// 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;
}
public BSLinkInfoConstraint(BSPrimLinkable pMember)
: base(pMember)
{
constraint = null;
ResetLink();
member.PhysScene.DetailLog("{0},BSLinkInfoConstraint.creation", member.LocalID);
}
// Routine called when rebuilding the body of some member of the linkset.
// If one of the bodies is being changed, the linkset needs rebuilding.
// For instance, a linkset is built and then a mesh asset is read in and the mesh is recreated.
// Returns 'true' of something was actually removed and would need restoring
// Called at taint-time!!
public override bool RemoveDependencies(BSPrimLinkable child)
{
bool ret = false;
DetailLog("{0},BSLinksetCompound.RemoveDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child));
Refresh(child);
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.
ScheduleRebuild(LinksetRoot);
}
return(ret);
}
public bool TryGetLinkInfo(BSPrimLinkable child, out BSLinkInfo foundInfo)
{
bool ret = false;
BSLinkInfo found = null;
lock (m_linksetActivityLock)
{
ret = m_children.TryGetValue(child, out found);
}
foundInfo = found;
return(ret);
}
// 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);
}
public bool TryGetLinkInfo(BSPrimLinkable child, out BSLinkInfo foundInfo)
{
m_linksetActivityLock.AcquireReaderLock(-1);
try
{
return(m_children.TryGetValue(child, out foundInfo));
}
finally
{
m_linksetActivityLock.ReleaseReaderLock();
}
}
// Return 'true' if this child is in this linkset
public bool HasChild(BSPrimLinkable child)
{
m_linksetActivityLock.AcquireReaderLock(-1);
try
{
return(m_children.ContainsKey(child));
}
finally
{
m_linksetActivityLock.ReleaseReaderLock();
}
}
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);
}
return(base.Collide(collidingWith, collidee, contactPoint, contactNormal, pentrationDepth));
}
// The object is going static (non-physical). We do not do anything for static linksets.
// Return 'true' if any properties updated on the passed object.
// Called at taint-time!
public override bool MakeStatic(BSPrimLinkable child)
{
bool ret = false;
DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
if (IsRoot(child))
{
// Schedule a rebuild to verify that the root shape is set to the real shape.
ScheduleRebuild(LinksetRoot);
}
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 -- OpenSim 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},BSLinksetConstraint.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
child.ClearDisplacement();
if (IsRoot(child))
{
// Schedule a rebuild to verify that the root shape is set to the real shape.
Refresh(LinksetRoot);
}
return(ret);
}
// Check the type of the link and return 'true' if the link is flexible and the
// updates from the child should be sent to the simulator so things change.
public virtual bool ShouldReportPropertyUpdates(BSPrimLinkable child)
{
bool ret = false;
BSLinkInfo linkInfo;
if (m_children.TryGetValue(child, out linkInfo))
{
ret = linkInfo.ShouldUpdateChildProperties();
}
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);
}
// Schedule a refresh to happen after all the other taint processing.
private 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);
}
}
}
// ================================================================
// 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
ScheduleRebuild(child);
}
return;
}
// ================================================================
// 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.
ScheduleRebuild(LinksetRoot);
}
return;
}
// '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;
}
// 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)
{
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();
});
}
}
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>();
LinksetMass = parent.RawMass;
Rebuilding = false;
parent.ClearDisplacement();
}
// 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)
{
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();
}
});
}
}
public override void link(Manager.PhysicsActor obj)
{
BSPrimLinkable parent = obj as BSPrimLinkable;
if (parent != null)
{
BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG
int childrenBefore = Linkset.NumberOfChildren; // DEBUG
Linkset = parent.Linkset.AddMeToLinkset(this);
DetailLog("{0},BSPrimLinkable.link,call,parentBefore={1}, childrenBefore=={2}, parentAfter={3}, childrenAfter={4}",
LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
}
return;
}
// 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);
}
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));
}
// 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)
{
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(m_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;
}
m_physicsScene = scene;
LinksetRoot = parent;
m_children = new Dictionary <BSPrimLinkable, BSLinkInfo>();
LinksetMass = parent.RawMass;
Rebuilding = false;
parent.ClearDisplacement();
}
public bool TryGetLinkInfo(BSPrimLinkable child, out BSLinkInfo foundInfo)
{
bool ret = false;
BSLinkInfo found = null;
m_linksetActivityLock.AcquireReaderLock(-1);
try
{
ret = m_children.TryGetValue(child, out found);
}
finally
{
m_linksetActivityLock.ReleaseReaderLock();
}
foundInfo = found;
return(ret);
}
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
Vector3 size, Quaternion rotation, bool isPhysical, uint localID)
{
// m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
if (!m_initialized)
{
return(null);
}
// DetailLog("{0},BSScene.AddPrimShape,call", localID);
BSPhysObject prim = new BSPrimLinkable(localID, primName, this, position, size, rotation, pbs, isPhysical);
lock (PhysObjects) PhysObjects.Add(localID, prim);
return(prim);
}
// Schedule a refresh to happen after all the other taint processing.
protected override void ScheduleRebuild(BSPrimLinkable requestor)
{
DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}",
requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren));
// 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.
if (!Rebuilding && HasAnyChildren)
{
PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
{
if (HasAnyChildren)
{
RecomputeLinksetCompound();
}
});
}
}
public override void DeletePrim(PhysicsActor prim)
{
BSPrimLinkable linkablePrim = prim as BSPrimLinkable;
if (linkablePrim != null && linkablePrim.Linkset.HasAnyChildren)
{
linkablePrim.BlockPhysicalReconstruction = true;
//Remove all the children prims first, then kill the root
foreach (BSPrimLinkable childPrim in linkablePrim.Linkset.Children)
{
childPrim.BlockPhysicalReconstruction = true;
RemovePrim(childPrim);
}
//TODO: DISABLE LINKSET REBUILDING DURING THIS PROCESS
}
RemovePrim(prim);
}
// 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)
{
m_linksetActivityLock.AcquireWriterLock(-1);
try
{
// Don't add the root to its own linkset
if (!IsRoot(child))
{
AddChildToLinkset(child);
}
LinksetMass = ComputeLinksetMass();
}
finally
{
m_linksetActivityLock.ReleaseWriterLock();
}
return(this);
}
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);
}
// 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(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);
}
// ================================================================
// Add a new child to the linkset.
// Called while LinkActivity is locked.
protected override void AddChildToLinkset(BSPrimLinkable child, bool scheduleRebuild)
{
if (!this.LinksetRoot.IsPhysical)
{
return;
}
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.
if (scheduleRebuild)
{
Refresh(LinksetRoot);
}
}
return;
}
// ================================================================
// Add a new child to the linkset.
// Called while LinkActivity is locked.
protected override void AddChildToLinkset(BSPrimLinkable child, bool scheduleRebuild)
{
if (!this.LinksetRoot.IsPhysical)
{
return;
}
if (!HasChild(child))
{
m_children.Add(child);
DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
// Rebuild the compound shape with the new child shape included
if (scheduleRebuild)
{
ScheduleRebuild(child);
}
}
return;
}
// 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.
ScheduleRebuild(LinksetRoot);
}
else
{
// The origional prims are removed from the world as the shape of the root compound
// shape takes over.
PhysicsScene.PE.AddToCollisionFlags(child.PhysBody, CollisionFlags.CF_NO_CONTACT_RESPONSE);
PhysicsScene.PE.ForceActivationState(child.PhysBody, ActivationState.DISABLE_SIMULATION);
// We don't want collisions from the old linkset children.
PhysicsScene.PE.RemoveFromCollisionFlags(child.PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
child.PhysBody.collisionType = CollisionType.LinksetChild;
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(BSPrimLinkable child);
// Return 'true' if the passed object is the root object of this linkset
public bool IsRoot(BSPrimLinkable requestor)
{
return (requestor.LocalID == LinksetRoot.LocalID);
}
public BSLinkInfo(BSPrimLinkable pMember)
{
member = pMember;
}
// Return 'true' if this child is in this linkset
public bool HasChild(BSPrimLinkable child)
{
m_linksetActivityLock.AcquireReaderLock(-1);
try
{
return m_children.ContainsKey(child);
}
finally
{
m_linksetActivityLock.ReleaseReaderLock();
}
}
public bool TryGetLinkInfo(BSPrimLinkable child, out BSLinkInfo foundInfo)
{
m_linksetActivityLock.AcquireReaderLock(-1);
try
{
return m_children.TryGetValue(child, out foundInfo);
}
finally
{
m_linksetActivityLock.ReleaseReaderLock();
}
}
// 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)
{
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("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;
}
// 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();
}
// 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;
}
// 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(BSPrimLinkable rootPrim)
{
DetailLog("{0},BSLinksetConstraint.PhysicallyUnlinkAllChildren,taint", rootPrim.LocalID);
return PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.PhysBody);
}
// 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(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;
}
private BSConstraint BuildConstraint(BSPrimLinkable rootPrim, BSPrimLinkable 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.AddrString,
childPrim.LocalID, childPrim.PhysBody.AddrString,
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.LinkConstraintUseFrameOffset);
constrain.TranslationalLimitMotor(BSParam.LinkConstraintEnableTransMotor,
BSParam.LinkConstraintTransMotorMaxVel,
BSParam.LinkConstraintTransMotorMaxForce);
constrain.SetCFMAndERP(BSParam.LinkConstraintCFM, BSParam.LinkConstraintERP);
if (BSParam.LinkConstraintSolverIterations != 0f)
{
constrain.SetSolverIterations(BSParam.LinkConstraintSolverIterations);
}
return constrain;
}
// Create a constraint between me (root of linkset) and the passed prim (the child).
// Called at taint time!
private void PhysicallyLinkAChildToRoot(BSPrimLinkable rootPrim, BSPrimLinkable childPrim)
{
// Don't build the constraint when asked. Put it off until just before the simulation step.
Refresh(rootPrim);
}
// 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);
// Called at taint-time!!
public override void UpdateProperties(UpdatedProperties whichUpdated, BSPrimLinkable pObj)
{
// Nothing to do for constraints on property updates
}
// 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;
}
// private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]";
public BSLinksetConstraints(BSScene scene, BSPrimLinkable parent) : base(scene, parent)
{
}
// ================================================================
// 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);
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;
}
// Check the type of the link and return 'true' if the link is flexible and the
// updates from the child should be sent to the simulator so things change.
public virtual bool ShouldReportPropertyUpdates(BSPrimLinkable child)
{
bool ret = false;
BSLinkInfo linkInfo;
if (m_children.TryGetValue(child, out linkInfo))
{
ret = linkInfo.ShouldUpdateChildProperties();
}
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 -- OpenSim 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;
}
// 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);
// 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);
public override PhysicsActor AddPrimShape(string primName, PrimitiveBaseShape pbs, Vector3 position,
Vector3 size, Quaternion rotation, bool isPhysical, uint localID)
{
// m_log.DebugFormat("{0}: AddPrimShape2: {1}", LogHeader, primName);
if (!m_initialized) return null;
// DetailLog("{0},BSScene.AddPrimShape,call", localID);
BSPhysObject prim = new BSPrimLinkable(localID, primName, this, position, size, rotation, pbs, isPhysical);
lock (PhysObjects) PhysObjects.Add(localID, prim);
return prim;
}
// 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 RemoveDependencies(BSPrimLinkable child);