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BulletSim: complete movement of physical object action code out of the

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physical object and into actors for setForce, setTorque, hover, lock
axis and avatar move.
This commit is contained in:
Robert Adams
2013-04-07 08:27:49 -07:00
parent c7cd077e55
commit fe16dc09da
11 changed files with 1078 additions and 636 deletions
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226
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
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@@ -43,7 +43,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
* VariableName: used by the simulator and performs taint operations, etc
* RawVariableName: direct reference to the BulletSim storage for the variable value
* ForceVariableName: direct reference (store and fetch) to the value in the physics engine.
* The last two (and certainly the last one) should be referenced only in taint-time.
* The last one should only be referenced in taint-time.
*/
/*
@@ -84,6 +84,7 @@ public abstract class BSPhysObject : PhysicsActor
// Initialize variables kept in base.
GravModifier = 1.0f;
Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
HoverActive = false;
// We don't have any physical representation yet.
PhysBody = new BulletBody(localID);
@@ -110,11 +111,10 @@ public abstract class BSPhysObject : PhysicsActor
// Tell the object to clean up.
public virtual void Destroy()
{
UnRegisterAllPreStepActions();
UnRegisterAllPostStepActions();
PhysicalActors.Enable(false);
PhysicsScene.TaintedObject("BSPhysObject.Destroy", delegate()
{
PhysicalActors.Release();
PhysicalActors.Dispose();
});
}
@@ -203,15 +203,48 @@ public abstract class BSPhysObject : PhysicsActor
public abstract OMV.Quaternion RawOrientation { get; set; }
public abstract OMV.Quaternion ForceOrientation { get; set; }
public abstract OMV.Vector3 RawVelocity { get; set; }
public OMV.Vector3 RawVelocity { get; set; }
public abstract OMV.Vector3 ForceVelocity { get; set; }
public OMV.Vector3 RawForce { get; set; }
public OMV.Vector3 RawTorque { get; set; }
public override void AddAngularForce(OMV.Vector3 force, bool pushforce)
{
AddAngularForce(force, pushforce, false);
}
public abstract void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime);
public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
public abstract float ForceBuoyancy { get; set; }
public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
public override bool PIDActive { set { MoveToTargetActive = value; } }
public override OMV.Vector3 PIDTarget { set { MoveToTargetTarget = value; } }
public override float PIDTau { set { MoveToTargetTau = value; } }
public bool MoveToTargetActive { get; set; }
public OMV.Vector3 MoveToTargetTarget { get; set; }
public float MoveToTargetTau { get; set; }
// Used for llSetHoverHeight and maybe vehicle height. Hover Height will override MoveTo target's Z
public override bool PIDHoverActive { set { HoverActive = value; } }
public override float PIDHoverHeight { set { HoverHeight = value; } }
public override PIDHoverType PIDHoverType { set { HoverType = value; } }
public override float PIDHoverTau { set { HoverTau = value; } }
public bool HoverActive { get; set; }
public float HoverHeight { get; set; }
public PIDHoverType HoverType { get; set; }
public float HoverTau { get; set; }
// For RotLookAt
public override OMV.Quaternion APIDTarget { set { return; } }
public override bool APIDActive { set { return; } }
public override float APIDStrength { set { return; } }
public override float APIDDamping { set { return; } }
// The current velocity forward
public virtual float ForwardSpeed
{
@@ -237,7 +270,44 @@ public abstract class BSPhysObject : PhysicsActor
public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free.
public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free
public readonly String LockedAxisActorName = "BSPrim.LockedAxis";
// Enable physical actions. Bullet will keep sleeping non-moving physical objects so
// they need waking up when parameters are changed.
// Called in taint-time!!
public void ActivateIfPhysical(bool forceIt)
{
if (IsPhysical && PhysBody.HasPhysicalBody)
PhysicsScene.PE.Activate(PhysBody, forceIt);
}
// 'actors' act on the physical object to change or constrain its motion. These can range from
// hovering to complex vehicle motion.
public delegate BSActor CreateActor();
public void CreateRemoveActor(bool createRemove, string actorName, bool inTaintTime, CreateActor creator)
{
if (createRemove)
{
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CreateRemoveActor:" + actorName, delegate()
{
if (!PhysicalActors.HasActor(actorName))
{
DetailLog("{0},BSPrim.CreateRemoveActor,taint,registerActor,a={1}", LocalID, actorName);
PhysicalActors.Add(actorName, creator());
}
});
}
else
{
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CreateRemoveActor:" + actorName, delegate()
{
if (PhysicalActors.HasActor(actorName))
{
DetailLog("{0},BSPrim.CreateRemoveActor,taint,unregisterActor,a={1}", LocalID, actorName);
PhysicalActors.RemoveAndRelease(actorName);
}
});
}
}
#region Collisions
@@ -255,7 +325,9 @@ public abstract class BSPhysObject : PhysicsActor
protected CollisionFlags CurrentCollisionFlags { get; set; }
// On a collision, check the collider and remember if the last collider was moving
// Used to modify the standing of avatars (avatars on stationary things stand still)
protected bool ColliderIsMoving;
public bool ColliderIsMoving;
// Used by BSCharacter to manage standing (and not slipping)
public bool IsStationary;
// Count of collisions for this object
protected long CollisionAccumulation { get; set; }
@@ -293,7 +365,7 @@ public abstract class BSPhysObject : PhysicsActor
protected CollisionEventUpdate CollisionCollection;
// Remember collisions from last tick for fancy collision based actions
// (like a BSCharacter walking up stairs).
protected CollisionEventUpdate CollisionsLastTick;
public CollisionEventUpdate CollisionsLastTick;
// The simulation step is telling this object about a collision.
// Return 'true' if a collision was processed and should be sent up.
@@ -424,104 +496,6 @@ public abstract class BSPhysObject : PhysicsActor
public BSActorCollection PhysicalActors;
// There are some actions that must be performed for a physical object before each simulation step.
// These actions are optional so, rather than scanning all the physical objects and asking them
// if they have anything to do, a physical object registers for an event call before the step is performed.
// This bookkeeping makes it easy to add, remove and clean up after all these registrations.
private Dictionary<string, BSScene.PreStepAction> RegisteredPrestepActions = new Dictionary<string, BSScene.PreStepAction>();
private Dictionary<string, BSScene.PostStepAction> RegisteredPoststepActions = new Dictionary<string, BSScene.PostStepAction>();
protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn)
{
string identifier = op + "-" + id.ToString();
lock (RegisteredPrestepActions)
{
// Clean out any existing action
UnRegisterPreStepAction(op, id);
RegisteredPrestepActions[identifier] = actn;
PhysicsScene.BeforeStep += actn;
}
DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
}
// Unregister a pre step action. Safe to call if the action has not been registered.
// Returns 'true' if an action was actually removed
protected bool UnRegisterPreStepAction(string op, uint id)
{
string identifier = op + "-" + id.ToString();
bool removed = false;
lock (RegisteredPrestepActions)
{
if (RegisteredPrestepActions.ContainsKey(identifier))
{
PhysicsScene.BeforeStep -= RegisteredPrestepActions[identifier];
RegisteredPrestepActions.Remove(identifier);
removed = true;
}
}
DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
return removed;
}
protected void UnRegisterAllPreStepActions()
{
lock (RegisteredPrestepActions)
{
foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredPrestepActions)
{
PhysicsScene.BeforeStep -= kvp.Value;
}
RegisteredPrestepActions.Clear();
}
DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
}
protected void RegisterPostStepAction(string op, uint id, BSScene.PostStepAction actn)
{
string identifier = op + "-" + id.ToString();
lock (RegisteredPoststepActions)
{
// Clean out any existing action
UnRegisterPostStepAction(op, id);
RegisteredPoststepActions[identifier] = actn;
PhysicsScene.AfterStep += actn;
}
DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier);
}
// Unregister a pre step action. Safe to call if the action has not been registered.
// Returns 'true' if an action was actually removed.
protected bool UnRegisterPostStepAction(string op, uint id)
{
string identifier = op + "-" + id.ToString();
bool removed = false;
lock (RegisteredPoststepActions)
{
if (RegisteredPoststepActions.ContainsKey(identifier))
{
PhysicsScene.AfterStep -= RegisteredPoststepActions[identifier];
RegisteredPoststepActions.Remove(identifier);
removed = true;
}
}
DetailLog("{0},BSPhysObject.UnRegisterPostStepAction,id={1},removed={2}", LocalID, identifier, removed);
return removed;
}
protected void UnRegisterAllPostStepActions()
{
lock (RegisteredPoststepActions)
{
foreach (KeyValuePair<string, BSScene.PostStepAction> kvp in RegisteredPoststepActions)
{
PhysicsScene.AfterStep -= kvp.Value;
}
RegisteredPoststepActions.Clear();
}
DetailLog("{0},BSPhysObject.UnRegisterAllPostStepActions,", LocalID);
}
// When an update to the physical properties happens, this event is fired to let
// different actors to modify the update before it is passed around
public delegate void PreUpdatePropertyAction(ref EntityProperties entprop);
@@ -533,46 +507,6 @@ public abstract class BSPhysObject : PhysicsActor
actions(ref entprop);
}
private Dictionary<string, PreUpdatePropertyAction> RegisteredPreUpdatePropertyActions = new Dictionary<string, PreUpdatePropertyAction>();
public void RegisterPreUpdatePropertyAction(string identifier, PreUpdatePropertyAction actn)
{
lock (RegisteredPreUpdatePropertyActions)
{
// Clean out any existing action
UnRegisterPreUpdatePropertyAction(identifier);
RegisteredPreUpdatePropertyActions[identifier] = actn;
OnPreUpdateProperty += actn;
}
DetailLog("{0},BSPhysObject.RegisterPreUpdatePropertyAction,id={1}", LocalID, identifier);
}
public bool UnRegisterPreUpdatePropertyAction(string identifier)
{
bool removed = false;
lock (RegisteredPreUpdatePropertyActions)
{
if (RegisteredPreUpdatePropertyActions.ContainsKey(identifier))
{
OnPreUpdateProperty -= RegisteredPreUpdatePropertyActions[identifier];
RegisteredPreUpdatePropertyActions.Remove(identifier);
removed = true;
}
}
DetailLog("{0},BSPhysObject.UnRegisterPreUpdatePropertyAction,id={1},removed={2}", LocalID, identifier, removed);
return removed;
}
public void UnRegisterAllPreUpdatePropertyActions()
{
lock (RegisteredPreUpdatePropertyActions)
{
foreach (KeyValuePair<string, PreUpdatePropertyAction> kvp in RegisteredPreUpdatePropertyActions)
{
OnPreUpdateProperty -= kvp.Value;
}
RegisteredPreUpdatePropertyActions.Clear();
}
DetailLog("{0},BSPhysObject.UnRegisterAllPreUpdatePropertyAction,", LocalID);
}
#endregion // Per Simulation Step actions
// High performance detailed logging routine used by the physical objects.