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BulletSim: Reduce idle region physics overhead where there are MANY

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static objects by more restrictive selection of objects that collide
    with static objects.
Rename collision mask fuctions from 'filter' to 'group' so it is clear
    what is being set.
Rename BulletSimAPI.SetCollisionFilterMask() to SetCollisionGroupMask to match above.
Restore passing of time step to linear and angular motion component routines.
Use buffering vehicle physical parameter get/set routines consistantly.
Make range enforcement clearer by using ClampInRange() function for parameter setting.
Remove commented out experimental vehicle calculations.
This commit is contained in:
Robert Adams
2012-12-03 16:25:51 -08:00
parent 41f1c5b7f7
commit 787636b97a
11 changed files with 95 additions and 80 deletions
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64
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@@ -57,12 +57,12 @@ public struct BulletBody
{
ID = id;
ptr = xx;
collisionFilter = 0;
collisionGroup = 0;
collisionMask = 0;
}
public IntPtr ptr;
public uint ID;
public CollisionFilterGroups collisionFilter;
public CollisionFilterGroups collisionGroup;
public CollisionFilterGroups collisionMask;
public override string ToString()
{
@@ -71,10 +71,10 @@ public struct BulletBody
buff.Append(ID.ToString());
buff.Append(",p=");
buff.Append(ptr.ToString("X"));
if (collisionFilter != 0 || collisionMask != 0)
if (collisionGroup != 0 || collisionMask != 0)
{
buff.Append(",f=");
buff.Append(collisionFilter.ToString("X"));
buff.Append(",g=");
buff.Append(collisionGroup.ToString("X"));
buff.Append(",m=");
buff.Append(collisionMask.ToString("X"));
}
@@ -376,36 +376,36 @@ public enum CollisionFilterGroups : uint
// Don't use the bit definitions!! Define the use in a
// filter/mask definition below. This way collision interactions
// are more easily debugged.
BNoneFilter = 0,
BDefaultFilter = 1 << 0,
BStaticFilter = 1 << 1,
BKinematicFilter = 1 << 2,
BDebrisFilter = 1 << 3,
BSensorTrigger = 1 << 4,
BCharacterFilter = 1 << 5,
BAllFilter = 0xFFFFFFFF,
BNoneGroup = 0,
BDefaultGroup = 1 << 0,
BStaticGroup = 1 << 1,
BKinematicGroup = 1 << 2,
BDebrisGroup = 1 << 3,
BSensorTrigger = 1 << 4,
BCharacterGroup = 1 << 5,
BAllGroup = 0xFFFFFFFF,
// Filter groups defined by BulletSim
BGroundPlaneFilter = 1 << 10,
BTerrainFilter = 1 << 11,
BRaycastFilter = 1 << 12,
BSolidFilter = 1 << 13,
BLinksetFilter = 1 << 14,
BGroundPlaneGroup = 1 << 10,
BTerrainGroup = 1 << 11,
BRaycastGroup = 1 << 12,
BSolidGroup = 1 << 13,
BLinksetGroup = 1 << 14,
// The collsion filters and masked are defined in one place -- don't want them scattered
AvatarFilter = BCharacterFilter,
AvatarMask = BAllFilter,
ObjectFilter = BSolidFilter,
ObjectMask = BAllFilter,
StaticObjectFilter = BStaticFilter,
StaticObjectMask = BAllFilter & ~BStaticFilter, // static objects don't collide with each other
LinksetFilter = BLinksetFilter,
LinksetMask = BAllFilter & ~BLinksetFilter, // linkset objects don't collide with each other
VolumeDetectFilter = BSensorTrigger,
AvatarGroup = BCharacterGroup,
AvatarMask = BAllGroup,
ObjectGroup = BSolidGroup,
ObjectMask = BAllGroup,
StaticObjectGroup = BStaticGroup,
StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much
LinksetGroup = BLinksetGroup,
LinksetMask = BAllGroup & ~BLinksetGroup, // linkset objects don't collide with each other
VolumeDetectGroup = BSensorTrigger,
VolumeDetectMask = ~BSensorTrigger,
TerrainFilter = BTerrainFilter,
TerrainMask = BAllFilter & ~BStaticFilter, // static objects on the ground don't collide
GroundPlaneFilter = BGroundPlaneFilter,
GroundPlaneMask = BAllFilter
TerrainGroup = BTerrainGroup,
TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide
GroundPlaneGroup = BGroundPlaneGroup,
GroundPlaneMask = BAllGroup
};
@@ -945,7 +945,7 @@ public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
public static extern int GetNumConstraintRefs2(IntPtr obj);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask);
public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask);
// =====================================================================================
// btCollisionShape entries