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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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102
OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
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@@ -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)
{