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);
}
// Update the physical location and motion of the object. Called with data from Bullet. public abstract void UpdateProperties(EntityProperties entprop);
// 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;
//Object updatedEntitiesPtr;
int collidersCount = 0;
//Object collidersPtr;
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
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.
// BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG
// step the physical world one interval
m_simulationStep++;
int numSubSteps = 0;
try
{
if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
out updatedEntityCount, out m_updateArray, out collidersCount, out m_collisionArray);
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;
}
// 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.
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 = new Vector3(m_collisionArray[ii].point.X, m_collisionArray[ii].point.Y,
m_collisionArray[ii].point.Z);
Vector3 normal = new Vector3(m_collisionArray[ii].normal.X, m_collisionArray[ii].normal.Y,
m_collisionArray[ii].normal.Z);
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 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++)
{
BulletXNA.EntityProperties entprop = m_updateArray[ii];
BSPhysObject pobj;
if (PhysObjects.TryGetValue(entprop.ID, out pobj))
{
EntityProperties prop = new EntityProperties()
{
Acceleration = new Vector3(entprop.Acceleration.X, entprop.Acceleration.Y, entprop.Acceleration.Z),
ID = entprop.ID,
Position = new Vector3(entprop.Position.X,entprop.Position.Y,entprop.Position.Z),
Rotation = new Quaternion(entprop.Rotation.X,entprop.Rotation.Y,entprop.Rotation.Z,entprop.Rotation.W),
RotationalVelocity = new Vector3(entprop.AngularVelocity.X,entprop.AngularVelocity.Y,entprop.AngularVelocity.Z),
Velocity = new Vector3(entprop.Velocity.X,entprop.Velocity.Y,entprop.Velocity.Z)
};
//m_log.Debug(pobj.Name + ":" + prop.ToString() + "\n");
pobj.UpdateProperties(prop);
}
}
}
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.
// BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG
// 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 55 to give a nominal frame rate of 55.
return (float)numSubSteps * m_fixedTimeStep * 1000f * 55f;
}
// 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);
if (_velocityMotor.Enabled)
{
// TODO: Decide if the step parameters should be changed depending on the avatar's
// state (flying, colliding, ...).
OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep);
// If falling, we keep the world's downward vector no matter what the other axis specify.
if (!Flying && !IsColliding)
{
stepVelocity.Z = entprop.Velocity.Z;
DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
}
// If the user has said stop and we've stopped applying velocity correction,
// the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer.
if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero)
{
ZeroMotion(true);
stepVelocity = OMV.Vector3.Zero;
_velocityMotor.Enabled = false;
DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);
}
_velocity = stepVelocity;
entprop.Velocity = _velocity;
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
}
// 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);
}
