// Get a reference to a physical shape. Create if it doesn't exist
public static BSShape GetShapeReference(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
BSShape ret = null;
if (prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
{
// an avatar capsule is close to a native shape (it is not shared)
ret = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_CAPSULE,
FixedShapeKey.KEY_CAPSULE);
physicsScene.DetailLog("{0},BSShape.GetShapeReference,avatarCapsule,shape={1}", prim.LocalID, ret);
}
// Compound shapes are handled special as they are rebuilt from scratch.
// This isn't too great a hardship since most of the child shapes will already been created.
if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
{
// Getting a reference to a compound shape gets you the compound shape with the root prim shape added
ret = BSShapeCompound.GetReference(prim);
physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret);
}
if (ret == null)
ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim);
return ret;
}
// For compound implimented linksets, if there are children, use compound shape for the root.
public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject 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;
}
// 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(BSPhysObject requestor)
{
base.Refresh(requestor);
// Queue to happen after all the other taint processing
PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
{
if (HasAnyChildren && IsRoot(requestor))
RecomputeLinksetConstraints();
});
}
// Create the correct type of linkset for this child
public static BSLinkset Factory(BSScene physScene, BSPhysObject parent)
{
BSLinkset ret = null;
switch ((int)BSParam.LinksetImplementation)
{
case (int)LinksetImplementation.Constraint:
ret = new BSLinksetConstraints(physScene, parent);
break;
case (int)LinksetImplementation.Compound:
ret = new BSLinksetCompound(physScene, parent);
break;
case (int)LinksetImplementation.Manual:
// ret = new BSLinksetManual(physScene, parent);
break;
default:
ret = new BSLinksetCompound(physScene, parent);
break;
}
return ret;
}
public void RestoreBodyDependencies(BSPhysObject prim)
{
if (Prim.LocalID != prim.LocalID)
{
// The call should be on us by our prim. Error if not.
PhysicsScene.Logger.ErrorFormat("{0} RestoreBodyDependencies: called by not my prim. passedLocalID={1}, vehiclePrimLocalID={2}",
LogHeader, prim.LocalID, Prim.LocalID);
return;
}
Refresh();
}
// Called at taint-time!!
public override void UpdateProperties(BSPhysObject updated, bool inTaintTime)
{
// Nothing to do for constraints on property updates
}
// Remove linkage between myself and any possible children I might have.
// Returns 'true' of any constraints were destroyed.
// Called at taint time!
private bool PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
{
DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
}
private BSConstraint BuildConstraint(BSPhysObject rootPrim, BSPhysObject childPrim)
{
// Zero motion for children so they don't interpolate
childPrim.ZeroMotion(true);
// Relative position normalized to the root prim
// Essentually a vector pointing from center of rootPrim to center of childPrim
OMV.Vector3 childRelativePosition = childPrim.Position - rootPrim.Position;
// real world coordinate of midpoint between the two objects
OMV.Vector3 midPoint = rootPrim.Position + (childRelativePosition / 2);
DetailLog("{0},BSLinksetConstraint.BuildConstraint,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
rootPrim.LocalID,
rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString(),
childPrim.LocalID, childPrim.PhysBody.ptr.ToString(),
rootPrim.Position, childPrim.Position, midPoint);
// create a constraint that allows no freedom of movement between the two objects
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
BSConstraint6Dof constrain = new BSConstraint6Dof(
PhysicsScene.World, rootPrim.PhysBody, childPrim.PhysBody, midPoint, true, true );
// PhysicsScene.World, childPrim.BSBody, rootPrim.BSBody, 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 = (childPrim.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
);
// ==================================================================================
*/
PhysicsScene.Constraints.AddConstraint(constrain);
// zero linear and angular limits makes the objects unable to move in relation to each other
constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
// tweek the constraint to increase stability
constrain.UseFrameOffset(BSParam.BoolNumeric(BSParam.LinkConstraintUseFrameOffset));
constrain.TranslationalLimitMotor(BSParam.BoolNumeric(BSParam.LinkConstraintEnableTransMotor),
BSParam.LinkConstraintTransMotorMaxVel,
BSParam.LinkConstraintTransMotorMaxForce);
constrain.SetCFMAndERP(BSParam.LinkConstraintCFM, BSParam.LinkConstraintERP);
if (BSParam.LinkConstraintSolverIterations != 0f)
{
constrain.SetSolverIterations(BSParam.LinkConstraintSolverIterations);
}
return constrain;
}
// Remove the specified child from the linkset.
// Safe to call even if the child is not really in my linkset.
protected override void RemoveChildFromLinkset(BSPhysObject child)
{
if (m_children.Remove(child))
{
BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
BSPhysObject childx = child;
DetailLog("{0},BSLinksetConstraints.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
childx.LocalID,
rootx.LocalID, rootx.PhysBody.ptr.ToString(),
childx.LocalID, childx.PhysBody.ptr.ToString());
PhysicsScene.TaintedObject("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;
}
// 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(BSPhysObject child);
// Return 'true' if the passed object is the root object of this linkset
public bool IsRoot(BSPhysObject requestor)
{
return(requestor.LocalID == LinksetRoot.LocalID);
}
public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent)
{
}
// 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(BSPhysObject physObject, bool physicalUpdate);
// 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(BSPhysObject 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(BSPhysObject child);
// 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(BSPhysObject requestor)
{
LinksetMass = ComputeLinksetMass();
}
private BSShapeNative(BSScene physicsScene, BSPhysObject prim,
BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
{
ShapeData nativeShapeData = new ShapeData();
nativeShapeData.Type = shapeType;
nativeShapeData.ID = prim.LocalID;
nativeShapeData.Scale = prim.Scale;
nativeShapeData.Size = prim.Scale;
nativeShapeData.MeshKey = (ulong)shapeKey;
nativeShapeData.HullKey = (ulong)shapeKey;
if (shapeType == BSPhysicsShapeType.SHAPE_CAPSULE)
{
ptr = BulletSimAPI.BuildCapsuleShape2(physicsScene.World.ptr, 1f, 1f, prim.Scale);
physicsScene.DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
}
else
{
ptr = BulletSimAPI.BuildNativeShape2(physicsScene.World.ptr, nativeShapeData);
}
if (ptr == null)
{
physicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}",
LogHeader, prim.LocalID, shapeType);
}
type = shapeType;
key = (UInt64)shapeKey;
}
// 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(BSPhysObject requestor)
{
return BSPhysicsShapeType.SHAPE_UNKNOWN;
}
// I am the root of a linkset and a new child is being added // Called while LinkActivity is locked. protected abstract void AddChildToLinkset(BSPhysObject child);
// 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(BSPhysObject child)
{
lock (m_linksetActivityLock)
{
// Don't add the root to its own linkset
if (!IsRoot(child))
AddChildToLinkset(child);
LinksetMass = ComputeLinksetMass();
}
return this;
}
// 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(BSPhysObject child)
{
lock (m_linksetActivityLock)
{
if (IsRoot(child))
{
// Cannot remove the root from a linkset.
return this;
}
RemoveChildFromLinkset(child);
LinksetMass = ComputeLinksetMass();
}
// The child is down to a linkset of just itself
return BSLinkset.Factory(PhysicsScene, child);
}
// ================================================================
// Add a new child to the linkset.
// Called while LinkActivity is locked.
protected override void AddChildToLinkset(BSPhysObject child)
{
if (!HasChild(child))
{
m_children.Add(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;
}
// Return 'true' if the passed object is the root object of this linkset
public bool IsRoot(BSPhysObject requestor)
{
return (requestor.LocalID == LinksetRoot.LocalID);
}
// Create a constraint between me (root of linkset) and the passed prim (the child).
// Called at taint time!
private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
{
// Don't build the constraint when asked. Put it off until just before the simulation step.
Refresh(rootPrim);
}
// Return 'true' if this child is in this linkset
public bool HasChild(BSPhysObject child)
{
bool ret = false;
lock (m_linksetActivityLock)
{
ret = m_children.Contains(child);
/* Safer version but the above should work
foreach (BSPhysObject bp in m_children)
{
if (child.LocalID == bp.LocalID)
{
ret = true;
break;
}
}
*/
}
return ret;
}
// 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!
private bool PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
{
bool ret = false;
DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
rootPrim.LocalID,
rootPrim.LocalID, rootPrim.PhysBody.ptr.ToString(),
childPrim.LocalID, childPrim.PhysBody.ptr.ToString());
// 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
BulletSimAPI.PushUpdate2(childPrim.PhysBody.ptr);
ret = true;
}
return ret;
}
// I am the root of a linkset and a new child is being added // Called while LinkActivity is locked. protected abstract void AddChildToLinkset(BSPhysObject child);
// private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
public BSLinksetConstraints(BSScene scene, BSPhysObject parent) : base(scene, parent)
{
}
// 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(BSPhysObject child);
// 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 -- OpenSim removes the objects from the physical
// world if it is a static linkset.
// Called at taint-time!
public override bool MakeStatic(BSPhysObject child)
{
// What is done for each object in BSPrim is what we want.
return false;
}
// 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(BSPhysObject requestor)
{
LinksetMass = ComputeLinksetMass();
}
public bool RemoveBodyDependencies(BSPhysObject prim)
{
// If active, we need to add our properties back when the body is rebuilt.
return IsActive;
}
// 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(BSPhysObject child);
public static BSShape GetReference(BSScene physicsScene, BSPhysObject prim,
BSPhysicsShapeType shapeType, FixedShapeKey shapeKey)
{
// Native shapes are not shared and are always built anew.
return new BSShapeNative(physicsScene, prim, shapeType, shapeKey);
}
// 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(BSPhysObject child);
public static BSShape GetReference(BSPhysObject prim)
{
return new BSShapeNull();
}
// 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(BSPhysObject physObject, bool physicalUpdate);
public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
return null;
}
// 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(BSPhysObject requestor)
{
return(BSPhysicsShapeType.SHAPE_UNKNOWN);
}
