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Merge branch 'master' into bulletsim

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This commit is contained in:
Dan Lake
2011-07-11 12:23:20 -07:00
parent 51d6c58d10 24efb021ff
commit b9cbe92f30
77 changed files with 5808 additions and 4535 deletions
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5
OpenSim/Region/Physics/Manager/PhysicsScene.cs
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@@ -86,7 +86,10 @@ namespace OpenSim.Region.Physics.Manager
Vector3 size, Quaternion rotation, bool isPhysical)
{
PhysicsActor ret = AddPrimShape(primName, pbs, position, size, rotation, isPhysical);
if (ret != null) ret.LocalID = localID;
if (ret != null)
ret.LocalID = localID;
return ret;
}

115
OpenSim/Region/Physics/Meshing/Meshmerizer.cs
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@@ -100,7 +100,6 @@ namespace OpenSim.Region.Physics.Meshing
{
m_log.WarnFormat("[SCULPT]: Unable to create {0} directory: ", decodedSculptMapPath, e.Message);
}
}
/// <summary>
@@ -156,7 +155,6 @@ namespace OpenSim.Region.Physics.Meshing
return box;
}
/// <summary>
/// Creates a simple bounding box mesh for a complex input mesh
/// </summary>
@@ -193,7 +191,6 @@ namespace OpenSim.Region.Physics.Meshing
m_log.Error(message);
m_log.Error("\nPrim Name: " + primName);
m_log.Error("****** PrimMesh Parameters ******\n" + primMesh.ParamsToDisplayString());
}
private ulong GetMeshKey(PrimitiveBaseShape pbs, Vector3 size, float lod)
@@ -257,6 +254,52 @@ namespace OpenSim.Region.Physics.Meshing
return ((hash << 5) + hash) + (ulong)(c >> 8);
}
/// <summary>
/// Add a submesh to an existing list of coords and faces.
/// </summary>
/// <param name="subMeshData"></param>
/// <param name="size">Size of entire object</param>
/// <param name="coords"></param>
/// <param name="faces"></param>
private void AddSubMesh(OSDMap subMeshData, Vector3 size, List<Coord> coords, List<Face> faces)
{
// Console.WriteLine("subMeshMap for {0} - {1}", primName, Util.GetFormattedXml((OSD)subMeshMap));
// As per http://wiki.secondlife.com/wiki/Mesh/Mesh_Asset_Format, some Mesh Level
// of Detail Blocks (maps) contain just a NoGeometry key to signal there is no
// geometry for this submesh.
if (subMeshData.ContainsKey("NoGeometry") && ((OSDBoolean)subMeshData["NoGeometry"]))
return;
OpenMetaverse.Vector3 posMax = ((OSDMap)subMeshData["PositionDomain"])["Max"].AsVector3();
OpenMetaverse.Vector3 posMin = ((OSDMap)subMeshData["PositionDomain"])["Min"].AsVector3();
ushort faceIndexOffset = (ushort)coords.Count;
byte[] posBytes = subMeshData["Position"].AsBinary();
for (int i = 0; i < posBytes.Length; i += 6)
{
ushort uX = Utils.BytesToUInt16(posBytes, i);
ushort uY = Utils.BytesToUInt16(posBytes, i + 2);
ushort uZ = Utils.BytesToUInt16(posBytes, i + 4);
Coord c = new Coord(
Utils.UInt16ToFloat(uX, posMin.X, posMax.X) * size.X,
Utils.UInt16ToFloat(uY, posMin.Y, posMax.Y) * size.Y,
Utils.UInt16ToFloat(uZ, posMin.Z, posMax.Z) * size.Z);
coords.Add(c);
}
byte[] triangleBytes = subMeshData["TriangleList"].AsBinary();
for (int i = 0; i < triangleBytes.Length; i += 6)
{
ushort v1 = (ushort)(Utils.BytesToUInt16(triangleBytes, i) + faceIndexOffset);
ushort v2 = (ushort)(Utils.BytesToUInt16(triangleBytes, i + 2) + faceIndexOffset);
ushort v3 = (ushort)(Utils.BytesToUInt16(triangleBytes, i + 4) + faceIndexOffset);
Face f = new Face(v1, v2, v3);
faces.Add(f);
}
}
private Mesh CreateMeshFromPrimMesher(string primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
{
@@ -276,7 +319,7 @@ namespace OpenSim.Region.Physics.Meshing
if (!useMeshiesPhysicsMesh)
return null;
m_log.Debug("[MESH]: experimental mesh proxy generation");
m_log.DebugFormat("[MESH]: experimental mesh proxy generation for {0}", primName);
OSD meshOsd = null;
@@ -291,23 +334,38 @@ namespace OpenSim.Region.Physics.Meshing
{
try
{
meshOsd = (OSDMap)OSDParser.DeserializeLLSDBinary(data);
OSD osd = OSDParser.DeserializeLLSDBinary(data);
if (osd is OSDMap)
meshOsd = (OSDMap)osd;
else
{
m_log.Warn("[Mesh}: unable to cast mesh asset to OSDMap");
return null;
}
}
catch (Exception e)
{
m_log.Error("[MESH]: Exception deserializing mesh asset header:" + e.ToString());
}
start = data.Position;
}
if (meshOsd is OSDMap)
{
OSDMap physicsParms = null;
OSDMap map = (OSDMap)meshOsd;
OSDMap physicsParms = (OSDMap)map["physics_shape"]; // old asset format
if (physicsParms.Count == 0)
if (map.ContainsKey("physics_shape"))
physicsParms = (OSDMap)map["physics_shape"]; // old asset format
else if (map.ContainsKey("physics_mesh"))
physicsParms = (OSDMap)map["physics_mesh"]; // new asset format
if (physicsParms == null)
{
m_log.Warn("[MESH]: no recognized physics mesh found in mesh asset");
return null;
}
int physOffset = physicsParms["offset"].AsInteger() + (int)start;
int physSize = physicsParms["size"].AsInteger();
@@ -353,42 +411,13 @@ namespace OpenSim.Region.Physics.Meshing
// physics_shape is an array of OSDMaps, one for each submesh
if (decodedMeshOsd is OSDArray)
{
// Console.WriteLine("decodedMeshOsd for {0} - {1}", primName, Util.GetFormattedXml(decodedMeshOsd));
decodedMeshOsdArray = (OSDArray)decodedMeshOsd;
foreach (OSD subMeshOsd in decodedMeshOsdArray)
{
if (subMeshOsd is OSDMap)
{
OSDMap subMeshMap = (OSDMap)subMeshOsd;
OpenMetaverse.Vector3 posMax = ((OSDMap)subMeshMap["PositionDomain"])["Max"].AsVector3();
OpenMetaverse.Vector3 posMin = ((OSDMap)subMeshMap["PositionDomain"])["Min"].AsVector3();
ushort faceIndexOffset = (ushort)coords.Count;
byte[] posBytes = subMeshMap["Position"].AsBinary();
for (int i = 0; i < posBytes.Length; i += 6)
{
ushort uX = Utils.BytesToUInt16(posBytes, i);
ushort uY = Utils.BytesToUInt16(posBytes, i + 2);
ushort uZ = Utils.BytesToUInt16(posBytes, i + 4);
Coord c = new Coord(
Utils.UInt16ToFloat(uX, posMin.X, posMax.X) * size.X,
Utils.UInt16ToFloat(uY, posMin.Y, posMax.Y) * size.Y,
Utils.UInt16ToFloat(uZ, posMin.Z, posMax.Z) * size.Z);
coords.Add(c);
}
byte[] triangleBytes = subMeshMap["TriangleList"].AsBinary();
for (int i = 0; i < triangleBytes.Length; i += 6)
{
ushort v1 = (ushort)(Utils.BytesToUInt16(triangleBytes, i) + faceIndexOffset);
ushort v2 = (ushort)(Utils.BytesToUInt16(triangleBytes, i + 2) + faceIndexOffset);
ushort v3 = (ushort)(Utils.BytesToUInt16(triangleBytes, i + 4) + faceIndexOffset);
Face f = new Face(v1, v2, v3);
faces.Add(f);
}
}
AddSubMesh(subMeshOsd as OSDMap, size, coords, faces);
}
}
}
@@ -511,7 +540,6 @@ namespace OpenSim.Region.Physics.Meshing
profileBegin = 0.5f * profileBegin + 0.5f;
profileEnd = 0.5f * profileEnd + 0.5f;
}
int hollowSides = sides;
@@ -620,6 +648,7 @@ namespace OpenSim.Region.Physics.Meshing
Face f = faces[i];
mesh.Add(new Triangle(vertices[f.v1], vertices[f.v2], vertices[f.v3]));
}
return mesh;
}
@@ -630,6 +659,10 @@ namespace OpenSim.Region.Physics.Meshing
public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
{
#if SPAM
m_log.DebugFormat("[MESH]: Creating mesh for {0}", primName);
#endif
Mesh mesh = null;
ulong key = 0;

109
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
View File

@@ -38,6 +38,9 @@
* switch between 'VEHICLE' parameter use and general dynamics
* settings use.
*/
//#define SPAM
using System;
using System.Collections.Generic;
using System.Reflection;
@@ -54,7 +57,6 @@ namespace OpenSim.Region.Physics.OdePlugin
/// <summary>
/// Various properties that ODE uses for AMotors but isn't exposed in ODE.NET so we must define them ourselves.
/// </summary>
public class OdePrim : PhysicsActor
{
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
@@ -279,14 +281,14 @@ namespace OpenSim.Region.Physics.OdePlugin
public override bool Selected
{
set {
set
{
// This only makes the object not collidable if the object
// is physical or the object is modified somehow *IN THE FUTURE*
// without this, if an avatar selects prim, they can walk right
// through it while it's selected
m_collisionscore = 0;
if ((m_isphysical && !_zeroFlag) || !value)
{
m_taintselected = value;
@@ -297,7 +299,9 @@ namespace OpenSim.Region.Physics.OdePlugin
m_taintselected = value;
m_isSelected = value;
}
if (m_isSelected) disableBodySoft();
if (m_isSelected)
disableBodySoft();
}
}
@@ -324,8 +328,6 @@ namespace OpenSim.Region.Physics.OdePlugin
//m_log.Warn("Setting Geom to: " + prim_geom);
}
public void enableBodySoft()
{
if (!childPrim)
@@ -626,8 +628,6 @@ namespace OpenSim.Region.Physics.OdePlugin
break;
}
float taperX1;
float taperY1;
float taperX;
@@ -682,9 +682,6 @@ namespace OpenSim.Region.Physics.OdePlugin
// else if (returnMass > _parent_scene.maximumMassObject)
// returnMass = _parent_scene.maximumMassObject;
// Recursively calculate mass
bool HasChildPrim = false;
lock (childrenPrim)
@@ -693,8 +690,8 @@ namespace OpenSim.Region.Physics.OdePlugin
{
HasChildPrim = true;
}
}
if (HasChildPrim)
{
OdePrim[] childPrimArr = new OdePrim[0];
@@ -711,10 +708,12 @@ namespace OpenSim.Region.Physics.OdePlugin
break;
}
}
if (returnMass > _parent_scene.maximumMassObject)
returnMass = _parent_scene.maximumMassObject;
return returnMass;
}// end CalculateMass
}
#endregion
@@ -750,7 +749,6 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
}
d.BodyDestroy(Body);
lock (childrenPrim)
{
@@ -779,7 +777,6 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomSetCollideBits(prim_geom, (int)m_collisionFlags);
}
Body = IntPtr.Zero;
}
}
@@ -791,6 +788,8 @@ namespace OpenSim.Region.Physics.OdePlugin
public void setMesh(OdeScene parent_scene, IMesh mesh)
{
// m_log.DebugFormat("[ODE PRIM]: Setting mesh on {0} to {1}", Name, 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
@@ -869,7 +868,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (prim_geom != IntPtr.Zero)
{
if (!_position.ApproxEquals(m_taintposition, 0f))
changemove(timestep);
changemove(timestep);
if (m_taintrot != _orientation)
{
@@ -887,19 +886,15 @@ namespace OpenSim.Region.Physics.OdePlugin
rotate(timestep);
}
}
//
if (m_taintPhysics != m_isphysical && !(m_taintparent != _parent))
changePhysicsStatus(timestep);
//
if (!_size.ApproxEquals(m_taintsize,0f))
if (!_size.ApproxEquals(m_taintsize, 0f))
changesize(timestep);
//
if (m_taintshape)
changeshape(timestep);
//
if (m_taintforce)
changeAddForce(timestep);
@@ -927,7 +922,6 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!m_angularlock.ApproxEquals(m_taintAngularLock,0f))
changeAngularLock(timestep);
}
else
{
@@ -935,7 +929,6 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
private void changeAngularLock(float timestep)
{
// do we have a Physical object?
@@ -963,7 +956,6 @@ namespace OpenSim.Region.Physics.OdePlugin
}
// Store this for later in case we get turned into a separate body
m_angularlock = m_taintAngularLock;
}
private void changelink(float timestep)
@@ -1102,7 +1094,6 @@ namespace OpenSim.Region.Physics.OdePlugin
m_log.DebugFormat("[PHYSICS]: {0} ain't got no boooooooooddy, no body", Name);
}
prm.m_interpenetrationcount = 0;
prm.m_collisionscore = 0;
prm.m_disabled = false;
@@ -1162,7 +1153,6 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
}
}
private void ChildSetGeom(OdePrim odePrim)
@@ -1223,17 +1213,12 @@ namespace OpenSim.Region.Physics.OdePlugin
//Console.WriteLine("childrenPrim.Remove " + odePrim);
childrenPrim.Remove(odePrim);
}
if (Body != IntPtr.Zero)
{
_parent_scene.remActivePrim(this);
}
lock (childrenPrim)
{
foreach (OdePrim prm in childrenPrim)
@@ -1242,8 +1227,6 @@ namespace OpenSim.Region.Physics.OdePlugin
ParentPrim(prm);
}
}
}
private void changeSelectedStatus(float timestep)
@@ -1398,7 +1381,6 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
}
else
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
@@ -1438,10 +1420,11 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
lock (_parent_scene.OdeLock)
{
//Console.WriteLine("changeadd 1");
#if SPAM
Console.WriteLine("changeadd 1");
#endif
CreateGeom(m_targetSpace, _mesh);
if (prim_geom != IntPtr.Zero)
@@ -1684,13 +1667,11 @@ Console.WriteLine(" JointCreateFixed");
{
PID_G = m_PIDTau + 1;
}
// Where are we, and where are we headed?
d.Vector3 pos = d.BodyGetPosition(Body);
d.Vector3 vel = d.BodyGetLinearVel(Body);
// Non-Vehicles have a limited set of Hover options.
// determine what our target height really is based on HoverType
switch (m_PIDHoverType)
@@ -1796,8 +1777,6 @@ Console.WriteLine(" JointCreateFixed");
}
}
public void rotate(float timestep)
{
d.Quaternion myrot = new d.Quaternion();
@@ -1908,7 +1887,10 @@ Console.WriteLine(" JointCreateFixed");
public void changesize(float timestamp)
{
#if SPAM
m_log.DebugFormat("[ODE PRIM]: Called changesize");
#endif
string oldname = _parent_scene.geom_name_map[prim_geom];
if (_size.X <= 0) _size.X = 0.01f;
@@ -1918,8 +1900,9 @@ Console.WriteLine(" JointCreateFixed");
// Cleanup of old prim geometry
if (_mesh != null)
{
// Cleanup meshing here
// TODO: Cleanup meshing here
}
//kill body to rebuild
if (IsPhysical && Body != IntPtr.Zero)
{
@@ -1936,11 +1919,13 @@ Console.WriteLine(" JointCreateFixed");
disableBody();
}
}
if (d.SpaceQuery(m_targetSpace, prim_geom))
{
_parent_scene.waitForSpaceUnlock(m_targetSpace);
d.SpaceRemove(m_targetSpace, prim_geom);
}
d.GeomDestroy(prim_geom);
prim_geom = IntPtr.Zero;
// we don't need to do space calculation because the client sends a position update also.
@@ -1960,15 +1945,19 @@ Console.WriteLine(" JointCreateFixed");
mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
//IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
//Console.WriteLine("changesize 1");
#if SPAM
Console.WriteLine("changesize 1");
#endif
CreateGeom(m_targetSpace, mesh);
}
else
{
_mesh = null;
//Console.WriteLine("changesize 2");
#if SPAM
Console.WriteLine("changesize 2");
#endif
CreateGeom(m_targetSpace, _mesh);
}
@@ -2004,8 +1993,6 @@ Console.WriteLine(" JointCreateFixed");
m_taintsize = _size;
}
public void changefloatonwater(float timestep)
{
m_collidesWater = m_taintCollidesWater;
@@ -2053,6 +2040,7 @@ Console.WriteLine(" JointCreateFixed");
prim_geom = IntPtr.Zero;
m_log.ErrorFormat("[PHYSICS]: PrimGeom dead for {0}", Name);
}
prim_geom = IntPtr.Zero;
// we don't need to do space calculation because the client sends a position update also.
if (_size.X <= 0) _size.X = 0.01f;
@@ -2062,7 +2050,7 @@ Console.WriteLine(" JointCreateFixed");
if (_parent_scene.needsMeshing(_pbs))
{
// Don't need to re-enable body.. it's done in SetMesh
// Don't need to re-enable body.. it's done in CreateMesh
float meshlod = _parent_scene.meshSculptLOD;
if (IsPhysical)
@@ -2070,12 +2058,18 @@ Console.WriteLine(" JointCreateFixed");
IMesh mesh = _parent_scene.mesher.CreateMesh(oldname, _pbs, _size, meshlod, IsPhysical);
// createmesh returns null when it doesn't mesh.
#if SPAM
Console.WriteLine("changeshape needed meshing");
#endif
CreateGeom(m_targetSpace, mesh);
}
else
{
_mesh = null;
//Console.WriteLine("changeshape");
#if SPAM
Console.WriteLine("changeshape not need meshing");
#endif
CreateGeom(m_targetSpace, null);
}
@@ -2110,6 +2104,7 @@ Console.WriteLine(" JointCreateFixed");
parent.ChildSetGeom(this);
}
}
resetCollisionAccounting();
m_taintshape = false;
}
@@ -2160,11 +2155,8 @@ Console.WriteLine(" JointCreateFixed");
}
m_taintforce = false;
}
public void changeSetTorque(float timestamp)
{
if (!m_isSelected)
@@ -2352,7 +2344,7 @@ Console.WriteLine(" JointCreateFixed");
{
lock (_parent_scene.OdeLock)
{
m_isVolumeDetect = (param!=0);
m_isVolumeDetect = (param != 0);
}
}
@@ -2833,7 +2825,6 @@ Console.WriteLine(" JointCreateFixed");
public override float APIDDamping{ set { return; } }
private void createAMotor(Vector3 axis)
{
if (Body == IntPtr.Zero)
@@ -2953,7 +2944,6 @@ Console.WriteLine(" JointCreateFixed");
//d.JointSetAMotorParam(Amotor, (int) dParam.Vel, 9000f);
d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
d.JointSetAMotorParam(Amotor, (int)dParam.FMax, Mass * 50f);//
}
public Matrix4 FromDMass(d.Mass pMass)
@@ -3038,8 +3028,6 @@ Console.WriteLine(" JointCreateFixed");
return Matrix4.Identity; // should probably throw an error. singluar matrix inverse not possible
}
return (Adjoint(pMat) / determinant3x3(pMat));
}
@@ -3076,6 +3064,7 @@ Console.WriteLine(" JointCreateFixed");
}
m++;
}
return minor;
}
@@ -3178,7 +3167,6 @@ Console.WriteLine(" JointCreateFixed");
det = diag1 + diag2 + diag3 - (diag4 + diag5 + diag6);
return det;
}
private static void DMassCopy(ref d.Mass src, ref d.Mass dst)
@@ -3203,6 +3191,5 @@ Console.WriteLine(" JointCreateFixed");
{
m_material = pMaterial;
}
}
}

3827
OpenSim/Region/Physics/OdePlugin/OdePlugin.cs
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File diff suppressed because it is too large Load Diff

3865
OpenSim/Region/Physics/OdePlugin/OdeScene.cs Normal file
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File diff suppressed because it is too large Load Diff