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- /*
- * Copyright (c) Contributors, http://opensimulator.org/
- * See CONTRIBUTORS.TXT for a full list of copyright holders.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above copyrightD
- * notice, this list of conditions and the following disclaimer in the
- * documentation and/or other materials provided with the distribution.
- * * Neither the name of the OpenSimulator Project nor the
- * names of its contributors may be used to endorse or promote products
- * derived from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
- * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
- * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
- * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
- * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
- * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
- * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
- * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
- * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
- */
- using System;
- using System.Collections.Generic;
- using System.Text;
- using OMV = OpenMetaverse;
- using OpenSim.Framework;
- using OpenSim.Region.Physics.Manager;
- namespace OpenSim.Region.Physics.BulletSPlugin
- {
- /*
- * Class to wrap all objects.
- * The rest of BulletSim doesn't need to keep checking for avatars or prims
- * unless the difference is significant.
- *
- * Variables in the physicsl objects are in three forms:
- * 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 one should only be referenced in taint-time.
- */
- /*
- * As of 20121221, the following are the call sequences (going down) for different script physical functions:
- * llApplyImpulse llApplyRotImpulse llSetTorque llSetForce
- * SOP.ApplyImpulse SOP.ApplyAngularImpulse SOP.SetAngularImpulse SOP.SetForce
- * SOG.ApplyImpulse SOG.ApplyAngularImpulse SOG.SetAngularImpulse
- * PA.AddForce PA.AddAngularForce PA.Torque = v PA.Force = v
- * BS.ApplyCentralForce BS.ApplyTorque
- */
- // Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc.
- public enum UpdatedProperties : uint
- {
- Position = 1 << 0,
- Orientation = 1 << 1,
- Velocity = 1 << 2,
- Acceleration = 1 << 3,
- RotationalVelocity = 1 << 4,
- EntPropUpdates = Position | Orientation | Velocity | Acceleration | RotationalVelocity,
- }
- public abstract class BSPhysObject : PhysicsActor
- {
- protected BSPhysObject()
- {
- }
- protected BSPhysObject(BSScene parentScene, uint localID, string name, string typeName)
- {
- PhysScene = parentScene;
- LocalID = localID;
- PhysObjectName = name;
- Name = name; // PhysicsActor also has the name of the object. Someday consolidate.
- TypeName = typeName;
- // The collection of things that push me around
- PhysicalActors = new BSActorCollection(PhysScene);
- // 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);
- PhysShape = new BSShapeNull();
- UserSetCenterOfMassDisplacement = null;
- PrimAssetState = PrimAssetCondition.Unknown;
- // Default material type. Also sets Friction, Restitution and Density.
- SetMaterial((int)MaterialAttributes.Material.Wood);
- CollisionCollection = new CollisionEventUpdate();
- CollisionsLastReported = CollisionCollection;
- CollisionsLastTick = new CollisionEventUpdate();
- CollisionsLastTickStep = -1;
- SubscribedEventsMs = 0;
- // Crazy values that will never be true
- CollidingStep = BSScene.NotASimulationStep;
- CollidingGroundStep = BSScene.NotASimulationStep;
- CollisionAccumulation = BSScene.NotASimulationStep;
- ColliderIsMoving = false;
- CollisionScore = 0;
- // All axis free.
- LockedLinearAxis = LockedAxisFree;
- LockedAngularAxis = LockedAxisFree;
- }
- // Tell the object to clean up.
- public virtual void Destroy()
- {
- PhysicalActors.Enable(false);
- PhysScene.TaintedObject("BSPhysObject.Destroy", delegate()
- {
- PhysicalActors.Dispose();
- });
- }
- public BSScene PhysScene { get; protected set; }
- // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor
- public string PhysObjectName { get; protected set; }
- public string TypeName { get; protected set; }
- // Return the object mass without calculating it or having side effects
- public abstract float RawMass { get; }
- // Set the raw mass but also update physical mass properties (inertia, ...)
- // 'inWorld' true if the object has already been added to the dynamic world.
- public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
- // The gravity being applied to the object. A function of default grav, GravityModifier and Buoyancy.
- public virtual OMV.Vector3 Gravity { get; set; }
- // The last value calculated for the prim's inertia
- public OMV.Vector3 Inertia { get; set; }
- // Reference to the physical body (btCollisionObject) of this object
- public BulletBody PhysBody;
- // Reference to the physical shape (btCollisionShape) of this object
- public BSShape PhysShape;
- // The physical representation of the prim might require an asset fetch.
- // The asset state is first 'Unknown' then 'Waiting' then either 'Failed' or 'Fetched'.
- public enum PrimAssetCondition
- {
- Unknown, Waiting, FailedAssetFetch, FailedMeshing, Fetched
- }
- public PrimAssetCondition PrimAssetState { get; set; }
- // The objects base shape information. Null if not a prim type shape.
- public PrimitiveBaseShape BaseShape { get; protected set; }
- // When the physical properties are updated, an EntityProperty holds the update values.
- // Keep the current and last EntityProperties to enable computation of differences
- // between the current update and the previous values.
- public EntityProperties CurrentEntityProperties { get; set; }
- public EntityProperties LastEntityProperties { get; set; }
- public virtual OMV.Vector3 Scale { get; set; }
- // It can be confusing for an actor to know if it should move or update an object
- // depeneding on the setting of 'selected', 'physical, ...
- // This flag is the true test -- if true, the object is being acted on in the physical world
- public abstract bool IsPhysicallyActive { get; }
- // Detailed state of the object.
- public abstract bool IsSolid { get; }
- public abstract bool IsStatic { get; }
- public abstract bool IsSelected { get; }
- // Materialness
- public MaterialAttributes.Material Material { get; private set; }
- public override void SetMaterial(int material)
- {
- Material = (MaterialAttributes.Material)material;
- // Setting the material sets the material attributes also.
- // TODO: decide if this is necessary -- the simulator does this.
- MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
- Friction = matAttrib.friction;
- Restitution = matAttrib.restitution;
- Density = matAttrib.density / BSParam.DensityScaleFactor;
- // DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density);
- }
- // Stop all physical motion.
- public abstract void ZeroMotion(bool inTaintTime);
- public abstract void ZeroAngularMotion(bool inTaintTime);
- // Update the physical location and motion of the object. Called with data from Bullet.
- public abstract void UpdateProperties(EntityProperties entprop);
- public virtual OMV.Vector3 RawPosition { get; set; }
- public abstract OMV.Vector3 ForcePosition { get; set; }
- public virtual OMV.Quaternion RawOrientation { get; set; }
- public abstract OMV.Quaternion ForceOrientation { 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 void AddForce(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
- {
- get
- {
- OMV.Vector3 characterOrientedVelocity = RawVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation));
- return characterOrientedVelocity.X;
- }
- }
- // The forward speed we are trying to achieve (TargetVelocity)
- public virtual float TargetVelocitySpeed
- {
- get
- {
- OMV.Vector3 characterOrientedVelocity = TargetVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation));
- return characterOrientedVelocity.X;
- }
- }
- // The user can optionally set the center of mass. The user's setting will override any
- // computed center-of-mass (like in linksets).
- // Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass.
- public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; }
- public OMV.Vector3 LockedLinearAxis { get; set; } // zero means locked. one means free.
- public OMV.Vector3 LockedAngularAxis { get; set; } // zero means locked. one means free.
- public const float FreeAxis = 1f;
- public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(FreeAxis, FreeAxis, FreeAxis); // All axis are free
- // 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)
- PhysScene.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.
- // May be called at non-taint time as this just adds the actor to the action list and the real
- // work is done during the simulation step.
- // Note that, if the actor is already in the list and we are disabling same, the actor is just left
- // in the list disabled.
- public delegate BSActor CreateActor();
- public void EnableActor(bool enableActor, string actorName, CreateActor creator)
- {
- lock (PhysicalActors)
- {
- BSActor theActor;
- if (PhysicalActors.TryGetActor(actorName, out theActor))
- {
- // The actor already exists so just turn it on or off
- DetailLog("{0},BSPhysObject.EnableActor,enablingExistingActor,name={1},enable={2}", LocalID, actorName, enableActor);
- theActor.Enabled = enableActor;
- }
- else
- {
- // The actor does not exist. If it should, create it.
- if (enableActor)
- {
- DetailLog("{0},BSPhysObject.EnableActor,creatingActor,name={1}", LocalID, actorName);
- theActor = creator();
- PhysicalActors.Add(actorName, theActor);
- theActor.Enabled = true;
- }
- else
- {
- DetailLog("{0},BSPhysObject.EnableActor,notCreatingActorSinceNotEnabled,name={1}", LocalID, actorName);
- }
- }
- }
- }
- #region Collisions
- // Requested number of milliseconds between collision events. Zero means disabled.
- protected int SubscribedEventsMs { get; set; }
- // Given subscription, the time that a collision may be passed up
- protected int NextCollisionOkTime { get; set; }
- // The simulation step that last had a collision
- protected long CollidingStep { get; set; }
- // The simulation step that last had a collision with the ground
- protected long CollidingGroundStep { get; set; }
- // The simulation step that last collided with an object
- protected long CollidingObjectStep { get; set; }
- // The collision flags we think are set in Bullet
- 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)
- 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; }
- public override bool IsColliding {
- get { return (CollidingStep == PhysScene.SimulationStep); }
- set {
- if (value)
- CollidingStep = PhysScene.SimulationStep;
- else
- CollidingStep = BSScene.NotASimulationStep;
- }
- }
- public override bool CollidingGround {
- get { return (CollidingGroundStep == PhysScene.SimulationStep); }
- set
- {
- if (value)
- CollidingGroundStep = PhysScene.SimulationStep;
- else
- CollidingGroundStep = BSScene.NotASimulationStep;
- }
- }
- public override bool CollidingObj {
- get { return (CollidingObjectStep == PhysScene.SimulationStep); }
- set {
- if (value)
- CollidingObjectStep = PhysScene.SimulationStep;
- else
- CollidingObjectStep = BSScene.NotASimulationStep;
- }
- }
- // The collisions that have been collected for the next collision reporting (throttled by subscription)
- protected CollisionEventUpdate CollisionCollection;
- // This is the collision collection last reported to the Simulator.
- public CollisionEventUpdate CollisionsLastReported;
- // Remember the collisions recorded in the last tick for fancy collision checking
- // (like a BSCharacter walking up stairs).
- public CollisionEventUpdate CollisionsLastTick;
- private long CollisionsLastTickStep = -1;
- // The simulation step is telling this object about a collision.
- // Return 'true' if a collision was processed and should be sent up.
- // Return 'false' if this object is not enabled/subscribed/appropriate for or has already seen this collision.
- // Called at taint time from within the Step() function
- public virtual bool Collide(uint collidingWith, BSPhysObject collidee,
- OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth)
- {
- bool ret = false;
- // The following lines make IsColliding(), CollidingGround() and CollidingObj work
- CollidingStep = PhysScene.SimulationStep;
- if (collidingWith <= PhysScene.TerrainManager.HighestTerrainID)
- {
- CollidingGroundStep = PhysScene.SimulationStep;
- }
- else
- {
- CollidingObjectStep = PhysScene.SimulationStep;
- }
- CollisionAccumulation++;
- // For movement tests, remember if we are colliding with an object that is moving.
- ColliderIsMoving = collidee != null ? (collidee.RawVelocity != OMV.Vector3.Zero) : false;
- // Make a collection of the collisions that happened the last simulation tick.
- // This is different than the collection created for sending up to the simulator as it is cleared every tick.
- if (CollisionsLastTickStep != PhysScene.SimulationStep)
- {
- CollisionsLastTick = new CollisionEventUpdate();
- CollisionsLastTickStep = PhysScene.SimulationStep;
- }
- CollisionsLastTick.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
- // If someone has subscribed for collision events log the collision so it will be reported up
- if (SubscribedEvents()) {
- CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
- DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5},colliderMoving={6}",
- LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth, ColliderIsMoving);
- ret = true;
- }
- return ret;
- }
- // Send the collected collisions into the simulator.
- // Called at taint time from within the Step() function thus no locking problems
- // with CollisionCollection and ObjectsWithNoMoreCollisions.
- // Return 'true' if there were some actual collisions passed up
- public virtual bool SendCollisions()
- {
- bool ret = true;
- // If the 'no collision' call, force it to happen right now so quick collision_end
- bool force = (CollisionCollection.Count == 0 && CollisionsLastReported.Count != 0);
- // throttle the collisions to the number of milliseconds specified in the subscription
- if (force || (PhysScene.SimulationNowTime >= NextCollisionOkTime))
- {
- NextCollisionOkTime = PhysScene.SimulationNowTime + SubscribedEventsMs;
- // We are called if we previously had collisions. If there are no collisions
- // this time, send up one last empty event so OpenSim can sense collision end.
- if (CollisionCollection.Count == 0)
- {
- // If I have no collisions this time, remove me from the list of objects with collisions.
- ret = false;
- }
- DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
- base.SendCollisionUpdate(CollisionCollection);
- // Remember the collisions from this tick for some collision specific processing.
- CollisionsLastReported = CollisionCollection;
- // The CollisionCollection instance is passed around in the simulator.
- // Make sure we don't have a handle to that one and that a new one is used for next time.
- // This fixes an interesting 'gotcha'. If we call CollisionCollection.Clear() here,
- // a race condition is created for the other users of this instance.
- CollisionCollection = new CollisionEventUpdate();
- }
- return ret;
- }
- // Subscribe for collision events.
- // Parameter is the millisecond rate the caller wishes collision events to occur.
- public override void SubscribeEvents(int ms) {
- // DetailLog("{0},{1}.SubscribeEvents,subscribing,ms={2}", LocalID, TypeName, ms);
- SubscribedEventsMs = ms;
- if (ms > 0)
- {
- // make sure first collision happens
- NextCollisionOkTime = Util.EnvironmentTickCountSubtract(SubscribedEventsMs);
- PhysScene.TaintedObject(TypeName+".SubscribeEvents", delegate()
- {
- if (PhysBody.HasPhysicalBody)
- CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
- });
- }
- else
- {
- // Subscribing for zero or less is the same as unsubscribing
- UnSubscribeEvents();
- }
- }
- public override void UnSubscribeEvents() {
- // DetailLog("{0},{1}.UnSubscribeEvents,unsubscribing", LocalID, TypeName);
- SubscribedEventsMs = 0;
- PhysScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate()
- {
- // Make sure there is a body there because sometimes destruction happens in an un-ideal order.
- if (PhysBody.HasPhysicalBody)
- CurrentCollisionFlags = PhysScene.PE.RemoveFromCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
- });
- }
- // Return 'true' if the simulator wants collision events
- public override bool SubscribedEvents() {
- return (SubscribedEventsMs > 0);
- }
- // Because 'CollisionScore' is called many times while sorting, it should not be recomputed
- // each time called. So this is built to be light weight for each collision and to do
- // all the processing when the user asks for the info.
- public void ComputeCollisionScore()
- {
- // Scale the collision count by the time since the last collision.
- // The "+1" prevents dividing by zero.
- long timeAgo = PhysScene.SimulationStep - CollidingStep + 1;
- CollisionScore = CollisionAccumulation / timeAgo;
- }
- public override float CollisionScore { get; set; }
- #endregion // Collisions
- #region Per Simulation Step actions
- public BSActorCollection PhysicalActors;
- // 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);
- public event PreUpdatePropertyAction OnPreUpdateProperty;
- protected void TriggerPreUpdatePropertyAction(ref EntityProperties entprop)
- {
- PreUpdatePropertyAction actions = OnPreUpdateProperty;
- if (actions != null)
- actions(ref entprop);
- }
- #endregion // Per Simulation Step actions
- // High performance detailed logging routine used by the physical objects.
- protected void DetailLog(string msg, params Object[] args)
- {
- if (PhysScene.PhysicsLogging.Enabled)
- PhysScene.DetailLog(msg, args);
- }
- }
- }
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