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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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99
OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETScene.cs
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@@ -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);
}
}