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* Applying Nlin's NINJA Joint patch. v2. Mantis# 2874

Browse Source 
* Thanks nlin!
* To try it out, set ninja joints active in the ODEPhysicsSettings
and use the example at:
* http://forge.opensimulator.org/gf/download/frsrelease/142/304/demo-playground.tgz.
* Don't forget to change the .tgz to .oar and load it with load-oar.
This commit is contained in:
Teravus Ovares
2008-12-26 12:58:02 +00:00
parent 8a58d998d9
commit ec2dc354b4
10 changed files with 1197 additions and 65 deletions
Download Patch File Download Diff File Expand all files Collapse all files

300
OpenSim/Region/Environment/Scenes/SceneObjectPart.cs
View File

@@ -419,7 +419,14 @@ namespace OpenSim.Region.Environment.Scenes
public virtual string Name
{
get { return m_name; }
set { m_name = value; }
set
{
m_name = value;
if (PhysActor != null)
{
PhysActor.SOPName = value;
}
}
}
public byte Material
@@ -681,7 +688,14 @@ namespace OpenSim.Region.Environment.Scenes
public string Description
{
get { return m_description; }
set { m_description = value; }
set
{
m_description = value;
if (PhysActor != null)
{
PhysActor.SOPDescription = value;
}
}
}
public Color Color
@@ -1287,30 +1301,39 @@ if (m_shape != null) {
bool isPhysical = (((rootObjectFlags & (uint) PrimFlags.Physics) != 0) && m_physicalPrim);
bool isPhantom = ((rootObjectFlags & (uint) PrimFlags.Phantom) != 0);
// Special case for VolumeDetection: If VolumeDetection is set, the phantom flag is locally ignored
if (VolumeDetectActive)
isPhantom = false;
// Added clarification.. since A rigid body is an object that you can kick around, etc.
bool RigidBody = isPhysical && !isPhantom;
// The only time the physics scene shouldn't know about the prim is if it's phantom or an attachment, which is phantom by definition
if (!isPhantom && !IsAttachment)
if (IsJoint())
{
PhysActor = m_parentGroup.Scene.PhysicsScene.AddPrimShape(
Name,
Shape,
new PhysicsVector(AbsolutePosition.X, AbsolutePosition.Y, AbsolutePosition.Z),
new PhysicsVector(Scale.X, Scale.Y, Scale.Z),
RotationOffset,
RigidBody);
DoPhysicsPropertyUpdate(isPhysical, true);
}
else
{
// Special case for VolumeDetection: If VolumeDetection is set, the phantom flag is locally ignored
if (VolumeDetectActive)
isPhantom = false;
// Basic Physics returns null.. joy joy joy.
if (PhysActor != null)
// Added clarification.. since A rigid body is an object that you can kick around, etc.
bool RigidBody = isPhysical && !isPhantom;
// The only time the physics scene shouldn't know about the prim is if it's phantom or an attachment, which is phantom by definition
if (!isPhantom && !IsAttachment)
{
PhysActor.LocalID = LocalId;
DoPhysicsPropertyUpdate(RigidBody, true);
PhysActor.SetVolumeDetect(VolumeDetectActive ? 1 : 0);
PhysActor = m_parentGroup.Scene.PhysicsScene.AddPrimShape(
Name,
Shape,
new PhysicsVector(AbsolutePosition.X, AbsolutePosition.Y, AbsolutePosition.Z),
new PhysicsVector(Scale.X, Scale.Y, Scale.Z),
RotationOffset,
RigidBody);
// Basic Physics returns null.. joy joy joy.
if (PhysActor != null)
{
PhysActor.SOPName = this.Name; // save object name and desc into the PhysActor so ODE internals know the joint/body info
PhysActor.SOPDescription = this.Description;
PhysActor.LocalID = LocalId;
DoPhysicsPropertyUpdate(RigidBody, true);
PhysActor.SetVolumeDetect(VolumeDetectActive ? 1 : 0);
}
}
}
}
@@ -1421,57 +1444,160 @@ if (m_shape != null) {
public void DoPhysicsPropertyUpdate(bool UsePhysics, bool isNew)
{
if (PhysActor != null)
if (IsJoint())
{
if (UsePhysics != PhysActor.IsPhysical || isNew)
if (UsePhysics)
{
if (PhysActor.IsPhysical)
{
if (!isNew)
ParentGroup.Scene.RemovePhysicalPrim(1);
// by turning a joint proxy object physical, we cause creation of a joint in the ODE scene.
// note that, as a special case, joints have no bodies or geoms in the physics scene, even though they are physical.
PhysActor.OnRequestTerseUpdate -= PhysicsRequestingTerseUpdate;
PhysActor.OnOutOfBounds -= PhysicsOutOfBounds;
PhysActor.delink();
PhysicsJointType jointType;
if (IsHingeJoint())
{
jointType = PhysicsJointType.Hinge;
}
else if (IsBallJoint())
{
jointType = PhysicsJointType.Ball;
}
else
{
jointType = PhysicsJointType.Ball;
}
if (!UsePhysics && !isNew)
List<string> bodyNames = new List<string>();
string RawParams = Description;
string[] jointParams = RawParams.Split(' ');
string trackedBodyName = null;
if (jointParams.Length >= 2)
{
// reset velocity to 0 on physics switch-off. Without that, the client thinks the
// prim still has velocity and continues to interpolate its position along the old
// velocity-vector.
Velocity = new Vector3(0, 0, 0);
Acceleration = new Vector3(0, 0, 0);
AngularVelocity = new Vector3(0, 0, 0);
}
PhysActor.IsPhysical = UsePhysics;
// If we're not what we're supposed to be in the physics scene, recreate ourselves.
//m_parentGroup.Scene.PhysicsScene.RemovePrim(PhysActor);
/// that's not wholesome. Had to make Scene public
//PhysActor = null;
if ((ObjectFlags & (uint) PrimFlags.Phantom) == 0)
{
if (UsePhysics)
for (int iBodyName = 0; iBodyName < 2; iBodyName++)
{
ParentGroup.Scene.AddPhysicalPrim(1);
PhysActor.OnRequestTerseUpdate += PhysicsRequestingTerseUpdate;
PhysActor.OnOutOfBounds += PhysicsOutOfBounds;
if (_parentID != 0 && _parentID != LocalId)
string bodyName = jointParams[iBodyName];
bodyNames.Add(bodyName);
if (bodyName != "NULL")
{
if (ParentGroup.RootPart.PhysActor != null)
if (trackedBodyName == null)
{
PhysActor.link(ParentGroup.RootPart.PhysActor);
trackedBodyName = bodyName;
}
}
}
}
SceneObjectPart trackedBody = m_parentGroup.Scene.GetSceneObjectPart(trackedBodyName); // FIXME: causes a sequential lookup
Quaternion localRotation = Quaternion.Identity;
if (trackedBody != null)
{
localRotation = Quaternion.Inverse(trackedBody.RotationOffset) * this.RotationOffset;
}
else
{
// error, output it below
}
PhysicsJoint joint;
joint = m_parentGroup.Scene.PhysicsScene.RequestJointCreation(Name, jointType,
new PhysicsVector(AbsolutePosition.X, AbsolutePosition.Y, AbsolutePosition.Z),
this.RotationOffset,
Description,
bodyNames,
trackedBodyName,
localRotation);
if (trackedBody == null)
{
ParentGroup.Scene.jointErrorMessage(joint, "warning: tracked body name not found! joint location will not be updated properly. joint: " + Name);
}
}
else
{
if (isNew)
{
// if the joint proxy is new, and it is not physical, do nothing. There is no joint in ODE to
// delete, and if we try to delete it, due to asynchronous processing, the deletion request
// will get processed later at an indeterminate time, which could cancel a later-arriving
// joint creation request.
}
else
{
// here we turn off the joint object, so remove the joint from the physics scene
m_parentGroup.Scene.PhysicsScene.RequestJointDeletion(Name); // FIXME: what if the name changed?
// make sure client isn't interpolating the joint proxy object
Velocity = new Vector3(0, 0, 0);
RotationalVelocity = new Vector3(0, 0, 0);
Acceleration = new Vector3(0, 0, 0);
}
}
}
else
{
if (PhysActor != null)
{
if (UsePhysics != PhysActor.IsPhysical || isNew)
{
if (PhysActor.IsPhysical) // implies UsePhysics==false for this block
{
if (!isNew)
ParentGroup.Scene.RemovePhysicalPrim(1);
PhysActor.OnRequestTerseUpdate -= PhysicsRequestingTerseUpdate;
PhysActor.OnOutOfBounds -= PhysicsOutOfBounds;
PhysActor.delink();
if (ParentGroup.Scene.PhysicsScene.SupportsNINJAJoints && (!isNew))
{
// destroy all joints connected to this now deactivated body
m_parentGroup.Scene.PhysicsScene.RemoveAllJointsConnectedToActorThreadLocked(PhysActor);
}
// stop client-side interpolation of all joint proxy objects that have just been deleted
// this is done because RemoveAllJointsConnectedToActor invokes the OnJointDeactivated callback,
// which stops client-side interpolation of deactivated joint proxy objects.
}
if (!UsePhysics && !isNew)
{
// reset velocity to 0 on physics switch-off. Without that, the client thinks the
// prim still has velocity and continues to interpolate its position along the old
// velocity-vector.
Velocity = new Vector3(0, 0, 0);
Acceleration = new Vector3(0, 0, 0);
AngularVelocity = new Vector3(0, 0, 0);
//RotationalVelocity = new Vector3(0, 0, 0);
}
PhysActor.IsPhysical = UsePhysics;
// If we're not what we're supposed to be in the physics scene, recreate ourselves.
//m_parentGroup.Scene.PhysicsScene.RemovePrim(PhysActor);
/// that's not wholesome. Had to make Scene public
//PhysActor = null;
if ((ObjectFlags & (uint)PrimFlags.Phantom) == 0)
{
if (UsePhysics)
{
ParentGroup.Scene.AddPhysicalPrim(1);
PhysActor.OnRequestTerseUpdate += PhysicsRequestingTerseUpdate;
PhysActor.OnOutOfBounds += PhysicsOutOfBounds;
if (_parentID != 0 && _parentID != LocalId)
{
if (ParentGroup.RootPart.PhysActor != null)
{
PhysActor.link(ParentGroup.RootPart.PhysActor);
}
}
}
}
}
m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
}
m_parentGroup.Scene.PhysicsScene.AddPhysicsActorTaint(PhysActor);
}
}
@@ -3190,6 +3316,53 @@ if (m_shape != null) {
}
}
public bool IsHingeJoint()
{
// For now, we use the NINJA naming scheme for identifying joints.
// In the future, we can support other joint specification schemes such as a
// custom checkbox in the viewer GUI.
if (m_parentGroup.Scene.PhysicsScene.SupportsNINJAJoints)
{
string hingeString = "hingejoint";
return (Name.Length >= hingeString.Length && Name.Substring(0, hingeString.Length) == hingeString);
}
else
{
return false;
}
}
public bool IsBallJoint()
{
// For now, we use the NINJA naming scheme for identifying joints.
// In the future, we can support other joint specification schemes such as a
// custom checkbox in the viewer GUI.
if (m_parentGroup.Scene.PhysicsScene.SupportsNINJAJoints)
{
string ballString = "balljoint";
return (Name.Length >= ballString.Length && Name.Substring(0, ballString.Length) == ballString);
}
else
{
return false;
}
}
public bool IsJoint()
{
// For now, we use the NINJA naming scheme for identifying joints.
// In the future, we can support other joint specification schemes such as a
// custom checkbox in the viewer GUI.
if (m_parentGroup.Scene.PhysicsScene.SupportsNINJAJoints)
{
return IsHingeJoint() || IsBallJoint();
}
else
{
return false;
}
}
public void UpdatePrimFlags(bool UsePhysics, bool IsTemporary, bool IsPhantom, bool IsVD)
{
bool wasUsingPhysics = ((ObjectFlags & (uint) PrimFlags.Physics) != 0);
@@ -3230,6 +3403,11 @@ if (m_shape != null) {
}
if (UsePhysics && IsJoint())
{
IsPhantom = true;
}
if (UsePhysics)
{
AddFlag(PrimFlags.Physics);
@@ -3258,7 +3436,7 @@ if (m_shape != null) {
}
if (IsPhantom || IsAttachment)
if (IsPhantom || IsAttachment) // note: this may have been changed above in the case of joints
{
AddFlag(PrimFlags.Phantom);
if (PhysActor != null)