Merge branch 'master' of opensimulator.org:/var/git/opensim
Melanie Thielker
commit
07b78a68fc
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@ -418,17 +418,6 @@ namespace OpenSim.Region.Framework.Scenes
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private float terrainMS;
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private float landMS;
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// A temporary configuration flag to enable using FireAndForget to process
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// collisions from the physics engine. There is a problem with collisions
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// stopping sometimes and MB's suspicion is some race condition passing
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// collisions from the physics engine callback to the script engine.
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// This causes the collision events to be passed with a FireAndForget
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// call which should eliminate that linkage. Testers can turn this on
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// and see if collisions stop. If they don't, the problem is somewhere else.
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// This feature defaults to 'off' so, by default, the simulator operation
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// is not changed.
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public bool ShouldUseFireAndForgetForCollisions = false;
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/// <summary>
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/// Tick at which the last frame was processed.
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/// </summary>
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@ -1147,10 +1136,6 @@ namespace OpenSim.Region.Framework.Scenes
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m_update_terrain = startupConfig.GetInt("UpdateTerrainEveryNFrames", m_update_terrain);
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m_update_temp_cleaning = startupConfig.GetInt("UpdateTempCleaningEveryNSeconds", m_update_temp_cleaning);
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if (startupConfig.Contains("ShouldUseFireAndForgetForCollisions"))
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{
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ShouldUseFireAndForgetForCollisions = startupConfig.GetBoolean("ShouldUseFireAndForgetForCollisions", false);
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}
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}
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@ -3571,6 +3571,9 @@ namespace OpenSim.Region.Framework.Scenes
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!Rotation.ApproxEquals(m_lastRotation, ROTATION_TOLERANCE)
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|| !Velocity.ApproxEquals(m_lastVelocity, VELOCITY_TOLERANCE)
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|| !m_pos.ApproxEquals(m_lastPosition, POSITION_LARGETOLERANCE)
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// if velocity is zero and it wasn't zero last time, send the update
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|| (Velocity == Vector3.Zero && m_lastVelocity != Vector3.Zero)
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// if position has moved just a little and velocity is very low, send the update
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|| (!m_pos.ApproxEquals(m_lastPosition, POSITION_SMALLTOLERANCE) && Velocity.LengthSquared() < LOWVELOCITYSQ )
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) )
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{
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@ -40,7 +40,6 @@ public sealed class BSCharacter : BSPhysObject
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private static readonly string LogHeader = "[BULLETS CHAR]";
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// private bool _stopped;
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private OMV.Vector3 _size;
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private bool _grabbed;
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private bool _selected;
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private float _mass;
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@ -57,6 +56,9 @@ public sealed class BSCharacter : BSPhysObject
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private bool _kinematic;
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private float _buoyancy;
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private OMV.Vector3 _size;
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private float _footOffset;
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private BSActorAvatarMove m_moveActor;
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private const string AvatarMoveActorName = "BSCharacter.AvatarMove";
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@ -76,7 +78,7 @@ public sealed class BSCharacter : BSPhysObject
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public override bool IsIncomplete { get { return false; } }
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public BSCharacter(
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uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, bool isFlying)
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uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 vel, OMV.Vector3 size, float footOffset, bool isFlying)
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: base(parent_scene, localID, avName, "BSCharacter")
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{
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@ -91,21 +93,13 @@ public sealed class BSCharacter : BSPhysObject
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Density = BSParam.AvatarDensity;
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_isPhysical = true;
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// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
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// replace with the default values.
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_size = size;
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if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
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if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
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// The dimensions of the physical capsule are kept in the scale.
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// Physics creates a unit capsule which is scaled by the physics engine.
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Scale = ComputeAvatarScale(_size);
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// set _avatarVolume and _mass based on capsule size, _density and Scale
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ComputeAvatarVolumeAndMass();
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// Adjustments for zero X and Y made in Size()
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// This also computes avatar scale, volume, and mass
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SetAvatarSize(size, footOffset, true /* initializing */);
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DetailLog(
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"{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5},pos={6},vel={7}",
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LocalID, _size, Scale, Density, _avatarVolume, RawMass, pos, vel);
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LocalID, Size, Scale, Density, _avatarVolume, RawMass, pos, vel);
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// do actual creation in taint time
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PhysScene.TaintedObject(LocalID, "BSCharacter.create", delegate()
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@ -209,45 +203,68 @@ public sealed class BSCharacter : BSPhysObject
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public override OMV.Vector3 Size {
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get
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{
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// Avatar capsule size is kept in the scale parameter.
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return _size;
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}
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set {
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// This is how much the avatar size is changing. Positive means getting bigger.
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// The avatar altitude must be adjusted for this change.
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float heightChange = value.Z - _size.Z;
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_size = value;
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// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
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// replace with the default values.
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if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
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if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
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Scale = ComputeAvatarScale(_size);
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ComputeAvatarVolumeAndMass();
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DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
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LocalID, _size, Scale, Density, _avatarVolume, RawMass);
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PhysScene.TaintedObject(LocalID, "BSCharacter.setSize", delegate()
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{
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if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape)
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{
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PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale);
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UpdatePhysicalMassProperties(RawMass, true);
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// Adjust the avatar's position to account for the increase/decrease in size
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ForcePosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, RawPosition.Z + heightChange / 2f);
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// Make sure this change appears as a property update event
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PhysScene.PE.PushUpdate(PhysBody);
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}
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});
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setAvatarSize(value, _footOffset);
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}
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}
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public override PrimitiveBaseShape Shape
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// OpenSim 0.9 introduces a common avatar size computation
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public override void setAvatarSize(OMV.Vector3 size, float feetOffset)
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{
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SetAvatarSize(size, feetOffset, false /* initializing */);
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}
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// Internal version that, if initializing, doesn't do all the updating of the physics engine
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public void SetAvatarSize(OMV.Vector3 size, float feetOffset, bool initializing)
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{
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OMV.Vector3 newSize = size;
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if (newSize.IsFinite())
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{
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// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
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// replace with the default values.
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if (newSize.X == 0f) newSize.X = BSParam.AvatarCapsuleDepth;
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if (newSize.Y == 0f) newSize.Y = BSParam.AvatarCapsuleWidth;
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if (newSize.X < 0.01f) newSize.X = 0.01f;
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if (newSize.Y < 0.01f) newSize.Y = 0.01f;
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if (newSize.Z < 0.01f) newSize.Z = BSParam.AvatarCapsuleHeight;
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}
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else
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{
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newSize = new OMV.Vector3(BSParam.AvatarCapsuleDepth, BSParam.AvatarCapsuleWidth, BSParam.AvatarCapsuleHeight);
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}
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// This is how much the avatar size is changing. Positive means getting bigger.
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// The avatar altitude must be adjusted for this change.
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float heightChange = newSize.Z - Size.Z;
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_size = newSize;
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Scale = ComputeAvatarScale(Size);
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ComputeAvatarVolumeAndMass();
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DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
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LocalID, _size, Scale, Density, _avatarVolume, RawMass);
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PhysScene.TaintedObject(LocalID, "BSCharacter.setSize", delegate()
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{
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if (PhysBody.HasPhysicalBody && PhysShape.physShapeInfo.HasPhysicalShape)
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{
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PhysScene.PE.SetLocalScaling(PhysShape.physShapeInfo, Scale);
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UpdatePhysicalMassProperties(RawMass, true);
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// Adjust the avatar's position to account for the increase/decrease in size
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ForcePosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, RawPosition.Z + heightChange / 2f);
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// Make sure this change appears as a property update event
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PhysScene.PE.PushUpdate(PhysBody);
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}
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});
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}
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public override PrimitiveBaseShape Shape
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{
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set { BaseShape = value; }
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}
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@ -702,60 +719,71 @@ public sealed class BSCharacter : BSPhysObject
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public override void SetMomentum(OMV.Vector3 momentum) {
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}
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// The avatar's physical shape (whether capsule or cube) is unit sized. BulletSim sets
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// the scale of that unit shape to create the avatars full size.
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private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size)
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{
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OMV.Vector3 newScale = size;
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// Bullet's capsule total height is the "passed height + radius * 2";
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// The base capsule is 1 unit in diameter and 2 units in height (passed radius=0.5, passed height = 1)
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// The number we pass in for 'scaling' is the multiplier to get that base
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// shape to be the size desired.
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// So, when creating the scale for the avatar height, we take the passed height
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// (size.Z) and remove the caps.
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// An oddity of the Bullet capsule implementation is that it presumes the Y
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// dimension is the radius of the capsule. Even though some of the code allows
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// for a asymmetrical capsule, other parts of the code presume it is cylindrical.
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// Scale is multiplier of radius with one of "0.5"
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float heightAdjust = BSParam.AvatarHeightMidFudge;
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if (BSParam.AvatarHeightLowFudge != 0f || BSParam.AvatarHeightHighFudge != 0f)
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if (BSParam.AvatarUseBefore09SizeComputation)
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{
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const float AVATAR_LOW = 1.1f;
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const float AVATAR_MID = 1.775f; // 1.87f
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const float AVATAR_HI = 2.45f;
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// An avatar is between 1.1 and 2.45 meters. Midpoint is 1.775m.
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float midHeightOffset = size.Z - AVATAR_MID;
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if (midHeightOffset < 0f)
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// Bullet's capsule total height is the "passed height + radius * 2";
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// The base capsule is 1 unit in diameter and 2 units in height (passed radius=0.5, passed height = 1)
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// The number we pass in for 'scaling' is the multiplier to get that base
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// shape to be the size desired.
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// So, when creating the scale for the avatar height, we take the passed height
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// (size.Z) and remove the caps.
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// An oddity of the Bullet capsule implementation is that it presumes the Y
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// dimension is the radius of the capsule. Even though some of the code allows
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// for a asymmetrical capsule, other parts of the code presume it is cylindrical.
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// Scale is multiplier of radius with one of "0.5"
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float heightAdjust = BSParam.AvatarHeightMidFudge;
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if (BSParam.AvatarHeightLowFudge != 0f || BSParam.AvatarHeightHighFudge != 0f)
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{
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// Small avatar. Add the adjustment based on the distance from midheight
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heightAdjust += ((-1f * midHeightOffset) / (AVATAR_MID - AVATAR_LOW)) * BSParam.AvatarHeightLowFudge;
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const float AVATAR_LOW = 1.1f;
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const float AVATAR_MID = 1.775f; // 1.87f
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const float AVATAR_HI = 2.45f;
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// An avatar is between 1.1 and 2.45 meters. Midpoint is 1.775m.
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float midHeightOffset = size.Z - AVATAR_MID;
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if (midHeightOffset < 0f)
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{
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// Small avatar. Add the adjustment based on the distance from midheight
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heightAdjust += ((-1f * midHeightOffset) / (AVATAR_MID - AVATAR_LOW)) * BSParam.AvatarHeightLowFudge;
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}
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else
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{
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// Large avatar. Add the adjustment based on the distance from midheight
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heightAdjust += ((midHeightOffset) / (AVATAR_HI - AVATAR_MID)) * BSParam.AvatarHeightHighFudge;
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}
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}
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if (BSParam.AvatarShape == BSShapeCollection.AvatarShapeCapsule)
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{
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newScale.X = size.X / 2f;
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newScale.Y = size.Y / 2f;
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// The total scale height is the central cylindar plus the caps on the two ends.
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newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2) + heightAdjust) / 2f;
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}
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else
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{
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// Large avatar. Add the adjustment based on the distance from midheight
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heightAdjust += ((midHeightOffset) / (AVATAR_HI - AVATAR_MID)) * BSParam.AvatarHeightHighFudge;
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newScale.Z = size.Z + heightAdjust;
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}
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}
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if (BSParam.AvatarShape == BSShapeCollection.AvatarShapeCapsule)
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{
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newScale.X = size.X / 2f;
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newScale.Y = size.Y / 2f;
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// The total scale height is the central cylindar plus the caps on the two ends.
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newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2) + heightAdjust) / 2f;
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// m_log.DebugFormat("{0} ComputeAvatarScale: size={1},adj={2},scale={3}", LogHeader, size, heightAdjust, newScale);
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// If smaller than the endcaps, just fake like we're almost that small
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if (newScale.Z < 0)
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newScale.Z = 0.1f;
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DetailLog("{0},BSCharacter.ComputeAvatarScale,size={1},lowF={2},midF={3},hiF={4},adj={5},newScale={6}",
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LocalID, size, BSParam.AvatarHeightLowFudge, BSParam.AvatarHeightMidFudge, BSParam.AvatarHeightHighFudge, heightAdjust, newScale);
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}
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else
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{
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newScale.Z = size.Z + heightAdjust;
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newScale.Z = size.Z + _footOffset;
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DetailLog("{0},BSCharacter.ComputeAvatarScale,using newScale={1}, footOffset={2}", LocalID, newScale, _footOffset);
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}
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// m_log.DebugFormat("{0} ComputeAvatarScale: size={1},adj={2},scale={3}", LogHeader, size, heightAdjust, newScale);
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// If smaller than the endcaps, just fake like we're almost that small
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if (newScale.Z < 0)
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newScale.Z = 0.1f;
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DetailLog("{0},BSCharacter.ComputerAvatarScale,size={1},lowF={2},midF={3},hiF={4},adj={5},newScale={6}",
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LocalID, size, BSParam.AvatarHeightLowFudge, BSParam.AvatarHeightMidFudge, BSParam.AvatarHeightHighFudge, heightAdjust, newScale);
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return newScale;
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}
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@ -763,17 +791,24 @@ public sealed class BSCharacter : BSPhysObject
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// set _avatarVolume and _mass based on capsule size, _density and Scale
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private void ComputeAvatarVolumeAndMass()
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{
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_avatarVolume = (float)(
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Math.PI
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* Size.X / 2f
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* Size.Y / 2f // the area of capsule cylinder
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* Size.Z // times height of capsule cylinder
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+ 1.33333333f
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* Math.PI
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* Size.X / 2f
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* Math.Min(Size.X, Size.Y) / 2
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* Size.Y / 2f // plus the volume of the capsule end caps
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);
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if (BSParam.AvatarShape == BSShapeCollection.AvatarShapeCapsule)
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{
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_avatarVolume = (float)(
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Math.PI
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* Size.X / 2f
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* Size.Y / 2f // the area of capsule cylinder
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* Size.Z // times height of capsule cylinder
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+ 1.33333333f
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* Math.PI
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* Size.X / 2f
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* Math.Min(Size.X, Size.Y) / 2
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* Size.Y / 2f // plus the volume of the capsule end caps
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);
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}
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else
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{
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_avatarVolume = Size.X * Size.Y * Size.Z;
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}
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_mass = Density * BSParam.DensityScaleFactor * _avatarVolume;
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}
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@ -142,6 +142,7 @@ public static class BSParam
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public static float AvatarCapsuleWidth { get; private set; }
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public static float AvatarCapsuleDepth { get; private set; }
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public static float AvatarCapsuleHeight { get; private set; }
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public static bool AvatarUseBefore09SizeComputation { get; private set; }
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public static float AvatarHeightLowFudge { get; private set; }
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public static float AvatarHeightMidFudge { get; private set; }
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public static float AvatarHeightHighFudge { get; private set; }
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@ -616,6 +617,8 @@ public static class BSParam
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0.45f ),
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new ParameterDefn<float>("AvatarCapsuleHeight", "Default height of space around avatar",
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1.5f ),
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new ParameterDefn<bool>("AvatarUseBefore09SizeComputation", "Use the old fudge method of computing avatar capsule size",
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true ),
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new ParameterDefn<float>("AvatarHeightLowFudge", "A fudge factor to make small avatars stand on the ground",
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0f ),
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new ParameterDefn<float>("AvatarHeightMidFudge", "A fudge distance to adjust average sized avatars to be standing on ground",
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@ -633,7 +636,7 @@ public static class BSParam
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new ParameterDefn<float>("AvatarAddForcePushFactor", "BSCharacter.AddForce is multiplied by this and mass to be like other physics engines",
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0.315f ),
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new ParameterDefn<float>("AvatarStopZeroThreshold", "Movement velocity below which avatar is assumed to be stopped",
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0.4f,
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0.45f,
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(s) => { return (float)AvatarStopZeroThreshold; },
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(s,v) => { AvatarStopZeroThreshold = v; AvatarStopZeroThresholdSquared = v * v; } ),
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new ParameterDefn<float>("AvatarBelowGroundUpCorrectionMeters", "Meters to move avatar up if it seems to be below ground",
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|
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@ -523,13 +523,13 @@ namespace OpenSim.Region.PhysicsModule.BulletS
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return null;
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}
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public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 velocity, Vector3 size, bool isFlying)
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public override PhysicsActor AddAvatar(uint localID, string avName, Vector3 position, Vector3 size, float footOffset, bool isFlying)
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{
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// m_log.DebugFormat("{0}: AddAvatar: {1}", LogHeader, avName);
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if (!m_initialized) return null;
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BSCharacter actor = new BSCharacter(localID, avName, this, position, velocity, size, isFlying);
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BSCharacter actor = new BSCharacter(localID, avName, this, position, Vector3.Zero, size, footOffset, isFlying);
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lock (PhysObjects)
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PhysObjects.Add(localID, actor);
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||||
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||||
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