlink time.
// Called at taint time!
bool PhysicallyUnlinkAChildFromRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
{
bool ret = false;
DetailLog(
"{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
rootPrim.LocalID,
rootPrim.LocalID, rootPrim.PhysBody.AddrString,
childPrim.LocalID, childPrim.PhysBody.AddrString);
// Find the constraint for this link and get rid of it from the overall collection and from my list
if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
{
// Make the child refresh its location
PhysicsScene.PE.PushUpdate(childPrim.PhysBody);
ret = true;
}
return(ret);
}
public override PhysicsActor AddPrimShape(UUID primID, uint localID, string name, byte physicsType,
PrimitiveBaseShape shape,
Vector3 position, Vector3 size, Quaternion rotation, bool isPhysical, int material,
float friction, float restitution, float gravityMultiplier, float density)
{
// MainConsole.Instance.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
if (!m_initialized)
{
return(null);
}
// DetailLog("{0},BSScene.AddPrimShape,call", localID);
BSPhysObject prim = new BSPrimLinkable(localID, name, this, position, size, rotation, shape, false, material,
friction, restitution, gravityMultiplier, density);
prim.UUID = primID;
lock (PhysObjects) PhysObjects.Add(localID, prim);
return(prim);
}
// When the linkset is built, the child shape is added to the compound shape relative to the
// root shape. The linkset then moves around but this does not move the actual child
// prim. The child prim's location must be recomputed based on the location of the root shape.
void RecomputeChildWorldPosition(BSPrimLinkable child, bool inTaintTime)
{
// For the moment (20130201), disable this computation (converting the child physical addr back to
// a region address) until we have a good handle on center-of-mass offsets and what the physics
// engine moving a child actually means.
// The simulator keeps track of where children should be as the linkset moves. Setting
// the pos/rot here does not effect that knowledge as there is no good way for the
// physics engine to send the simulator an update for a child.
/*
* BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo;
* if (lci != null)
* {
* if (inTaintTime)
* {
* OMV.Vector3 oldPos = child.RawPosition;
* child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetFromRoot;
* child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot;
* DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}",
* child.LocalID, oldPos, lci, child.RawPosition);
* }
* else
* {
* // TaintedObject is not used here so the raw position is set now and not at taint-time.
* child.Position = LinksetRoot.RawPosition + lci.OffsetFromRoot;
* child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot;
* }
* }
* else
* {
* // This happens when children have been added to the linkset but the linkset
* // has not been constructed yet. So like, at taint time, adding children to a linkset
* // and then changing properties of the children (makePhysical, for instance)
* // but the post-print action of actually rebuilding the linkset has not yet happened.
* // PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}",
* // LogHeader, child.LocalID);
* DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID);
* }
*/
}
// TODO!!! public virtual bool ShouldReportPropertyUpdates
// Called after a simulation step to post a collision with this object.
// Return 'true' if linkset processed the collision. 'false' says the linkset didn't have
// anything to add for the collision and it should be passed through normal processing.
// Default processing for a linkset.
public virtual bool HandleCollide(uint collidingWith, BSPhysObject collidee,
OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
{
bool ret = false;
// prims in the same linkset cannot collide with each other
BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
if (convCollidee != null && (LinksetID == convCollidee.Linkset.LinksetID))
{
// By returning 'true', we tell the caller the collision has been 'handled' so it won't
// do anything about this collision and thus, effectivily, ignoring the collision.
ret = true;
}
else
{
// Not a collision between members of the linkset. Must be a real collision.
// So the linkset root can know if there is a collision anywhere in the linkset.
LinksetRoot.SomeCollisionSimulationStep = PhysicsScene.SimulationStep;
}
return(ret);
}
// Remove the specified child from the linkset.
// Safe to call even if the child is not really in my linkset.
protected override void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime)
{
if (m_children.Remove(child))
{
BSPrimLinkable rootx = LinksetRoot; // capture the root and body as of now
BSPrimLinkable childx = child;
DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
childx.LocalID,
rootx.LocalID, rootx.PhysBody.AddrString,
childx.LocalID, childx.PhysBody.AddrString);
PhysicsScene.TaintedObject(inTaintTime, "BSLinksetConstraints.RemoveChildFromLinkset",
delegate() { PhysicallyUnlinkAChildFromRoot(rootx, childx); });
// See that the linkset parameters are recomputed at the end of the taint time.
Refresh(LinksetRoot);
}
else
{
// Non-fatal occurance.
// PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
}
return;
}
// must be called with m_linksetActivityLock or race conditions will haunt you.
void InternalScheduleRebuild(BSPrimLinkable requestor)
{
DetailLog("{0},BSLinksetCompound.InternalScheduleRebuild,,rebuilding={1},hasChildren={2}", requestor.LocalID,
Rebuilding, HasAnyChildren);
RebuildScheduled = true;
PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
{
if (HasAnyChildren)
{
if (AllPartsComplete)
{
RecomputeLinksetCompound();
}
else
{
DetailLog(
"{0},BSLinksetCompound.InternalScheduleRebuild,,rescheduling because not all children complete",
requestor.LocalID);
InternalScheduleRebuild(requestor);
}
}
RebuildScheduled = false;
});
}
// Called at taint-time!!
public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable pObj)
{
// Nothing to do for constraints on property updates
}
// Called when a parameter update comes from the physics engine for any object // of the linkset is received. // Passed flag is update came from physics engine (true) or the user (false). // Called at taint-time!! public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable physObject);
// Link to a linkset where the child knows the parent.
// Parent changing should not happen so do some sanity checking.
// We return the parent's linkset so the child can track its membership.
// Called at runtime.
public BSLinkset AddMeToLinkset(BSPrimLinkable child)
{
lock (m_linksetActivityLock)
{
// Don't add the root to its own linkset
if (!IsRoot(child))
AddChildToLinkset(child);
LinksetMass = ComputeLinksetMass();
}
return this;
}
// Return 'true' if the passed object is the root object of this linkset
public bool IsRoot(BSPrimLinkable requestor)
{
return (requestor.LocalID == LinksetRoot.LocalID);
}
// The object is going static (non-physical). Do any setup necessary for a static linkset.
// Return 'true' if any properties updated on the passed object.
// This doesn't normally happen -- WhiteCore removes the objects from the physical
// world if it is a static linkset.
// Called at taint-time!
public override bool MakeStatic(BSPrimLinkable child)
{
// What is done for each object in BSPrim is what we want.
return(false);
}
// Some linksets have a preferred physical shape.
// Returns SHAPE_UNKNOWN if there is no preference. Causes the correct shape to be selected.
public virtual BSPhysicsShapeType PreferredPhysicalShape(BSPrimLinkable requestor)
{
return BSPhysicsShapeType.SHAPE_UNKNOWN;
}
public BSLinkInfo(BSPrimLinkable pMember)
{
member = pMember;
}
public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent)
: base(scene, parent)
{
LinksetImpl = LinksetImplementation.Constraint;
}
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
// This is queued in the 'post taint' queue so the
// refresh will happen once after all the other taints are applied.
public override void Refresh(BSPrimLinkable requestor)
{
ScheduleRebuild(requestor);
base.Refresh(requestor);
}
// TODO!!! rename to RemoveDependencies // Routine used when rebuilding the body of the root of the linkset // Destroy all the constraints have have been made to root. // This is called when the root body is changing. // Returns 'true' of something was actually removed and would need restoring // Called at taint-time!! public abstract bool RemoveBodyDependencies(BSPrimLinkable child);
protected override void ScheduleRebuild(BSPrimLinkable requestor)
{
Refresh(requestor);
}
// Remove the specified child from the linkset.
// Safe to call even if the child is not really in my linkset.
protected override void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime)
{
if (m_children.Remove(child))
{
BSPrimLinkable rootx = LinksetRoot; // capture the root and body as of now
BSPrimLinkable childx = child;
DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
childx.LocalID,
rootx.LocalID, rootx.PhysBody.AddrString,
childx.LocalID, childx.PhysBody.AddrString);
PhysicsScene.TaintedObject(inTaintTime,"BSLinksetConstraints.RemoveChildFromLinkset",
delegate() { PhysicallyUnlinkAChildFromRoot(rootx, childx); });
// See that the linkset parameters are recomputed at the end of the taint time.
Refresh(LinksetRoot);
}
else
{
// Non-fatal occurance.
// PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
}
return;
}
// Create a constraint between me (root of linkset) and the passed prim (the child).
// Called at taint time!
void PhysicallyLinkAChildToRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
{
// Don't build the constraint when asked. Put it off until just before the simulation step.
Refresh(rootPrim);
}
public BSLinkInfoConstraint(BSPrimLinkable pMember) : base(pMember)
{
constraint = null;
ResetLink();
member.PhysicsScene.DetailLog("{0},BSLinkInfoConstraint.creation", member.LocalID);
}
// ================================================================
// Add a new child to the linkset.
// Called while LinkActivity is locked.
protected override void AddChildToLinkset(BSPrimLinkable child)
{
if (!HasChild(child))
{
m_children.Add(child, new BSLinkInfoConstraint(child));
DetailLog("{0},BSLinksetConstraints.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID,
child.LocalID);
// Cause constraints and assorted properties to be recomputed before the next simulation step.
Refresh(LinksetRoot);
}
return;
}
// Remove linkage between the linkset root and a particular child
// The root and child bodies are passed in because we need to remove the constraint between
// the bodies that were present at unlink time.
// Called at taint time!
bool PhysicallyUnlinkAChildFromRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
{
bool ret = false;
DetailLog(
"{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
rootPrim.LocalID,
rootPrim.LocalID, rootPrim.PhysBody.AddrString,
childPrim.LocalID, childPrim.PhysBody.AddrString);
// Find the constraint for this link and get rid of it from the overall collection and from my list
if (PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody, childPrim.PhysBody))
{
// Make the child refresh its location
PhysicsScene.PE.PushUpdate(childPrim.PhysBody);
ret = true;
}
return ret;
}
public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent)
: base(scene, parent)
{
LinksetImpl = LinksetImplementation.Constraint;
}
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
// This is queued in the 'post taint' queue so the
// refresh will happen once after all the other taints are applied.
public override void Refresh(BSPrimLinkable requestor)
{
ScheduleRebuild(requestor);
base.Refresh(requestor);
}
protected override void ScheduleRebuild(BSPrimLinkable requestor)
{
Refresh(requestor);
}
// Called at taint-time!!
public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable pObj)
{
// Nothing to do for constraints on property updates
}
// I am the root of a linkset and a new child is being added // Called while LinkActivity is locked. protected abstract void AddChildToLinkset(BSPrimLinkable child);
protected BSLinkset(BSScene scene, BSPrimLinkable parent)
{
// A simple linkset of one (no children)
LinksetID = m_nextLinksetID++;
// We create LOTS of linksets.
if (m_nextLinksetID <= 0)
m_nextLinksetID = 1;
PhysicsScene = scene;
LinksetRoot = parent;
//m_children = new HashSet<BSPrimLinkable>();
m_children = new Dictionary<BSPrimLinkable, BSLinkInfo>();
LinksetMass = parent.RawMass;
Rebuilding = false;
RebuildScheduled = false;
parent.ClearDisplacement();
}
protected abstract void ScheduleRebuild(BSPrimLinkable requestor);
// Remove a child from a linkset.
// Returns a new linkset for the child which is a linkset of one (just the
// orphened child).
// Called at runtime.
public BSLinkset RemoveMeFromLinkset(BSPrimLinkable child, bool inTaintTime)
{
lock (m_linksetActivityLock)
{
if (IsRoot(child))
{
// Cannot remove the root from a linkset.
return this;
}
}
RemoveChildFromLinkset(child, inTaintTime); // this establishes it's own lock
LinksetMass = ComputeLinksetMass();
// The child is down to a linkset of just itself
return BSLinkset.Factory(PhysicsScene, child);
}
// The object is going dynamic (physical). Do any setup necessary // for a dynamic linkset. // Only the state of the passed object can be modified. The rest of the linkset // has not yet been fully constructed. // Return 'true' if any properties updated on the passed object. // Called at taint-time! public abstract bool MakeDynamic(BSPrimLinkable child);
// Return 'true' if this child is in this linkset
public bool HasChild(BSPrimLinkable child)
{
bool ret;
lock (m_linksetActivityLock)
{
ret = m_children.ContainsKey(child);
}
return ret;
}
// The object is going static (non-physical). Do any setup necessary for a static linkset.
// Return 'true' if any properties updated on the passed object.
// This doesn't normally happen -- WhiteCore removes the objects from the physical
// world if it is a static linkset.
// Called at taint-time!
public override bool MakeStatic(BSPrimLinkable child)
{
// What is done for each object in BSPrim is what we want.
return false;
}
// I am the root of a linkset and one of my children is being removed. // Safe to call even if the child is not really in my linkset. protected abstract void RemoveChildFromLinkset(BSPrimLinkable child, bool inTaintTime);
// Create a constraint between me (root of linkset) and the passed prim (the child).
// Called at taint time!
void PhysicallyLinkAChildToRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
{
// Don't build the constraint when asked. Put it off until just before the simulation step.
Refresh(rootPrim);
}
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
// May be called at runtime or taint-time.
public virtual void Refresh(BSPrimLinkable requestor)
{
LinksetMass = ComputeLinksetMass();
}
// Create a static constraint between the two passed objects
BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSLinkInfo li)
{
BSLinkInfoConstraint linkInfo = li as BSLinkInfoConstraint;
if (linkInfo == null)
{
return(null);
}
// Zero motion for children so they don't interpolate
li.member.ZeroMotion(true);
BSConstraint constrain = null;
switch (linkInfo.constraintType)
{
case ConstraintType.BS_FIXED_CONSTRAINT_TYPE:
case ConstraintType.D6_CONSTRAINT_TYPE:
// Relative position normalaized to the root prim
// Essentually a vector pointing from center of rootPrim to center of li.member
OMV.Vector3 childRelativePosition = linkInfo.member.Position - rootPrim.Position;
// real world coordinate of midpoint between the two objects
OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
DetailLog(
"{0},BSLinksetConstraint.BuildConstraint,6Dof,rBody={1},cBody={2},rLoc={3},cLoc={4},midLoc={5}",
rootPrim.LocalID, rootPrim.PhysBody, linkInfo.member.PhysBody, rootPrim.Position,
linkInfo.member.Position, midPoint);
// create a constraint that allows no freedom of movement between the two objects
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
constrain = new BSConstraint6Dof(PhysicsScene.World, rootPrim.PhysBody, linkInfo.member.PhysBody,
midPoint, true, true);
/* NOTE: below is an attempt to build constraint with full frame computation, etc.
* Using the midpoint is easier since it lets the Bullet code manipulate the transforms
* of the objects.
* Code left for future programmers.
* // ==================================================================================
* // relative position normalized to the root prim
* OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
* OMV.Vector3 childRelativePosition = (liConstraint.member.Position - rootPrim.Position) * invThisOrientation;
*
*
* // relative rotation of the child to the parent
* OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
* OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
*
* DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
* BS6DofConstraint constrain = new BS6DofConstraint(
* PhysicsScene.World, rootPrim.Body, childPrim.Body,
* OMV.Vector3.Zero,
* OMV.Quaternion.Inverse(rootPrim.Orientation),
* OMV.Vector3.Zero,
* OMV.Quaternion.Inverse(childPrim.Orientation),
* true,
* true
* );
* // ==================================================================================
*/
break;
case ConstraintType.D6_SPRING_CONSTRAINT_TYPE:
constrain = new BSConstraintSpring(PhysicsScene.World, rootPrim.PhysBody, linkInfo.member.PhysBody,
linkInfo.frameInAloc, linkInfo.frameInArot, linkInfo.frameInBloc, linkInfo.frameInBrot,
linkInfo.useLinearReferenceFrameA,
true /*disableCollisionsBetweenLinkedBodies*/);
DetailLog("{0},BSLinksetConstraint.BuildConstraint,spring,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6}",
rootPrim.LocalID,
rootPrim.LocalID, rootPrim.PhysBody.AddrString,
linkInfo.member.LocalID, linkInfo.member.PhysBody.AddrString,
rootPrim.Position, linkInfo.member.Position);
break;
default:
break;
}
if (constrain != null)
{
linkInfo.SetLinkParameters(constrain);
PhysicsScene.Constraints.AddConstraint(constrain);
}
return(constrain);
}
// The object is going static (non-physical). Do any setup necessary // for a static linkset. // Return 'true' if any properties updated on the passed object. // Called at taint-time! public abstract bool MakeStatic(BSPrimLinkable child);
public override PhysicsActor AddPrimShape(UUID primID, uint localID, string name, byte physicsType,
PrimitiveBaseShape shape,
Vector3 position, Vector3 size, Quaternion rotation, bool isPhysical, int material,
float friction, float restitution, float gravityMultiplier, float density)
{
// MainConsole.Instance.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
if (!m_initialized) return null;
// DetailLog("{0},BSScene.AddPrimShape,call", localID);
BSPhysObject prim = new BSPrimLinkable(localID, name, this, position, size, rotation, shape, false, material,
friction, restitution, gravityMultiplier, density);
prim.UUID = primID;
lock (PhysObjects) PhysObjects.Add(localID, prim);
return prim;
}
// TODO!!! rename to RemoveDependencies // Routine used when rebuilding the body of the root of the linkset // Destroy all the constraints have have been made to root. // This is called when the root body is changing. // Returns 'true' of something was actually removed and would need restoring // Called at taint-time!! public abstract bool RemoveBodyDependencies(BSPrimLinkable child);
// Remove linkage between myself and any possible children I might have.
// Returns 'true' of any constraints were destroyed.
// Called at taint time!
bool PhysicallyUnlinkAllChildrenFromRoot(BSPrimLinkable rootPrim)
{
DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
}
public BSLinkInfo(BSPrimLinkable pMember)
{
member = pMember;
}
// Remove linkage between myself and any possible children I might have.
// Returns 'true' of any constraints were destroyed.
// Called at taint time!
bool PhysicallyUnlinkAllChildrenFromRoot(BSPrimLinkable rootPrim)
{
DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
return(PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody));
}
public BSLinkInfoConstraint(BSPrimLinkable pMember) : base(pMember)
{
constraint = null;
ResetLink();
member.PhysicsScene.DetailLog("{0},BSLinkInfoConstraint.creation", member.LocalID);
}
// Create a static constraint between the two passed objects
BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSLinkInfo li)
{
BSLinkInfoConstraint linkInfo = li as BSLinkInfoConstraint;
if (linkInfo == null) return null;
// Zero motion for children so they don't interpolate
li.member.ZeroMotion(true);
BSConstraint constrain = null;
switch (linkInfo.constraintType)
{
case ConstraintType.BS_FIXED_CONSTRAINT_TYPE:
case ConstraintType.D6_CONSTRAINT_TYPE:
// Relative position normalaized to the root prim
// Essentually a vector pointing from center of rootPrim to center of li.member
OMV.Vector3 childRelativePosition = linkInfo.member.Position - rootPrim.Position;
// real world coordinate of midpoint between the two objects
OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition/2);
DetailLog(
"{0},BSLinksetConstraint.BuildConstraint,6Dof,rBody={1},cBody={2},rLoc={3},cLoc={4},midLoc={5}",
rootPrim.LocalID, rootPrim.PhysBody, linkInfo.member.PhysBody, rootPrim.Position,
linkInfo.member.Position, midPoint);
// create a constraint that allows no freedom of movement between the two objects
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
constrain = new BSConstraint6Dof(PhysicsScene.World, rootPrim.PhysBody, linkInfo.member.PhysBody,
midPoint, true, true);
/* NOTE: below is an attempt to build constraint with full frame computation, etc.
* Using the midpoint is easier since it lets the Bullet code manipulate the transforms
* of the objects.
* Code left for future programmers.
// ==================================================================================
// relative position normalized to the root prim
OMV.Quaternion invThisOrientation = OMV.Quaternion.Inverse(rootPrim.Orientation);
OMV.Vector3 childRelativePosition = (liConstraint.member.Position - rootPrim.Position) * invThisOrientation;
// relative rotation of the child to the parent
OMV.Quaternion childRelativeRotation = invThisOrientation * childPrim.Orientation;
OMV.Quaternion inverseChildRelativeRotation = OMV.Quaternion.Inverse(childRelativeRotation);
DetailLog("{0},BSLinksetConstraint.PhysicallyLinkAChildToRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
BS6DofConstraint constrain = new BS6DofConstraint(
PhysicsScene.World, rootPrim.Body, childPrim.Body,
OMV.Vector3.Zero,
OMV.Quaternion.Inverse(rootPrim.Orientation),
OMV.Vector3.Zero,
OMV.Quaternion.Inverse(childPrim.Orientation),
true,
true
);
// ==================================================================================
*/
break;
case ConstraintType.D6_SPRING_CONSTRAINT_TYPE:
constrain = new BSConstraintSpring(PhysicsScene.World, rootPrim.PhysBody, linkInfo.member.PhysBody,
linkInfo.frameInAloc, linkInfo.frameInArot, linkInfo.frameInBloc, linkInfo.frameInBrot,
linkInfo.useLinearReferenceFrameA,
true /*disableCollisionsBetweenLinkedBodies*/);
DetailLog("{0},BSLinksetConstraint.BuildConstraint,spring,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6}",
rootPrim.LocalID,
rootPrim.LocalID, rootPrim.PhysBody.AddrString,
linkInfo.member.LocalID, linkInfo.member.PhysBody.AddrString,
rootPrim.Position, linkInfo.member.Position);
break;
default:
break;
}
if (constrain != null) {
linkInfo.SetLinkParameters (constrain);
PhysicsScene.Constraints.AddConstraint (constrain);
}
return constrain;
}
