public BSActorAvatarMove(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_velocityMotor = null;
m_walkingUpStairs = 0;
m_physicsScene.DetailLog("{0},BSActorAvatarMove,constructor", m_controllingPrim.LocalID);
}
public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID);
LockAxisConstraint = null;
HaveRegisteredForBeforeStepCallback = false;
}
public BSActor(BSScene physicsScene, BSPhysObject pObj, string actorName)
{
m_physicsScene = physicsScene;
m_controllingPrim = pObj;
ActorName = actorName;
Enabled = true;
}
// 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 have 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);
}
// Avatars have their own unique shape
if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_AVATAR)
{
// Getting a reference to a compound shape gets you the compound shape with the root prim shape added
ret = BSShapeAvatar.GetReference(prim);
physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,avatarShape,shape={1}", prim.LocalID, ret);
}
if (ret == null)
ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim);
return ret;
}
// Called to update/change the body and shape for an object.
// The object has some shape and body on it. Here we decide if that is the correct shape
// for the current state of the object (static/dynamic/...).
// If bodyCallback is not null, it is called if either the body or the shape are changed
// so dependencies (like constraints) can be removed before the physical object is dereferenced.
// Return 'true' if either the body or the shape changed.
// Called at taint-time.
public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim, PhysicalDestructionCallback bodyCallback)
{
m_physicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape");
bool ret = false;
// This lock could probably be pushed down lower but building shouldn't take long
lock (m_collectionActivityLock)
{
// Do we have the correct geometry for this type of object?
// Updates prim.BSShape with information/pointers to shape.
// Returns 'true' of BSShape is changed to a new shape.
bool newGeom = CreateGeom(forceRebuild, prim, bodyCallback);
// If we had to select a new shape geometry for the object,
// rebuild the body around it.
// Updates prim.BSBody with information/pointers to requested body
// Returns 'true' if BSBody was changed.
bool newBody = CreateBody((newGeom || forceRebuild), prim, m_physicsScene.World, bodyCallback);
ret = newGeom || newBody;
}
DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
prim.LocalID, forceRebuild, ret, prim.PhysBody, prim.PhysShape);
return ret;
}
public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID);
LockAxisConstraint = null;
// we place our constraint just before the simulation step to make sure the linkset is complete
m_physicsScene.BeforeStep += PhysicsScene_BeforeStep;
}
// 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;
}
public BSLinkset(BSScene scene, BSPhysObject 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 List<BSPhysObject>();
m_taintChildren = new List<BSPhysObject>();
m_mass = parent.MassRaw;
}
// 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);
if (HasAnyChildren && IsRoot(requestor))
{
// Queue to happen after all the other taint processing
PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
{
if (HasAnyChildren && IsRoot(requestor))
RecomputeLinksetConstraints();
});
}
}
// private static string LogHeader = "[BULLETSIM LINKSET]";
// Create the correct type of linkset for this child
public static BSLinkset Factory(BSScene physScene, BSPhysObject parent)
{
BSLinkset ret = null;
/*
if (parent.IsPhysical)
ret = new BSLinksetConstraints(physScene, parent);
else
ret = new BSLinksetManual(physScene, parent);
*/
// at the moment, there is only one
ret = new BSLinksetConstraints(physScene, parent);
return ret;
}
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
// May be called at runtime or taint-time (just pass the appropriate flag).
public override void Refresh(BSPhysObject requestor, bool inTaintTime)
{
// If there are no children or not root, I am not the one that recomputes the constraints
if (!HasAnyChildren || !IsRoot(requestor))
return;
BSScene.TaintCallback refreshOperation = delegate()
{
RecomputeLinksetConstraintVariables();
DetailLog("{0},BSLinkset.Refresh,complete,rBody={1}",
LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"));
};
if (inTaintTime)
refreshOperation();
else
PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation);
}
// 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;
}
// Forcefully removing a child from a linkset.
// This is not being called by the child so we have to make sure the child doesn't think
// it's still connected to the linkset.
// Normal OpenSimulator operation will never do this because other SceneObjectPart information
// also has to be updated (like pointer to prim's parent).
private void RemoveChildFromOtherLinkset(BSPhysObject pchild)
{
pchild.Linkset = new BSLinkset(PhysicsScene, pchild);
RemoveChildFromLinkset(pchild);
}
// Return 'true' if this child is in this linkset
public bool HasChild(BSPhysObject child)
{
bool ret = false;
lock (m_linksetActivityLock)
{
foreach (BSPhysObject bp in m_children)
{
if (child.LocalID == bp.LocalID)
{
ret = true;
break;
}
}
}
return ret;
}
// When physical properties are changed the linkset needs to recalculate
// its internal properties.
// Called at runtime.
public void Refresh(BSPhysObject requestor)
{
// If there are no children, there can't be any constraints to recompute
if (!HasAnyChildren)
return;
// Only the root does the recomputation
if (IsRoot(requestor))
{
PhysicsScene.TaintedObject("BSLinkSet.Refresh", delegate()
{
RecomputeLinksetConstraintVariables();
});
}
}
public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID);
LockAxisConstraint = null;
}
// 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);
}
// The child is down to a linkset of just itself
return new BSLinkset(PhysicsScene, child);
}
public override bool Collide(uint collidingWith, BSPhysObject collidee,
OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
{
// prims in the same linkset cannot collide with each other
BSPrimLinkable convCollidee = collidee as BSPrimLinkable;
if (convCollidee != null && (this.Linkset.LinksetID == convCollidee.Linkset.LinksetID))
{
return false;
}
// TODO: handle collisions of other objects with with children of linkset.
// This is a problem for LinksetCompound since the children are packed into the root.
return base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth);
}
public BSActorSetTorque(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_torqueMotor = null;
m_physicsScene.DetailLog("{0},BSActorSetTorque,constructor", m_controllingPrim.LocalID);
}
public BSActorMoveToTarget(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_targetMotor = null;
m_physicsScene.DetailLog("{0},BSActorMoveToTarget,constructor", m_controllingPrim.LocalID);
}
public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim)
{
return(GetBodyAndShape(forceRebuild, sim, prim, null, null));
}
// Forcefully removing a child from a linkset.
// This is not being called by the child so we have to make sure the child doesn't think
// it's still connected to the linkset.
// Normal OpenSimulator operation will never do this because other SceneObjectPart information
// also has to be updated (like pointer to prim's parent).
private void RemoveChildFromOtherLinkset(BSPhysObject pchild)
{
pchild.Linkset = new BSLinkset(PhysicsScene, pchild);
RemoveChildFromLinkset(pchild);
}
// Create a constraint between me (root of linkset) and the passed prim (the child).
// Called at taint time!
private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BulletBody rootBody,
BSPhysObject childPrim, BulletBody childBody)
{
// Zero motion for children so they don't interpolate
childPrim.ZeroMotion();
// 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},PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
rootPrim.LocalID,
rootPrim.LocalID, rootBody.ptr.ToString("X"),
childPrim.LocalID, childBody.ptr.ToString("X"),
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
// There is great subtlty in these paramters. Notice the check for a ptr of zero.
// We pass the BulletBody structure into the taint in order to capture the pointer
// of the body at the time of constraint creation. This doesn't work for the very first
// construction because there is no body yet. The body
// is constructed later at taint time. Thus we use the body address at time of the
// taint creation but, if it is zero, use what's in the prim at the moment.
// There is a possible race condition since shape can change without a taint call
// (like changing to a mesh that is already constructed). The fix for that would be
// to only change BSShape at taint time thus syncronizing these operations at
// the cost of efficiency and lag.
BS6DofConstraint constrain = new BS6DofConstraint(
PhysicsScene.World,
rootBody.ptr == IntPtr.Zero ? rootPrim.BSBody : rootBody,
childBody.ptr == IntPtr.Zero ? childPrim.BSBody : childBody,
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 as a warning to 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);
*
* // create a constraint that allows no freedom of movement between the two objects
* // http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
* DetailLog("{0},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),
* // A point half way between the parent and child
* // childRelativePosition/2,
* // childRelativeRotation,
* // childRelativePosition/2,
* // inverseChildRelativeRotation,
* 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(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintUseFrameOffset));
constrain.TranslationalLimitMotor(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintEnableTransMotor),
PhysicsScene.Params.linkConstraintTransMotorMaxVel,
PhysicsScene.Params.linkConstraintTransMotorMaxForce);
constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP);
if (PhysicsScene.Params.linkConstraintSolverIterations != 0f)
{
constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
}
RecomputeLinksetConstraintVariables();
}
// 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 bool MakeStatic(BSPhysObject child)
{
// What is done for each object in BSPrim is what we want.
return(false);
}
// Return 'true' if the passed object is the root object of this linkset
public bool IsRoot(BSPhysObject requestor)
{
return(requestor.LocalID == LinksetRoot.LocalID);
}
public BSActorAvatarMove(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_velocityMotor = null;
m_physicsScene.DetailLog("{0},BSActorAvatarMove,constructor", m_controllingPrim.LocalID);
}
public static BSShape GetReference(BSPhysObject prim)
{
return new BSShapeNull();
}
// Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'.
public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback)
{
bool ret = false;
bool haveShape = false;
bool nativeShapePossible = true;
PrimitiveBaseShape pbs = prim.BaseShape;
// If the prim attributes are simple, this could be a simple Bullet native shape
if (!haveShape &&
pbs != null &&
nativeShapePossible &&
((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim) ||
(pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 &&
pbs.ProfileHollow == 0 &&
pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 &&
pbs.PathBegin == 0 && pbs.PathEnd == 0 &&
pbs.PathTaperX == 0 && pbs.PathTaperY == 0 &&
pbs.PathScaleX == 100 && pbs.PathScaleY == 100 &&
pbs.PathShearX == 0 && pbs.PathShearY == 0)))
{
// Get the scale of any existing shape so we can see if the new shape is same native type and same size.
OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero;
if (prim.PhysShape.HasPhysicalShape)
{
scaleOfExistingShape = PhysicsScene.PE.GetLocalScaling(prim.PhysShape);
}
if (DDetail)
{
DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}",
prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type);
}
// It doesn't look like Bullet scales spheres so make sure the scales are all equal
if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) &&
pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)
{
haveShape = true;
if (forceRebuild ||
prim.Scale != scaleOfExistingShape ||
prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE
)
{
ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE,
FixedShapeKey.KEY_SPHERE, shapeCallback);
if (DDetail)
{
DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}",
prim.LocalID, forceRebuild, prim.PhysShape);
}
}
}
if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
{
haveShape = true;
if (forceRebuild ||
prim.Scale != scaleOfExistingShape ||
prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX
)
{
ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX,
FixedShapeKey.KEY_BOX, shapeCallback);
if (DDetail)
{
DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}",
prim.LocalID, forceRebuild, prim.PhysShape);
}
}
}
}
// If a simple shape is not happening, create a mesh and possibly a hull.
if (!haveShape && pbs != null)
{
ret = CreateGeomMeshOrHull(prim, shapeCallback);
}
return(ret);
}
// The creation of a mesh or hull can fail if an underlying asset is not available.
// There are two cases: 1) the asset is not in the cache and it needs to be fetched;
// and 2) the asset cannot be converted (like failed decompression of JPEG2000s).
// The first case causes the asset to be fetched. The second case requires
// us to not loop forever.
// Called after creating a physical mesh or hull. If the physical shape was created,
// just return.
public static BulletShape VerifyMeshCreated(BSScene physicsScene, BulletShape newShape, BSPhysObject prim)
{
// If the shape was successfully created, nothing more to do
if (newShape.HasPhysicalShape)
{
return(newShape);
}
// VerifyMeshCreated is called after trying to create the mesh. If we think the asset had been
// fetched but we end up here again, the meshing of the asset must have failed.
// Prevent trying to keep fetching the mesh by declaring failure.
if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Fetched)
{
prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
physicsScene.Logger.WarnFormat("{0} Fetched asset would not mesh. {1}, texture={2}",
LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture);
physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,setFailed,objNam={1},tex={2}",
prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture);
}
else
{
// If this mesh has an underlying asset and we have not failed getting it before, fetch the asset
if (prim.BaseShape.SculptEntry &&
prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Failed &&
prim.PrimAssetState != BSPhysObject.PrimAssetCondition.Waiting &&
prim.BaseShape.SculptTexture != OMV.UUID.Zero
)
{
physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAsset,objNam={1},tex={2}",
prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture);
// Multiple requestors will know we're waiting for this asset
prim.PrimAssetState = BSPhysObject.PrimAssetCondition.Waiting;
BSPhysObject xprim = prim;
Util.FireAndForget(delegate
{
// physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,inFireAndForget", xprim.LocalID);
RequestAssetDelegate assetProvider = physicsScene.RequestAssetMethod;
if (assetProvider != null)
{
BSPhysObject yprim = xprim; // probably not necessary, but, just in case.
assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset)
{
// physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,assetProviderCallback", xprim.LocalID);
bool assetFound = false;
string mismatchIDs = String.Empty; // DEBUG DEBUG
if (asset != null && yprim.BaseShape.SculptEntry)
{
if (yprim.BaseShape.SculptTexture.ToString() == asset.ID)
{
yprim.BaseShape.SculptData = asset.Data;
// This will cause the prim to see that the filler shape is not the right
// one and try again to build the object.
// No race condition with the normal shape setting since the rebuild is at taint time.
yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Fetched;
yprim.ForceBodyShapeRebuild(false /* inTaintTime */);
assetFound = true;
}
else
{
mismatchIDs = yprim.BaseShape.SculptTexture.ToString() + "/" + asset.ID;
}
}
if (!assetFound)
{
yprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
}
physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,fetchAssetCallback,found={1},isSculpt={2},ids={3}",
yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs);
});
}
else
{
xprim.PrimAssetState = BSPhysObject.PrimAssetCondition.Failed;
physicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}",
LogHeader, physicsScene.Name);
}
});
}
else
{
if (prim.PrimAssetState == BSPhysObject.PrimAssetCondition.Failed)
{
physicsScene.Logger.WarnFormat("{0} Mesh failed to fetch asset. obj={1}, texture={2}",
LogHeader, prim.PhysObjectName, prim.BaseShape.SculptTexture);
physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,wasFailed,objNam={1},tex={2}",
prim.LocalID, prim.PhysObjectName, prim.BaseShape.SculptTexture);
}
}
}
// While we wait for the mesh defining asset to be loaded, stick in a simple box for the object.
BSShape fillShape = BSShapeNative.GetReference(physicsScene, prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
physicsScene.DetailLog("{0},BSShape.VerifyMeshCreated,boxTempShape", prim.LocalID);
return(fillShape.physShapeInfo);
}
// Create a constraint between me (root of linkset) and the passed prim (the child).
// Called at taint time!
private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BulletBody rootBody,
BSPhysObject childPrim, BulletBody childBody)
{
// Zero motion for children so they don't interpolate
childPrim.ZeroMotion();
// 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},PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
rootPrim.LocalID,
rootPrim.LocalID, rootBody.ptr.ToString("X"),
childPrim.LocalID, childBody.ptr.ToString("X"),
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
// There is great subtlty in these paramters. Notice the check for a ptr of zero.
// We pass the BulletBody structure into the taint in order to capture the pointer
// of the body at the time of constraint creation. This doesn't work for the very first
// construction because there is no body yet. The body
// is constructed later at taint time. Thus we use the body address at time of the
// taint creation but, if it is zero, use what's in the prim at the moment.
// There is a possible race condition since shape can change without a taint call
// (like changing to a mesh that is already constructed). The fix for that would be
// to only change BSShape at taint time thus syncronizing these operations at
// the cost of efficiency and lag.
BS6DofConstraint constrain = new BS6DofConstraint(
PhysicsScene.World,
rootBody.ptr == IntPtr.Zero ? rootPrim.BSBody : rootBody,
childBody.ptr == IntPtr.Zero ? childPrim.BSBody : childBody,
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 as a warning to 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);
// create a constraint that allows no freedom of movement between the two objects
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
DetailLog("{0},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),
// A point half way between the parent and child
// childRelativePosition/2,
// childRelativeRotation,
// childRelativePosition/2,
// inverseChildRelativeRotation,
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(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintUseFrameOffset));
constrain.TranslationalLimitMotor(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintEnableTransMotor),
PhysicsScene.Params.linkConstraintTransMotorMaxVel,
PhysicsScene.Params.linkConstraintTransMotorMaxForce);
constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP);
if (PhysicsScene.Params.linkConstraintSolverIterations != 0f)
{
constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations);
}
RecomputeLinksetConstraintVariables();
}
public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
{
bool ret = false;
// The following lines make IsColliding(), CollidingGround() and CollidingObj work
CollidingStep = PhysScene.SimulationStep;
if (collidingWith <= PhysScene.TerrainManager.HighestTerrainID)
{
CollidingGroundStep = PhysScene.SimulationStep;
}
else
{
CollidingObjectStep = PhysScene.SimulationStep;
}
CollisionAccumulation++;
// For movement tests, remember if we are colliding with an object that is moving.
ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false;
ColliderIsVolumeDetect = collidee != null ? (collidee.IsVolumeDetect) : false;
// Make a collection of the collisions that happened the last simulation tick.
// This is different than the collection created for sending up to the simulator as it is cleared every tick.
if (CollisionsLastTickStep != PhysScene.SimulationStep)
{
CollisionsLastTick = new CollisionEventUpdate();
CollisionsLastTickStep = PhysScene.SimulationStep;
}
CollisionsLastTick.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
// If someone has subscribed for collision events log the collision so it will be reported up
if (SubscribedEvents()) {
lock (PhysScene.CollisionLock)
{
CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
}
DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}",
LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth, ColliderIsMoving);
ret = true;
}
return ret;
}
public BSLinksetCompound(BSScene scene, BSPhysObject parent) : base(scene, parent)
{
}
// The simulation step is telling this object about a collision.
// Return 'true' if a collision was processed and should be sent up.
// Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision.
// Called at taint time from within the Step() function
public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
{
bool ret = false;
// The following lines make IsColliding(), CollidingGround() and CollidingObj work
CollidingStep = PhysicsScene.SimulationStep;
if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
{
CollidingGroundStep = PhysicsScene.SimulationStep;
}
else
{
CollidingObjectStep = PhysicsScene.SimulationStep;
}
CollisionAccumulation++;
// For movement tests, remember if we are colliding with an object that is moving.
ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false;
// If someone has subscribed for collision events log the collision so it will be reported up
if (SubscribedEvents()) {
CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}",
LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth, ColliderIsMoving);
ret = true;
}
return ret;
}
public static BSShape GetShapeReferenceNonSpecial(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
return(null);
}
// 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);
}
return this;
}
// return 'true' if the prim's shape was changed.
private bool CreateGeomMeshOrHull(BSPhysObject prim, PhysicalDestructionCallback shapeCallback)
{
bool ret = false;
// Note that if it's a native shape, the check for physical/non-physical is not
// made. Native shapes work in either case.
if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects)
{
// Use a simple, single mesh convex hull shape if the object is simple enough
BSShape potentialHull = null;
PrimitiveBaseShape pbs = prim.BaseShape;
// Use a simple, one section convex shape for prims that are probably convex (no cuts or twists)
if (BSParam.ShouldUseSingleConvexHullForPrims &&
pbs != null &&
!pbs.SculptEntry &&
PrimHasNoCuts(pbs)
)
{
potentialHull = BSShapeConvexHull.GetReference(m_physicsScene, false /* forceRebuild */, prim);
}
// Use the GImpact shape if it is a prim that has some concaveness
if (potentialHull == null &&
BSParam.ShouldUseGImpactShapeForPrims &&
pbs != null &&
!pbs.SculptEntry
)
{
potentialHull = BSShapeGImpact.GetReference(m_physicsScene, false /* forceRebuild */, prim);
}
// If not any of the simple cases, just make a hull
if (potentialHull == null)
{
potentialHull = BSShapeHull.GetReference(m_physicsScene, false /*forceRebuild*/, prim);
}
// If the current shape is not what is on the prim at the moment, time to change.
if (!prim.PhysShape.HasPhysicalShape ||
potentialHull.ShapeType != prim.PhysShape.ShapeType ||
potentialHull.physShapeInfo.shapeKey != prim.PhysShape.physShapeInfo.shapeKey)
{
DereferenceExistingShape(prim, shapeCallback);
prim.PhysShape = potentialHull;
ret = true;
}
else
{
// The current shape on the prim is the correct one. We don't need the potential reference.
potentialHull.Dereference(m_physicsScene);
}
if (DDetail)
{
DetailLog("{0},BSShapeCollection.CreateGeom,hull,shape={1}", prim.LocalID, prim.PhysShape);
}
}
else
{
// Non-physical objects should be just meshes.
BSShape potentialMesh = BSShapeMesh.GetReference(m_physicsScene, false /*forceRebuild*/, prim);
// If the current shape is not what is on the prim at the moment, time to change.
if (!prim.PhysShape.HasPhysicalShape ||
potentialMesh.ShapeType != prim.PhysShape.ShapeType ||
potentialMesh.physShapeInfo.shapeKey != prim.PhysShape.physShapeInfo.shapeKey)
{
DereferenceExistingShape(prim, shapeCallback);
prim.PhysShape = potentialMesh;
ret = true;
}
else
{
// We don't need this reference to the mesh that is already being using.
potentialMesh.Dereference(m_physicsScene);
}
if (DDetail)
{
DetailLog("{0},BSShapeCollection.CreateGeom,mesh,shape={1}", prim.LocalID, prim.PhysShape);
}
}
return(ret);
}
// Return 'true' if the passed object is the root object of this linkset
public bool IsRoot(BSPhysObject requestor)
{
return (requestor.LocalID == LinksetRoot.LocalID);
}
// 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 have 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);
}
// Avatars have their own unique shape
if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_AVATAR)
{
// Getting a reference to a compound shape gets you the compound shape with the root prim shape added
ret = BSShapeAvatar.GetReference(prim);
physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,avatarShape,shape={1}", prim.LocalID, ret);
}
if (ret == null)
{
ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim);
}
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.
// Called at taint-time!
public bool MakeStatic(BSPhysObject child)
{
// What is done for each object in BSPrim is what we want.
return false;
}
// Get another reference to this shape. public abstract BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim);
// I am the root of a linkset and a new child is being added
// Called while LinkActivity is locked.
private void AddChildToLinkset(BSPhysObject child)
{
if (!HasChild(child))
{
m_children.Add(child);
BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
BulletBody rootBodyx = LinksetRoot.BSBody;
BSPhysObject childx = child;
BulletBody childBodyx = child.BSBody;
DetailLog("{0},AddChildToLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
rootx.LocalID,
rootx.LocalID, rootBodyx.ptr.ToString("X"),
childx.LocalID, childBodyx.ptr.ToString("X"));
PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
{
DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID);
// build the physical binding between me and the child
m_taintChildren.Add(childx);
PhysicallyLinkAChildToRoot(rootx, rootBodyx, childx, childBodyx);
});
}
return;
}
public override BSShape GetReference(BSScene pPhysicsScene, BSPhysObject pPrim)
{
return(new BSShapeNull());
}
// 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.
private void RemoveChildFromLinkset(BSPhysObject child)
{
if (m_children.Remove(child))
{
BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
BulletBody rootBodyx = LinksetRoot.BSBody;
BSPhysObject childx = child;
BulletBody childBodyx = child.BSBody;
DetailLog("{0},RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
childx.LocalID,
rootx.LocalID, rootBodyx.ptr.ToString("X"),
childx.LocalID, childBodyx.ptr.ToString("X"));
PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
{
if (m_taintChildren.Contains(childx))
m_taintChildren.Remove(childx);
PhysicallyUnlinkAChildFromRoot(rootx, rootBodyx, childx, childBodyx);
RecomputeLinksetConstraintVariables();
});
}
else
{
// This will happen if we remove the root of the linkset first. Non-fatal occurance.
// PhysicsScene.Logger.ErrorFormat("{0}: Asked to remove child from linkset that was not in linkset", LogHeader);
}
return;
}
public static BSShape GetShapeReferenceNonNative(BSScene physicsScene, bool forceRebuild, BSPhysObject prim)
{
return null;
}
// Remove linkage between myself and a particular child
// The root and child bodies are passed in because we need to remove the constraint between
// the bodies that were at unlink time.
// Called at taint time!
private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BulletBody rootBody,
BSPhysObject childPrim, BulletBody childBody)
{
DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
rootPrim.LocalID,
rootPrim.LocalID, rootBody.ptr.ToString("X"),
childPrim.LocalID, childBody.ptr.ToString("X"));
// Find the constraint for this link and get rid of it from the overall collection and from my list
PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootBody, childBody);
// Make the child refresh its location
BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr);
}
public BSActorLockAxis(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_physicsScene.DetailLog("{0},BSActorLockAxis,constructor", m_controllingPrim.LocalID);
LockAxisConstraint = null;
}
// The simulation step is telling this object about a collision.
// Return 'true' if a collision was processed and should be sent up.
// Called at taint time from within the Step() function
public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
{
bool ret = false;
// The following lines make IsColliding(), CollidingGround() and CollidingObj work
CollidingStep = PhysicsScene.SimulationStep;
if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
{
CollidingGroundStep = PhysicsScene.SimulationStep;
}
else
{
CollidingObjectStep = PhysicsScene.SimulationStep;
}
// prims in the same linkset cannot collide with each other
if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
{
return ret;
}
// if someone has subscribed for collision events....
if (SubscribedEvents()) {
CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}",
LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth);
ret = true;
}
return ret;
}
public BSActorSetForce(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName)
{
m_forceMotor = null;
m_physicsScene.DetailLog("{0},BSActorSetForce,constructor", m_controllingPrim.LocalID);
}
// Called by a BSPhysObject to note that it has changed properties and this information
// should be passed up to the simulator at the proper time.
// Note: this is called by the BSPhysObject from invocation via DoPhysicsStep() above so
// this is is under UpdateLock.
public void PostUpdate(BSPhysObject updatee)
{
ObjectsWithUpdates.Add(updatee);
}
// Create the geometry information in Bullet for later use.
// The objects needs a hull if it's physical otherwise a mesh is enough.
// if 'forceRebuild' is true, the geometry is unconditionally rebuilt. For meshes and hulls,
// shared geometries will be used. If the parameters of the existing shape are the same
// as this request, the shape is not rebuilt.
// Info in prim.BSShape is updated to the new shape.
// Returns 'true' if the geometry was rebuilt.
// Called at taint-time!
private bool CreateGeom(bool forceRebuild, BSPhysObject prim, PhysicalDestructionCallback shapeCallback)
{
bool ret = false;
bool haveShape = false;
bool nativeShapePossible = true;
PrimitiveBaseShape pbs = prim.BaseShape;
// Kludge to create the capsule for the avatar.
// TDOD: Remove/redo this when BSShapeAvatar is working!!
BSCharacter theChar = prim as BSCharacter;
if (theChar != null)
{
DereferenceExistingShape(prim, shapeCallback);
prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim,
BSPhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE);
ret = true;
haveShape = true;
}
// If the prim attributes are simple, this could be a simple Bullet native shape
// Native shapes work whether to object is static or physical.
if (!haveShape &&
nativeShapePossible &&
pbs != null &&
PrimHasNoCuts(pbs) &&
(!pbs.SculptEntry || (pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim))
)
{
// Get the scale of any existing shape so we can see if the new shape is same native type and same size.
OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero;
if (prim.PhysShape.HasPhysicalShape)
{
scaleOfExistingShape = m_physicsScene.PE.GetLocalScaling(prim.PhysShape.physShapeInfo);
}
if (DDetail)
{
DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}",
prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.physShapeInfo.shapeType);
}
// It doesn't look like Bullet scales native spheres so make sure the scales are all equal
if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) &&
pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z)
{
haveShape = true;
if (forceRebuild ||
prim.PhysShape.ShapeType != BSPhysicsShapeType.SHAPE_SPHERE
)
{
DereferenceExistingShape(prim, shapeCallback);
prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim,
BSPhysicsShapeType.SHAPE_SPHERE, FixedShapeKey.KEY_SPHERE);
ret = true;
}
if (DDetail)
{
DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},rebuilt={2},shape={3}",
prim.LocalID, forceRebuild, ret, prim.PhysShape);
}
}
// If we didn't make a sphere, maybe a box will work.
if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight)
{
haveShape = true;
if (forceRebuild ||
prim.Scale != scaleOfExistingShape ||
prim.PhysShape.ShapeType != BSPhysicsShapeType.SHAPE_BOX
)
{
DereferenceExistingShape(prim, shapeCallback);
prim.PhysShape = BSShapeNative.GetReference(m_physicsScene, prim,
BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX);
ret = true;
}
if (DDetail)
{
DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},rebuilt={2},shape={3}",
prim.LocalID, forceRebuild, ret, prim.PhysShape);
}
}
}
// If a simple shape is not happening, create a mesh and possibly a hull.
if (!haveShape && pbs != null)
{
ret = CreateGeomMeshOrHull(prim, shapeCallback);
}
return(ret);
}
