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* Added a better check to the SimianGrid connectors to test if they are enabled or not. This method should work equally well with standalone or robust mode

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* Applying #4602 from Misterblu to add collision detection to BulletDotNET
This commit is contained in:
John Hurliman
2010-03-12 14:28:31 -08:00
parent 9e3cdc4da5
commit 3036aba875
18 changed files with 6198 additions and 5998 deletions
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33
OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
View File

@@ -108,12 +108,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
private bool[] m_colliderarr = new bool[11];
private bool[] m_colliderGroundarr = new bool[11];
private BulletDotNETScene m_parent_scene;
public int m_eventsubscription = 0;
// private CollisionEventUpdate CollisionEventsThisFrame = new CollisionEventUpdate();
private CollisionEventUpdate CollisionEventsThisFrame = null;
private int m_requestedUpdateFrequency = 0;
public BulletDotNETCharacter(string avName, BulletDotNETScene parent_scene, Vector3 pos, Vector3 size, float pid_d, float pid_p, float capsule_radius, float tensor, float density, float height_fudge_factor, float walk_divisor, float rundivisor)
{
@@ -212,7 +211,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
m_mass = Mass;
Body = new btRigidBody(m_mass, m_bodyMotionState, Shell);
Body.setUserPointer(new IntPtr((int)Body.Handle));
// this is used for self identification. User localID instead of body handle
Body.setUserPointer(new IntPtr((int)m_localID));
if (ClosestCastResult != null)
ClosestCastResult.Dispose();
@@ -717,6 +717,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
public override void SubscribeEvents(int ms)
{
m_eventsubscription = ms;
m_requestedUpdateFrequency = ms;
m_parent_scene.addCollisionEventReporting(this);
}
@@ -724,6 +725,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
m_parent_scene.remCollisionEventReporting(this);
m_eventsubscription = 0;
m_requestedUpdateFrequency = 0;
}
public override bool SubscribedEvents()
@@ -733,6 +735,29 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
return false;
}
public void AddCollision(uint collideWith, ContactPoint contact)
{
if (CollisionEventsThisFrame == null)
{
CollisionEventsThisFrame = new CollisionEventUpdate();
}
CollisionEventsThisFrame.addCollider(collideWith, contact);
}
public void SendCollisions()
{
if (m_eventsubscription >= m_requestedUpdateFrequency)
{
if (CollisionEventsThisFrame != null)
{
base.SendCollisionUpdate(CollisionEventsThisFrame);
}
CollisionEventsThisFrame = new CollisionEventUpdate();
m_eventsubscription = 0;
}
return;
}
internal void Dispose()
{
if (Body.isInWorld())

102
OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
View File

@@ -154,7 +154,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
private Vector3 _target_velocity;
public int m_eventsubscription;
// private CollisionEventUpdate CollisionEventsThisFrame = null;
private int m_requestedUpdateFrequency = 0;
private CollisionEventUpdate CollisionEventsThisFrame = null;
public volatile bool childPrim;
@@ -595,6 +596,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
public override void SubscribeEvents(int ms)
{
m_eventsubscription = ms;
m_requestedUpdateFrequency = ms;
_parent_scene.addCollisionEventReporting(this);
}
@@ -602,6 +604,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
_parent_scene.remCollisionEventReporting(this);
m_eventsubscription = 0;
m_requestedUpdateFrequency = 0;
}
public override bool SubscribedEvents()
@@ -611,7 +614,28 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
#endregion
public void AddCollision(uint collideWith, ContactPoint contact)
{
if (CollisionEventsThisFrame == null)
{
CollisionEventsThisFrame = new CollisionEventUpdate();
}
CollisionEventsThisFrame.addCollider(collideWith, contact);
}
public void SendCollisions()
{
if (m_eventsubscription >= m_requestedUpdateFrequency)
{
if (CollisionEventsThisFrame != null)
{
base.SendCollisionUpdate(CollisionEventsThisFrame);
}
CollisionEventsThisFrame = null;
// m_eventsubscription = 0;
}
return;
}
internal void Dispose()
{
@@ -759,7 +783,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
if (m_taintadd)
{
m_log.Debug("[PHYSICS]: TaintAdd");
// m_log.Debug("[PHYSICS]: TaintAdd");
changeadd(timestep);
}
@@ -771,7 +795,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
SetBody(Mass);
else
SetBody(0);
m_log.Debug("[PHYSICS]: GEOM_DOESNT_EXSIT");
// m_log.Debug("[PHYSICS]: GEOM_DOESNT_EXSIT");
}
if (prim_geom.Handle == IntPtr.Zero)
@@ -782,31 +806,31 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
SetBody(Mass);
else
SetBody(0);
m_log.Debug("[PHYSICS]: GEOM_DOESNT_EXSIT");
// m_log.Debug("[PHYSICS]: GEOM_DOESNT_EXSIT");
}
if (!_position.ApproxEquals(m_taintposition, 0f))
{
m_log.Debug("[PHYSICS]: TaintMove");
// m_log.Debug("[PHYSICS]: TaintMove");
changemove(timestep);
}
if (m_taintrot != _orientation)
{
m_log.Debug("[PHYSICS]: TaintRotate");
// m_log.Debug("[PHYSICS]: TaintRotate");
rotate(timestep);
} //
if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
{
m_log.Debug("[PHYSICS]: TaintPhysics");
// m_log.Debug("[PHYSICS]: TaintPhysics");
changePhysicsStatus(timestep);
}
//
if (!_size.ApproxEquals(m_taintsize, 0f))
{
m_log.Debug("[PHYSICS]: TaintSize");
// m_log.Debug("[PHYSICS]: TaintSize");
changesize(timestep);
}
@@ -814,43 +838,43 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
if (m_taintshape)
{
m_log.Debug("[PHYSICS]: TaintShape");
// m_log.Debug("[PHYSICS]: TaintShape");
changeshape(timestep);
} //
if (m_taintforce)
{
m_log.Debug("[PHYSICS]: TaintForce");
// m_log.Debug("[PHYSICS]: TaintForce");
changeAddForce(timestep);
}
if (m_taintaddangularforce)
{
m_log.Debug("[PHYSICS]: TaintAngularForce");
// m_log.Debug("[PHYSICS]: TaintAngularForce");
changeAddAngularForce(timestep);
}
if (!m_taintTorque.ApproxEquals(Vector3.Zero, 0.001f))
{
m_log.Debug("[PHYSICS]: TaintTorque");
// m_log.Debug("[PHYSICS]: TaintTorque");
changeSetTorque(timestep);
}
if (m_taintdisable)
{
m_log.Debug("[PHYSICS]: TaintDisable");
// m_log.Debug("[PHYSICS]: TaintDisable");
changedisable(timestep);
}
if (m_taintselected != m_isSelected)
{
m_log.Debug("[PHYSICS]: TaintSelected");
// m_log.Debug("[PHYSICS]: TaintSelected");
changeSelectedStatus(timestep);
}
if (!m_taintVelocity.ApproxEquals(Vector3.Zero, 0.001f))
{
m_log.Debug("[PHYSICS]: TaintVelocity");
// m_log.Debug("[PHYSICS]: TaintVelocity");
changevelocity(timestep);
}
if (m_taintparent != _parent)
{
m_log.Debug("[PHYSICS]: TaintLink");
// m_log.Debug("[PHYSICS]: TaintLink");
changelink(timestep);
}
if (m_taintCollidesWater != m_collidesWater)
@@ -859,7 +883,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
if (!m_angularlock.ApproxEquals(m_taintAngularLock, 0))
{
m_log.Debug("[PHYSICS]: TaintAngularLock");
// m_log.Debug("[PHYSICS]: TaintAngularLock");
changeAngularLock(timestep);
}
if (m_taintremove)
@@ -917,7 +941,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
private void changemove(float timestep)
{
m_log.Debug("[PHYSICS]: _________ChangeMove");
// m_log.Debug("[PHYSICS]: _________ChangeMove");
if (!m_isphysical)
{
tempTransform2 = Body.getWorldTransform();
@@ -977,7 +1001,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
private void rotate(float timestep)
{
m_log.Debug("[PHYSICS]: _________ChangeRotate");
// m_log.Debug("[PHYSICS]: _________ChangeRotate");
tempTransform2 = Body.getWorldTransform();
tempOrientation2 = new btQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W);
tempTransform2.setRotation(tempOrientation2);
@@ -1000,7 +1024,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
//Body = null;
// TODO: dispose parts that make up body
}
m_log.Debug("[PHYSICS]: _________ChangePhysics");
// m_log.Debug("[PHYSICS]: _________ChangePhysics");
ProcessGeomCreation();
@@ -1092,7 +1116,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
// TODO: dispose parts that make up body
}
m_log.Debug("[PHYSICS]: _________ChangeSize");
// m_log.Debug("[PHYSICS]: _________ChangeSize");
SetCollisionShape(null);
// Construction of new prim
ProcessGeomCreation();
@@ -1297,13 +1321,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
// TODO: throw new NotImplementedException();
if (m_taintselected)
{
Body.setCollisionFlags((int)ContactFlags.CF_NO_CONTACT_RESPONSE);
// Body.setCollisionFlags((int)ContactFlags.CF_NO_CONTACT_RESPONSE);
disableBodySoft();
}
else
{
Body.setCollisionFlags(0 | (int)ContactFlags.CF_CUSTOM_MATERIAL_CALLBACK);
// Body.setCollisionFlags(0 | (int)ContactFlags.CF_CUSTOM_MATERIAL_CALLBACK);
enableBodySoft();
}
m_isSelected = m_taintselected;
@@ -1605,6 +1629,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
enableBodySoft();
}
*/
if (!Body.isActive())
{
Body.clearForces();
enableBodySoft();
}
// 35x10 = 350n times the mass per second applied maximum.
float nmax = 35f * m_mass;
@@ -1632,6 +1661,12 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
Body.applyCentralImpulse(tempAddForce);
}
}
else
{
// if no forces on the prim, make sure everything is zero
Body.clearForces();
enableBodySoft();
}
}
else
{
@@ -1985,7 +2020,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
public void CreateGeom(IntPtr m_targetSpace, IMesh p_mesh)
{
m_log.Debug("[PHYSICS]: _________CreateGeom");
// m_log.Debug("[PHYSICS]: _________CreateGeom");
if (p_mesh != null)
{
//_mesh = _parent_scene.mesher.CreateMesh(m_primName, _pbs, _size, _parent_scene.meshSculptLOD, IsPhysical);
@@ -2042,7 +2077,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
// TODO: Set Collision Body Mesh
// This sleeper is there to moderate how long it takes between
// setting up the mesh and pre-processing it when we get rapid fire mesh requests on a single object
m_log.Debug("_________SetMesh");
// m_log.Debug("_________SetMesh");
Thread.Sleep(10);
//Kill Body so that mesh can re-make the geom
@@ -2159,7 +2194,14 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
// Body = new btRigidBody(mass, tempMotionState1, prim_geom);
//else
Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
// Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
if (Body == null)
{
Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
// add localID so we can later map bullet object back to OpenSim object
Body.setUserPointer(new IntPtr((int)m_localID));
}
if (prim_geom is btGImpactMeshShape)
{
@@ -2250,7 +2292,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
// Body = new btRigidBody(mass, tempMotionState1, prim_geom);
//else
Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
// Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
if (Body == null)
{
Body = new btRigidBody(mass, tempMotionState1, prim_geom, tempInertia1);
// each body has the localID stored into it so we can identify collision objects
Body.setUserPointer(new IntPtr((int)m_localID));
}
if (prim_geom is btGImpactMeshShape)
{

99
OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
View File

@@ -47,7 +47,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
// private string m_sceneIdentifier = string.Empty;
private List<BulletDotNETCharacter> m_characters = new List<BulletDotNETCharacter>();
private Dictionary<uint, BulletDotNETCharacter> m_charactersLocalID = new Dictionary<uint, BulletDotNETCharacter>();
private List<BulletDotNETPrim> m_prims = new List<BulletDotNETPrim>();
private Dictionary<uint, BulletDotNETPrim> m_primsLocalID = new Dictionary<uint, BulletDotNETPrim>();
private List<BulletDotNETPrim> m_activePrims = new List<BulletDotNETPrim>();
private List<PhysicsActor> m_taintedActors = new List<PhysicsActor>();
private btDiscreteDynamicsWorld m_world;
@@ -134,7 +136,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
m_world = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
m_world.setGravity(m_gravity);
//EnableCollisionInterface();
EnableCollisionInterface();
}
@@ -145,7 +147,16 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
avCapRadius, avStandupTensor, avDensity,
avHeightFudgeFactor, avMovementDivisorWalk,
avMovementDivisorRun);
m_characters.Add(chr);
try
{
m_characters.Add(chr);
m_charactersLocalID.Add(chr.m_localID, chr);
}
catch
{
// noop if it's already there
m_log.Debug("[PHYSICS] BulletDotNet: adding duplicate avatar localID");
}
AddPhysicsActorTaint(chr);
return chr;
}
@@ -154,6 +165,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
BulletDotNETCharacter chr = (BulletDotNETCharacter) actor;
m_charactersLocalID.Remove(chr.m_localID);
m_characters.Remove(chr);
m_world.removeRigidBody(chr.Body);
m_world.removeCollisionObject(chr.Body);
@@ -279,7 +291,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
prim.Move(timeStep);
}
}
float steps = m_world.stepSimulation(timeStep * 1000, 10, WorldTimeComp);
float steps = m_world.stepSimulation(timeStep, 10, WorldTimeComp);
foreach (BulletDotNETCharacter chr in m_characters)
{
@@ -296,20 +308,67 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
}
if (m_CollisionInterface != null)
{
List<int> collisions = m_CollisionInterface.GetContactList();
lock (collisions)
List<BulletDotNETPrim> primsWithCollisions = new List<BulletDotNETPrim>();
List<BulletDotNETCharacter> charactersWithCollisions = new List<BulletDotNETCharacter>();
// get the collisions that happened this tick
List<BulletDotNET.ContactAddedCallbackHandler.ContactInfo> collisions = m_CollisionInterface.GetContactList();
// passed back the localID of the prim so we can associate the prim
foreach (BulletDotNET.ContactAddedCallbackHandler.ContactInfo ci in collisions)
{
foreach (int pvalue in collisions)
{
System.Console.Write(string.Format("{0} ", pvalue));
}
// ContactPoint = { contactPoint, contactNormal, penetrationDepth }
ContactPoint contact = new ContactPoint(new Vector3(ci.pX, ci.pY, ci.pZ),
new Vector3(ci.nX, ci.nY, ci.nZ), ci.depth);
ProcessContact(ci.contact, ci.contactWith, contact, ref primsWithCollisions, ref charactersWithCollisions);
ProcessContact(ci.contactWith, ci.contact, contact, ref primsWithCollisions, ref charactersWithCollisions);
}
m_CollisionInterface.Clear();
// for those prims and characters that had collisions cause collision events
foreach (BulletDotNETPrim bdnp in primsWithCollisions)
{
bdnp.SendCollisions();
}
foreach (BulletDotNETCharacter bdnc in charactersWithCollisions)
{
bdnc.SendCollisions();
}
}
return steps;
}
private void ProcessContact(uint cont, uint contWith, ContactPoint contact,
ref List<BulletDotNETPrim> primsWithCollisions,
ref List<BulletDotNETCharacter> charactersWithCollisions)
{
BulletDotNETPrim bdnp;
// collisions with a normal prim?
if (m_primsLocalID.TryGetValue(cont, out bdnp))
{
// Added collision event to the prim. This creates a pile of events
// that will be sent to any subscribed listeners.
bdnp.AddCollision(contWith, contact);
if (!primsWithCollisions.Contains(bdnp))
{
primsWithCollisions.Add(bdnp);
}
}
else
{
BulletDotNETCharacter bdnc;
// if not a prim, maybe it's one of the characters
if (m_charactersLocalID.TryGetValue(cont, out bdnc))
{
bdnc.AddCollision(contWith, contact);
if (!charactersWithCollisions.Contains(bdnc))
{
charactersWithCollisions.Add(bdnc);
}
}
}
}
public override void GetResults()
{
@@ -387,6 +446,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
m_terrainTransform = new btTransform(QuatIdentity, m_terrainPosition);
m_terrainMotionState = new btDefaultMotionState(m_terrainTransform);
TerrainBody = new btRigidBody(0, m_terrainMotionState, m_terrainShape);
TerrainBody.setUserPointer((IntPtr)0);
m_world.addRigidBody(TerrainBody);
@@ -459,6 +519,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
lock (m_prims)
{
m_primsLocalID.Clear();
foreach (BulletDotNETPrim prim in m_prims)
{
if (prim.Body != null)
@@ -513,6 +574,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
m_world.removeRigidBody(body);
}
remActivePrim(prm);
m_primsLocalID.Remove(prm.m_localID);
m_prims.Remove(prm);
}
@@ -686,9 +748,18 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
if (!m_prims.Contains(pPrim))
{
m_prims.Add(pPrim);
try
{
m_prims.Add(pPrim);
m_primsLocalID.Add(pPrim.m_localID, pPrim);
}
catch
{
// noop if it's already there
m_log.Debug("[PHYSICS] BulletDotNet: adding duplicate prim localID");
}
m_world.addRigidBody(pPrim.Body);
m_log.Debug("ADDED");
// m_log.Debug("[PHYSICS] added prim to scene");
}
}
}
@@ -696,8 +767,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
if (m_CollisionInterface == null)
{
m_CollisionInterface = new ContactAddedCallbackHandler();
m_world.SetCollisionAddedCallback(m_CollisionInterface);
m_CollisionInterface = new ContactAddedCallbackHandler(m_world);
// m_world.SetCollisionAddedCallback(m_CollisionInterface);
}
}