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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim

0.7.5-pf-bulletsim
BlueWall 2012-12-03 20:17:00 -05:00
parent ac65085cc3 787636b97a
commit 0c7d6adef1
18 changed files with 578 additions and 287 deletions
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4
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
View File

@ -165,8 +165,8 @@ public sealed class BSCharacter : BSPhysObject
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
// Do this after the object has been added to the world
BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr,
(uint)CollisionFilterGroups.AvatarFilter,
BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr,
(uint)CollisionFilterGroups.AvatarGroup,
(uint)CollisionFilterGroups.AvatarMask);
}

504
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
View File

@ -45,9 +45,7 @@ using System;
using System.Collections.Generic;
using System.Reflection;
using System.Runtime.InteropServices;
using log4net;
using OpenMetaverse;
using OpenSim.Framework;
using OpenSim.Region.Physics.Manager;
namespace OpenSim.Region.Physics.BulletSPlugin
@ -100,7 +98,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate
private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
private Vector3 m_lastAngularCorrection = Vector3.Zero;
private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
//Deflection properties
@ -113,6 +111,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private float m_bankingEfficiency = 0;
private float m_bankingMix = 0;
private float m_bankingTimescale = 0;
private Vector3 m_lastBanking = Vector3.Zero;
//Hover and Buoyancy properties
private float m_VhoverHeight = 0f;
@ -127,7 +126,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
//Attractor properties
private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction");
private float m_verticalAttractionEfficiency = 1.0f; // damped
private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
private float m_verticalAttractionTimescale = 600f; // Timescale > 500 means no vert attractor.
public BSDynamics(BSScene myScene, BSPrim myPrim)
{
@ -154,7 +153,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_angularDeflectionTimescale = Math.Max(pValue, 0.01f);
break;
case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
m_angularMotorDecayTimescale = Math.Max(0.01f, Math.Min(pValue,120));
m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale;
break;
case Vehicle.ANGULAR_MOTOR_TIMESCALE:
@ -162,7 +161,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_angularMotor.TimeScale = m_angularMotorTimescale;
break;
case Vehicle.BANKING_EFFICIENCY:
m_bankingEfficiency = Math.Max(-1f, Math.Min(pValue, 1f));
m_bankingEfficiency = ClampInRange(-1f, pValue, 1f);
break;
case Vehicle.BANKING_MIX:
m_bankingMix = Math.Max(pValue, 0.01f);
@ -171,10 +170,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_bankingTimescale = Math.Max(pValue, 0.01f);
break;
case Vehicle.BUOYANCY:
m_VehicleBuoyancy = Math.Max(-1f, Math.Min(pValue, 1f));
m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f);
break;
case Vehicle.HOVER_EFFICIENCY:
m_VhoverEfficiency = Math.Max(0f, Math.Min(pValue, 1f));
m_VhoverEfficiency = ClampInRange(0f, pValue, 1f);
break;
case Vehicle.HOVER_HEIGHT:
m_VhoverHeight = pValue;
@ -189,7 +188,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_linearDeflectionTimescale = Math.Max(pValue, 0.01f);
break;
case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
m_linearMotorDecayTimescale = Math.Max(0.01f, Math.Min(pValue,120));
m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale;
break;
case Vehicle.LINEAR_MOTOR_TIMESCALE:
@ -197,7 +196,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_linearMotor.TimeScale = m_linearMotorTimescale;
break;
case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
m_verticalAttractionEfficiency = Math.Max(0.1f, Math.Min(pValue, 1f));
m_verticalAttractionEfficiency = ClampInRange(0.1f, pValue, 1f);
m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency;
break;
case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
@ -242,9 +241,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
break;
case Vehicle.ANGULAR_MOTOR_DIRECTION:
// Limit requested angular speed to 2 rps= 4 pi rads/sec
pValue.X = Math.Max(-12.56f, Math.Min(pValue.X, 12.56f));
pValue.Y = Math.Max(-12.56f, Math.Min(pValue.Y, 12.56f));
pValue.Z = Math.Max(-12.56f, Math.Min(pValue.Z, 12.56f));
pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f);
pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f);
pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f);
m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
m_angularMotor.SetTarget(m_angularMotorDirection);
break;
@ -330,6 +329,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_bankingEfficiency = 0;
m_bankingTimescale = 1000;
m_bankingMix = 1;
m_lastBanking = Vector3.Zero;
m_referenceFrame = Quaternion.Identity;
m_flags = (VehicleFlag)0;
@ -364,6 +364,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_bankingEfficiency = 0;
m_bankingTimescale = 10;
m_bankingMix = 1;
m_lastBanking = Vector3.Zero;
m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
@ -402,6 +403,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_bankingEfficiency = -0.2f;
m_bankingMix = 1;
m_bankingTimescale = 1;
m_lastBanking = Vector3.Zero;
m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
@ -440,14 +442,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_bankingEfficiency = -0.3f;
m_bankingMix = 0.8f;
m_bankingTimescale = 1;
m_lastBanking = Vector3.Zero;
m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY
| VehicleFlag.HOVER_GLOBAL_HEIGHT
| VehicleFlag.LIMIT_ROLL_ONLY
| VehicleFlag.LIMIT_MOTOR_UP
| VehicleFlag.HOVER_UP_ONLY);
m_flags |= (VehicleFlag.NO_DEFLECTION_UP
| VehicleFlag.LIMIT_MOTOR_UP
| VehicleFlag.HOVER_WATER_ONLY);
break;
case Vehicle.TYPE_AIRPLANE:
@ -478,6 +481,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_bankingEfficiency = 1;
m_bankingMix = 0.7f;
m_bankingTimescale = 2;
m_lastBanking = Vector3.Zero;
m_referenceFrame = Quaternion.Identity;
m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
@ -516,6 +520,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_bankingEfficiency = 0;
m_bankingMix = 0.7f;
m_bankingTimescale = 5;
m_lastBanking = Vector3.Zero;
m_referenceFrame = Quaternion.Identity;
m_referenceFrame = Quaternion.Identity;
@ -558,9 +564,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
if (IsActive)
{
// Remember the mass so we don't have to fetch it every step
m_vehicleMass = Prim.Linkset.LinksetMass;
// Friction effects are handled by this vehicle code
// Friction affects are handled by this vehicle code
float friction = 0f;
BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, friction);
@ -574,6 +581,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Vector3 localInertia = new Vector3(1f, 1f, 1f);
Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass);
BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr);
VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}",
Prim.LocalID, friction, localInertia, angularDamping);
@ -598,31 +606,167 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Refresh();
}
#region Known vehicle value functions
// Vehicle physical parameters that we buffer from constant getting and setting.
// The "m_known*" variables are initialized to 'null', fetched only if referenced
// and stored back into the physics engine only if updated.
// This does two things: 1) saves continuious calls into unmanaged code, and
// 2) signals when a physics property update must happen back to the simulator
// to update values modified for the vehicle.
private int m_knownChanged;
private float? m_knownTerrainHeight;
private float? m_knownWaterLevel;
private Vector3? m_knownPosition;
private Vector3? m_knownVelocity;
private Quaternion? m_knownOrientation;
private Vector3? m_knownRotationalVelocity;
private const int m_knownChangedPosition = 1 << 0;
private const int m_knownChangedVelocity = 1 << 1;
private const int m_knownChangedOrientation = 1 << 2;
private const int m_knownChangedRotationalVelocity = 1 << 3;
private void ForgetKnownVehicleProperties()
{
m_knownTerrainHeight = null;
m_knownWaterLevel = null;
m_knownPosition = null;
m_knownVelocity = null;
m_knownOrientation = null;
m_knownRotationalVelocity = null;
m_knownChanged = 0;
}
private void PushKnownChanged()
{
if (m_knownChanged != 0)
{
if ((m_knownChanged & m_knownChangedPosition) != 0)
Prim.ForcePosition = VehiclePosition;
if ((m_knownChanged & m_knownChangedOrientation) != 0)
Prim.ForceOrientation = VehicleOrientation;
if ((m_knownChanged & m_knownChangedVelocity) != 0)
Prim.ForceVelocity = VehicleVelocity;
if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0)
{
Prim.ForceRotationalVelocity = VehicleRotationalVelocity;
BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, VehicleRotationalVelocity);
}
// If we set one of the values (ie, the physics engine didn't do it) we must force
// an UpdateProperties event to send the changes up to the simulator.
BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr);
}
}
// Since the computation of terrain height can be a little involved, this routine
// is used ot fetch the height only once for each vehicle simulation step.
private float GetTerrainHeight(Vector3 pos)
{
if (m_knownTerrainHeight == null)
m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
return (float)m_knownTerrainHeight;
}
// Since the computation of water level can be a little involved, this routine
// is used ot fetch the level only once for each vehicle simulation step.
private float GetWaterLevel(Vector3 pos)
{
if (m_knownWaterLevel == null)
m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos);
return (float)m_knownWaterLevel;
}
private Vector3 VehiclePosition
{
get
{
if (m_knownPosition == null)
m_knownPosition = Prim.ForcePosition;
return (Vector3)m_knownPosition;
}
set
{
m_knownPosition = value;
m_knownChanged |= m_knownChangedPosition;
}
}
private Quaternion VehicleOrientation
{
get
{
if (m_knownOrientation == null)
m_knownOrientation = Prim.ForceOrientation;
return (Quaternion)m_knownOrientation;
}
set
{
m_knownOrientation = value;
m_knownChanged |= m_knownChangedOrientation;
}
}
private Vector3 VehicleVelocity
{
get
{
if (m_knownVelocity == null)
m_knownVelocity = Prim.ForceVelocity;
return (Vector3)m_knownVelocity;
}
set
{
m_knownVelocity = value;
m_knownChanged |= m_knownChangedVelocity;
}
}
private Vector3 VehicleRotationalVelocity
{
get
{
if (m_knownRotationalVelocity == null)
m_knownRotationalVelocity = Prim.ForceRotationalVelocity;
return (Vector3)m_knownRotationalVelocity;
}
set
{
m_knownRotationalVelocity = value;
m_knownChanged |= m_knownChangedRotationalVelocity;
}
}
#endregion // Known vehicle value functions
// One step of the vehicle properties for the next 'pTimestep' seconds.
internal void Step(float pTimestep)
{
if (!IsActive) return;
ForgetKnownVehicleProperties();
MoveLinear(pTimestep);
MoveAngular(pTimestep);
LimitRotation(pTimestep);
// remember the position so next step we can limit absolute movement effects
m_lastPositionVector = Prim.ForcePosition;
m_lastPositionVector = VehiclePosition;
// If we forced the changing of some vehicle parameters, update the values and
// for the physics engine to note the changes so an UpdateProperties event will happen.
PushKnownChanged();
VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity);
Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity);
}
// Apply the effect of the linear motor.
// Also does hover and float.
// Apply the effect of the linear motor and other linear motions (like hover and float).
private void MoveLinear(float pTimestep)
{
Vector3 linearMotorContribution = m_linearMotor.Step(pTimestep);
// Rotate new object velocity from vehicle relative to world coordinates
linearMotorContribution *= Prim.ForceOrientation;
// The movement computed in the linear motor is relative to the vehicle
// coordinates. Rotate the movement to world coordinates.
linearMotorContribution *= VehicleOrientation;
// ==================================================================
// Gravity and Buoyancy
@ -630,16 +774,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy);
Vector3 pos = Prim.ForcePosition;
float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep);
Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep, ref pos, terrainHeight);
Vector3 hoverContribution = ComputeLinearHover(pTimestep);
Vector3 hoverContribution = ComputeLinearHover(pTimestep, ref pos, terrainHeight);
ComputeLinearBlockingEndPoint(pTimestep);
ComputeLinearBlockingEndPoint(pTimestep, ref pos);
Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep, pos, terrainHeight);
Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep);
// ==================================================================
Vector3 newVelocity = linearMotorContribution
@ -667,42 +808,39 @@ namespace OpenSim.Region.Physics.BulletSPlugin
newVelocity = Vector3.Zero;
// ==================================================================
// Stuff new linear velocity into the vehicle
Prim.ForceVelocity = newVelocity;
// Prim.ApplyForceImpulse((m_newVelocity - Prim.Velocity) * m_vehicleMass, false); // DEBUG DEBUG
// Stuff new linear velocity into the vehicle.
// Since the velocity is just being set, it is not scaled by pTimeStep. Bullet will do that for us.
VehicleVelocity = newVelocity;
// Other linear forces are applied as forces.
Vector3 totalDownForce = grav * m_vehicleMass;
Vector3 totalDownForce = grav * m_vehicleMass * pTimestep;
if (totalDownForce != Vector3.Zero)
{
Prim.AddForce(totalDownForce, false);
}
VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},primVel={4},totalDown={5}",
Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector,
newVelocity, Prim.Velocity, totalDownForce);
VDetailLog("{0}, MoveLinear,done,newVel={1},totDown={2},linContrib={3},terrContrib={4},hoverContrib={5},limitContrib={6}",
Prim.LocalID, newVelocity, totalDownForce,
linearMotorContribution, terrainHeightContribution, hoverContribution, limitMotorUpContribution
);
} // end MoveLinear()
public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep, ref Vector3 pos, float terrainHeight)
public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep)
{
Vector3 ret = Vector3.Zero;
// If below the terrain, move us above the ground a little.
// Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset.
// TODO: Add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass.
// Vector3 rotatedSize = m_prim.Size * m_prim.ForceOrientation;
// if (rotatedSize.Z < terrainHeight)
if (pos.Z < terrainHeight)
// TODO: Consider taking the rotated size of the object or possibly casting a ray.
if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition))
{
// TODO: correct position by applying force rather than forcing position.
pos.Z = terrainHeight + 2;
Prim.ForcePosition = pos;
VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos);
VehiclePosition += new Vector3(0f, 0f, GetTerrainHeight(VehiclePosition) + 2f);
VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition);
}
return ret;
}
public Vector3 ComputeLinearHover(float pTimestep, ref Vector3 pos, float terrainHeight)
public Vector3 ComputeLinearHover(float pTimestep)
{
Vector3 ret = Vector3.Zero;
@ -713,11 +851,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// We should hover, get the target height
if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{
m_VhoverTargetHeight = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
m_VhoverTargetHeight = GetWaterLevel(VehiclePosition) + m_VhoverHeight;
}
if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{
m_VhoverTargetHeight = terrainHeight + m_VhoverHeight;
m_VhoverTargetHeight = GetTerrainHeight(VehiclePosition) + m_VhoverHeight;
}
if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
{
@ -727,46 +865,44 @@ namespace OpenSim.Region.Physics.BulletSPlugin
if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
{
// If body is already heigher, use its height as target height
if (pos.Z > m_VhoverTargetHeight)
m_VhoverTargetHeight = pos.Z;
if (VehiclePosition.Z > m_VhoverTargetHeight)
m_VhoverTargetHeight = VehiclePosition.Z;
}
if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
{
if (Math.Abs(pos.Z - m_VhoverTargetHeight) > 0.2f)
if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f)
{
Vector3 pos = VehiclePosition;
pos.Z = m_VhoverTargetHeight;
Prim.ForcePosition = pos;
VehiclePosition = pos;
}
}
else
{
float verticalError = pos.Z - m_VhoverTargetHeight;
// RA: where does the 50 come from?
float verticalCorrectionVelocity = pTimestep * ((verticalError * 50.0f) / m_VhoverTimescale);
// Replace Vertical speed with correction figure if significant
if (verticalError > 0.01f)
// Error is positive if below the target and negative if above.
float verticalError = m_VhoverTargetHeight - VehiclePosition.Z;
float verticalCorrectionVelocity = verticalError / m_VhoverTimescale;
// TODO: implement m_VhoverEfficiency correctly
if (Math.Abs(verticalError) > m_VhoverEfficiency)
{
ret = new Vector3(0f, 0f, verticalCorrectionVelocity);
//KF: m_VhoverEfficiency is not yet implemented
}
else if (verticalError < -0.01)
{
ret = new Vector3(0f, 0f, -verticalCorrectionVelocity);
}
}
VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}",
Prim.LocalID, pos, ret, m_VhoverHeight, m_VhoverTargetHeight);
VDetailLog("{0}, MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}",
Prim.LocalID, VehiclePosition, ret, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight);
}
return ret;
}
public bool ComputeLinearBlockingEndPoint(float pTimestep, ref Vector3 pos)
public bool ComputeLinearBlockingEndPoint(float pTimestep)
{
bool changed = false;
Vector3 pos = VehiclePosition;
Vector3 posChange = pos - m_lastPositionVector;
if (m_BlockingEndPoint != Vector3.Zero)
{
@ -797,8 +933,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
}
if (changed)
{
Prim.ForcePosition = pos;
VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
VehiclePosition = pos;
VDetailLog("{0}, MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
Prim.LocalID, m_BlockingEndPoint, posChange, pos);
}
}
@ -812,13 +948,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering
// when they are in mid jump.
// TODO: this code is wrong. Also, what should it do for boats?
public Vector3 ComputeLinearMotorUp(float pTimestep, Vector3 pos, float terrainHeight)
public Vector3 ComputeLinearMotorUp(float pTimestep)
{
Vector3 ret = Vector3.Zero;
if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
{
// If the vehicle is motoring into the sky, get it going back down.
float distanceAboveGround = pos.Z - terrainHeight;
// float distanceAboveGround = pos.Z - Math.Max(GetTerrainHeight(pos), GetWaterLevel(pos));
float distanceAboveGround = VehiclePosition.Z - GetTerrainHeight(VehiclePosition);
if (distanceAboveGround > 1f)
{
// downForce = new Vector3(0, 0, (-distanceAboveGround / m_bankingTimescale) * pTimestep);
@ -830,7 +967,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// has a decay factor. This says this force should
// be computed with a motor.
// TODO: add interaction with banking.
VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}",
VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},downForce={2}",
Prim.LocalID, distanceAboveGround, ret);
}
return ret;
@ -839,36 +976,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// =======================================================================
// =======================================================================
// Apply the effect of the angular motor.
// The 'contribution' is how much angular correction velocity each function wants.
// All the contributions are added together and the orientation of the vehicle
// is changed by all the contributed corrections.
private void MoveAngular(float pTimestep)
{
// m_angularMotorDirection // angular velocity requested by LSL motor
// m_angularMotorVelocity // current angular motor velocity (ramps up and down)
// m_angularMotorTimescale // motor angular velocity ramp up time
// m_angularMotorDecayTimescale // motor angular velocity decay rate
// m_angularFrictionTimescale // body angular velocity decay rate
// m_lastAngularVelocity // what was last applied to body
/*
if (m_angularMotorDirection.LengthSquared() > 0.0001)
{
Vector3 origVel = m_angularMotorVelocity;
Vector3 origDir = m_angularMotorDirection;
// new velocity += error / ( time to get there / step interval)
// requested direction - current vehicle direction
m_angularMotorVelocity += (m_angularMotorDirection - m_angularMotorVelocity) / (m_angularMotorTimescale / pTimestep);
// decay requested direction
m_angularMotorDirection *= (1.0f - (pTimestep * 1.0f/m_angularMotorDecayTimescale));
VDetailLog("{0},MoveAngular,angularMotorApply,angTScale={1},timeStep={2},origvel={3},origDir={4},vel={5}",
Prim.LocalID, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity);
}
else
{
m_angularMotorVelocity = Vector3.Zero;
}
*/
// The user wants how many radians per second angular change?
Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
// ==================================================================
@ -881,24 +994,46 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
angularMotorContribution.X = 0f;
angularMotorContribution.Y = 0f;
VDetailLog("{0},MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
VDetailLog("{0}, MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
}
Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction(pTimestep);
Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction();
Vector3 deflectionContribution = ComputeAngularDeflection(pTimestep);
Vector3 deflectionContribution = ComputeAngularDeflection();
Vector3 bankingContribution = ComputeAngularBanking(pTimestep);
Vector3 bankingContribution = ComputeAngularBanking(angularMotorContribution.Z);
// ==================================================================
m_lastVertAttractor = verticalAttractionContribution;
// Sum velocities
m_lastAngularVelocity = angularMotorContribution
// Sum corrections
m_lastAngularCorrection = angularMotorContribution
+ verticalAttractionContribution
+ deflectionContribution
+ bankingContribution;
// ==================================================================
// The correction is applied to the current orientation.
if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f))
{
Vector3 scaledCorrection = m_lastAngularCorrection * pTimestep;
VehicleRotationalVelocity = scaledCorrection;
VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}",
Prim.LocalID,
angularMotorContribution, verticalAttractionContribution,
bankingContribution, deflectionContribution,
m_lastAngularCorrection, scaledCorrection
);
}
else
{
// The vehicle is not adding anything velocity wise.
VehicleRotationalVelocity = Vector3.Zero;
VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID);
}
// ==================================================================
//Offset section
if (m_linearMotorOffset != Vector3.Zero)
@ -927,53 +1062,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin
torqueFromOffset.Z = 0;
torqueFromOffset *= m_vehicleMass;
Prim.ApplyTorqueImpulse(torqueFromOffset, true);
VDetailLog("{0},BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset);
VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset);
}
// ==================================================================
if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
{
m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
// TODO: zeroing is good but it also sets values in unmanaged code. Remove the stores when idle.
VDetailLog("{0},MoveAngular,zeroAngularMotion,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
Prim.ZeroAngularMotion(true);
}
else
{
// Apply to the body.
// The above calculates the absolute angular velocity needed. Angular velocity is massless.
// Since we are stuffing the angular velocity directly into the object, the computed
// velocity needs to be scaled by the timestep.
// Also remove any motion that is on the object so added motion is only from vehicle.
Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep)
- Prim.ForceRotationalVelocity);
// Unscale the force by the angular factor so it overwhelmes the Bullet additions.
Prim.ForceRotationalVelocity = applyAngularForce;
VDetailLog("{0},MoveAngular,done,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}",
Prim.LocalID,
angularMotorContribution, verticalAttractionContribution,
bankingContribution, deflectionContribution,
applyAngularForce, m_lastAngularVelocity
);
}
}
public Vector3 ComputeAngularVerticalAttraction(float pTimestep)
public Vector3 ComputeAngularVerticalAttraction()
{
Vector3 ret = Vector3.Zero;
// If vertical attaction timescale is reasonable and we applied an angular force last time...
if (m_verticalAttractionTimescale < 500)
{
Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation;
verticalError.Normalize();
m_verticalAttractionMotor.SetCurrent(verticalError);
m_verticalAttractionMotor.SetTarget(Vector3.UnitZ);
ret = m_verticalAttractionMotor.Step(pTimestep);
/*
// Take a vector pointing up and convert it from world to vehicle relative coords.
Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation;
Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
verticalError.Normalize();
// If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
@ -991,63 +1093,70 @@ namespace OpenSim.Region.Physics.BulletSPlugin
}
// Y error means needed rotation around X axis and visa versa.
verticalAttractionContribution.X = verticalError.Y;
verticalAttractionContribution.Y = - verticalError.X;
verticalAttractionContribution.Z = 0f;
ret.X = verticalError.Y;
ret.Y = - verticalError.X;
ret.Z = 0f;
// scale by the time scale and timestep
Vector3 unscaledContrib = verticalAttractionContribution;
verticalAttractionContribution /= m_verticalAttractionTimescale;
verticalAttractionContribution *= pTimestep;
Vector3 unscaledContrib = ret;
ret /= m_verticalAttractionTimescale;
// This returns the angular correction desired. Timestep is added later.
// ret *= pTimestep;
// apply efficiency
Vector3 preEfficiencyContrib = verticalAttractionContribution;
Vector3 preEfficiencyContrib = ret;
// TODO: implement efficiency.
// Effenciency squared seems to give a more realistic effect
float efficencySquared = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency;
verticalAttractionContribution *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
// ret *= efficencySquared;
VDetailLog("{0},MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}",
VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}",
Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib,
m_verticalAttractionEfficiency, efficencySquared,
verticalAttractionContribution);
*/
ret);
}
return ret;
}
public Vector3 ComputeAngularDeflection(float pTimestep)
// Return the angular correction to correct the direction the vehicle is pointing to be
// the direction is should want to be pointing.
public Vector3 ComputeAngularDeflection()
{
Vector3 ret = Vector3.Zero;
if (m_angularDeflectionEfficiency != 0)
{
// Compute a scaled vector that points in the preferred axis (X direction)
Vector3 scaledDefaultDirection =
new Vector3((pTimestep * 10 * (m_angularDeflectionEfficiency / m_angularDeflectionTimescale)), 0, 0);
// Adding the current vehicle orientation and reference frame displaces the orientation to the frame.
// Rotate the scaled default axix relative to the actual vehicle direction giving where it should point.
Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(Prim.ForceOrientation, m_referenceFrame);
// Where the vehicle should want to point relative to the vehicle
Vector3 preferredDirection = Vector3.UnitX * m_referenceFrame;
// Scale by efficiency and timescale
ret = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep;
// Where the vehicle is pointing relative to the vehicle.
Vector3 currentDirection = Vector3.UnitX * Quaternion.Add(VehicleOrientation, m_referenceFrame);
VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}", Prim.LocalID, preferredAxisOfMotion, ret);
// Difference between where vehicle is pointing and where it should wish to point
Vector3 directionCorrection = preferredDirection - currentDirection;
// This deflection computation is not correct.
ret = Vector3.Zero;
// Scale the correction by recovery timescale and efficiency
ret = directionCorrection * m_angularDeflectionEfficiency / m_angularDeflectionTimescale;
VDetailLog("{0}, MoveAngular,Deflection,perfDir={1},currentDir={2},dirCorrection={3},ret={4}",
Prim.LocalID, preferredDirection, currentDirection, directionCorrection, ret);
}
return ret;
}
public Vector3 ComputeAngularBanking(float pTimestep)
// Return an angular change to tip the vehicle (around X axis) when turning (turned around Z).
// Remembers the last banking value calculated and returns the difference needed this tick.
// TurningFactor is rate going left or right (pos=left, neg=right, scale=0..1).
public Vector3 ComputeAngularBanking(float turningFactor)
{
Vector3 ret = Vector3.Zero;
Vector3 computedBanking = Vector3.Zero;
if (m_bankingEfficiency != 0)
{
Vector3 dir = Vector3.One * Prim.ForceOrientation;
Vector3 currentDirection = Vector3.UnitX * VehicleOrientation;
float mult = (m_bankingMix * m_bankingMix) * -1 * (m_bankingMix < 0 ? -1 : 1);
//Changes which way it banks in and out of turns
//Use the square of the efficiency, as it looks much more how SL banking works
float effSquared = (m_bankingEfficiency * m_bankingEfficiency);
@ -1055,58 +1164,34 @@ namespace OpenSim.Region.Physics.BulletSPlugin
effSquared *= -1; //Keep the negative!
float mix = Math.Abs(m_bankingMix);
if (m_angularMotorVelocity.X == 0)
// TODO: Must include reference frame.
float forwardSpeed = VehicleVelocity.X;
if (!Prim.IsColliding && forwardSpeed > mix)
{
// The vehicle is stopped
/*if (!parent.Orientation.ApproxEquals(this.m_referenceFrame, 0.25f))
{
Vector3 axisAngle;
float angle;
parent.Orientation.GetAxisAngle(out axisAngle, out angle);
Vector3 rotatedVel = parent.Velocity * parent.Orientation;
if ((rotatedVel.X < 0 && axisAngle.Y > 0) || (rotatedVel.X > 0 && axisAngle.Y < 0))
m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (1f) * 10;
else
m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (-1f) * 10;
}*/
}
else
{
ret.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4;
computedBanking.X = ClampInRange(-3f, turningFactor * (effSquared * mult), 3f);
}
//If they are colliding, we probably shouldn't shove the prim around... probably
if (!Prim.IsColliding && Math.Abs(m_angularMotorVelocity.X) > mix)
{
float angVelZ = m_angularMotorVelocity.X * -1;
/*if(angVelZ > mix)
angVelZ = mix;
else if(angVelZ < -mix)
angVelZ = -mix;*/
//This controls how fast and how far the banking occurs
Vector3 bankingRot = new Vector3(angVelZ * (effSquared * mult), 0, 0);
if (bankingRot.X > 3)
bankingRot.X = 3;
else if (bankingRot.X < -3)
bankingRot.X = -3;
bankingRot *= Prim.ForceOrientation;
ret += bankingRot;
}
m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency;
VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}",
Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, ret);
// 'computedBanking' is now how much banking that should be happening.
ret = computedBanking - m_lastBanking;
// Scale the correction by timescale and efficiency
ret /= m_bankingTimescale * m_bankingEfficiency;
VDetailLog("{0}, MoveAngular,Banking,computedB={1},lastB={2},bEff={3},effSq={4},mult={5},mix={6},banking={7}",
Prim.LocalID, computedBanking, m_lastBanking, m_bankingEfficiency, effSquared, mult, mix, ret);
}
m_lastBanking = computedBanking;
return ret;
}
// This is from previous instantiations of XXXDynamics.cs.
// Applies roll reference frame.
// TODO: is this the right way to separate the code to do this operation?
// Should this be in MoveAngular()?
internal void LimitRotation(float timestep)
{
Quaternion rotq = Prim.ForceOrientation;
Quaternion rotq = VehicleOrientation;
Quaternion m_rot = rotq;
if (m_RollreferenceFrame != Quaternion.Identity)
{
@ -1134,12 +1219,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin
}
if (rotq != m_rot)
{
Prim.ForceOrientation = m_rot;
VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
VehicleOrientation = m_rot;
VDetailLog("{0}, LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
}
}
private float ClampInRange(float low, float val, float high)
{
return Math.Max(low, Math.Min(val, high));
}
// Invoke the detailed logger and output something if it's enabled.
private void VDetailLog(string msg, params Object[] args)
{

63
OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
View File

@ -1,3 +1,30 @@
/*
* 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 copyright
* 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;
@ -8,7 +35,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
public abstract class BSMotor
{
// Timescales and other things can be turned off by setting them to 'infinite'.
public const float Infinite = 10000f;
public const float Infinite = 12345f;
public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite);
public BSMotor(string useName)
@ -19,7 +46,9 @@ public abstract class BSMotor
public virtual void Reset() { }
public virtual void Zero() { }
// A name passed at motor creation for easily identifyable debugging messages.
public string UseName { get; private set; }
// Used only for outputting debug information. Might not be set so check for null.
public BSScene PhysicsScene { get; set; }
protected void MDetailLog(string msg, params Object[] parms)
@ -34,10 +63,23 @@ public abstract class BSMotor
}
}
// Can all the incremental stepping be replaced with motor classes?
// Motor which moves CurrentValue to TargetValue over TimeScale seconds.
// The TargetValue is decays in TargetValueDecayTimeScale and
// the CurrentValue will be held back by FrictionTimeScale.
// TimeScale and TargetDelayTimeScale may be 'infinite' which means go decay.
// For instance, if something is moving at speed X and the desired speed is Y,
// CurrentValue is X and TargetValue is Y. As the motor is stepped, new
// values of CurrentValue are returned that approach the TargetValue.
// The feature of decaying TargetValue is so vehicles will eventually
// come to a stop rather than run forever. This can be disabled by
// setting TargetValueDecayTimescale to 'infinite'.
// The change from CurrentValue to TargetValue is linear over TimeScale seconds.
public class BSVMotor : BSMotor
{
public Vector3 FrameOfReference { get; set; }
public Vector3 Offset { get; set; }
// public Vector3 FrameOfReference { get; set; }
// public Vector3 Offset { get; set; }
public float TimeScale { get; set; }
public float TargetValueDecayTimeScale { get; set; }
@ -72,6 +114,14 @@ public class BSVMotor : BSMotor
{
TargetValue = target;
}
// A form of stepping that does not take the time quantum into account.
// The caller must do the right thing later.
public Vector3 Step()
{
return Step(1f);
}
public Vector3 Step(float timeStep)
{
Vector3 returnCurrent = Vector3.Zero;
@ -99,18 +149,19 @@ public class BSVMotor : BSMotor
if (FrictionTimescale != BSMotor.InfiniteVector)
{
// frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
// Individual friction components can be 'infinite' so compute each separately.
frictionFactor.X = FrictionTimescale.X == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.X) * timeStep;
frictionFactor.Y = FrictionTimescale.Y == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Y) * timeStep;
frictionFactor.Z = FrictionTimescale.Z == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Z) * timeStep;
CurrentValue *= (Vector3.One - frictionFactor);
}
MDetailLog("{0},BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}",
MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}",
BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
timeStep, TimeScale, addAmount,
TargetValueDecayTimeScale, decayFactor,
FrictionTimescale, frictionFactor);
MDetailLog("{0},BSVMotor.Step,nonZero,{1},curr={2},target={3},add={4},decay={5},frict={6},ret={7}",
MDetailLog("{0}, BSVMotor.Step,nonZero,{1},curr={2},target={3},add={4},decay={5},frict={6},ret={7}",
BSScene.DetailLogZero, UseName, CurrentValue, TargetValue,
addAmount, decayFactor, frictionFactor, returnCurrent);
}
@ -120,7 +171,7 @@ public class BSVMotor : BSMotor
CurrentValue = Vector3.Zero;
TargetValue = Vector3.Zero;
MDetailLog("{0},BSVMotor.Step,zero,{1},curr={2},target={3},ret={4}",
MDetailLog("{0}, BSVMotor.Step,zero,{1},curr={2},target={3},ret={4}",
BSScene.DetailLogZero, UseName, TargetValue, CurrentValue, returnCurrent);
}

33
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -348,7 +348,9 @@ public sealed class BSPrim : BSPhysObject
if (ret)
{
// Apply upforce and overcome gravity.
AddForce(upForce - PhysicsScene.DefaultGravity, false, inTaintTime);
OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity;
DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce);
AddForce(correctionForce, false, inTaintTime);
}
return ret;
}
@ -644,9 +646,13 @@ public sealed class BSPrim : BSPhysObject
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
// Collision filter can be set only when the object is in the world
if (PhysBody.collisionFilter != 0 || PhysBody.collisionMask != 0)
if (PhysBody.collisionGroup != 0 || PhysBody.collisionMask != 0)
{
BulletSimAPI.SetCollisionFilterMask2(PhysBody.ptr, (uint)PhysBody.collisionFilter, (uint)PhysBody.collisionMask);
if (!BulletSimAPI.SetCollisionGroupMask2(PhysBody.ptr, (uint)PhysBody.collisionGroup, (uint)PhysBody.collisionMask))
{
PhysicsScene.Logger.ErrorFormat("{0} Failure setting prim collision mask. localID={1}, grp={2:X}, mask={3:X}",
LogHeader, LocalID, PhysBody.collisionGroup, PhysBody.collisionMask);
}
}
// Recompute any linkset parameters.
@ -685,11 +691,11 @@ public sealed class BSPrim : BSPhysObject
// There can be special things needed for implementing linksets
Linkset.MakeStatic(this);
// The activation state is 'disabled' so Bullet will not try to act on it.
BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
// BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.DISABLE_SIMULATION);
// Start it out sleeping and physical actions could wake it up.
// BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ISLAND_SLEEPING);
PhysBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
PhysBody.collisionGroup = CollisionFilterGroups.StaticObjectGroup;
PhysBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
}
else
@ -735,7 +741,7 @@ public sealed class BSPrim : BSPhysObject
BulletSimAPI.ForceActivationState2(PhysBody.ptr, ActivationState.ACTIVE_TAG);
// BulletSimAPI.Activate2(BSBody.ptr, true);
PhysBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
PhysBody.collisionGroup = CollisionFilterGroups.ObjectGroup;
PhysBody.collisionMask = CollisionFilterGroups.ObjectMask;
}
}
@ -763,7 +769,7 @@ public sealed class BSPrim : BSPhysObject
m_log.ErrorFormat("{0} MakeSolid: physical body of wrong type for non-solidness. id={1}, type={2}", LogHeader, LocalID, bodyType);
}
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE);
PhysBody.collisionFilter = CollisionFilterGroups.VolumeDetectFilter;
PhysBody.collisionGroup = CollisionFilterGroups.VolumeDetectGroup;
PhysBody.collisionMask = CollisionFilterGroups.VolumeDetectMask;
}
}
@ -839,15 +845,6 @@ public sealed class BSPrim : BSPhysObject
}
public override OMV.Vector3 RotationalVelocity {
get {
/*
OMV.Vector3 pv = OMV.Vector3.Zero;
// if close to zero, report zero
// This is copied from ODE but I'm not sure why it returns zero but doesn't
// zero the property in the physics engine.
if (_rotationalVelocity.ApproxEquals(pv, 0.2f))
return pv;
*/
return _rotationalVelocity;
}
set {
@ -1409,7 +1406,7 @@ public sealed class BSPrim : BSPhysObject
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;
OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG
DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);

25
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -96,6 +96,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
public long SimulationStep { get { return m_simulationStep; } }
private int m_taintsToProcessPerStep;
public delegate void PreStepAction(float timeStep);
public event PreStepAction BeforeStep;
// A value of the time now so all the collision and update routines do not have to get their own
// Set to 'now' just before all the prims and actors are called for collisions and updates
public int SimulationNowTime { get; private set; }
@ -487,8 +490,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
ProcessTaints();
// Some of the prims operate with special vehicle properties
ProcessVehicles(timeStep);
ProcessTaints(); // the vehicles might have added taints
DoPreStepActions(timeStep);
// the prestep actions might have added taints
ProcessTaints();
// step the physical world one interval
m_simulationStep++;
@ -496,7 +501,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
try
{
// if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG
if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG
if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
@ -505,7 +510,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}",
DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
// if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG
if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG
}
catch (Exception e)
{
@ -907,6 +912,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
}
}
private void DoPreStepActions(float timeStep)
{
ProcessVehicles(timeStep);
PreStepAction actions = BeforeStep;
if (actions != null)
actions(timeStep);
}
// Some prims have extra vehicle actions
// Called at taint time!
private void ProcessVehicles(float timeStep)
@ -971,6 +986,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
// Should handle fetching the right type from the ini file and converting it.
// -- a delegate for getting the value as a float
// -- a delegate for setting the value from a float
// -- an optional delegate to update the value in the world. Most often used to
// push the new value to an in-world object.
//
// The single letter parameters for the delegates are:
// s = BSScene

7
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
View File

@ -620,8 +620,7 @@ public sealed class BSShapeCollection : IDisposable
}
else
{
// Pass false for physicalness as this creates some sort of bounding box which we don't need
meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false);
if (meshData != null)
{
@ -694,8 +693,8 @@ public sealed class BSShapeCollection : IDisposable
else
{
// Build a new hull in the physical world
// Pass false for physicalness as this creates some sort of bounding box which we don't need
IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, false);
// Pass true for physicalness as this creates some sort of bounding box which we don't need
IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false);
if (meshData != null)
{

4
OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
View File

@ -121,8 +121,8 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
// redo its bounding box now that it is in the world
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr);
BulletSimAPI.SetCollisionFilterMask2(m_mapInfo.terrainBody.ptr,
(uint)CollisionFilterGroups.TerrainFilter,
BulletSimAPI.SetCollisionGroupMask2(m_mapInfo.terrainBody.ptr,
(uint)CollisionFilterGroups.TerrainGroup,
(uint)CollisionFilterGroups.TerrainMask);
// Make it so the terrain will not move or be considered for movement.

4
OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
View File

@ -140,8 +140,8 @@ public sealed class BSTerrainManager
// Ground plane does not move
BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
// Everything collides with the ground plane.
BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr,
(uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask);
BulletSimAPI.SetCollisionGroupMask2(m_groundPlane.ptr,
(uint)CollisionFilterGroups.GroundPlaneGroup, (uint)CollisionFilterGroups.GroundPlaneMask);
// Build an initial terrain and put it in the world. This quickly gets replaced by the real region terrain.
BSTerrainPhys initialTerrain = new BSTerrainHeightmap(PhysicsScene, Vector3.Zero, BSScene.TERRAIN_ID, DefaultRegionSize);

4
OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
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@ -130,8 +130,8 @@ public sealed class BSTerrainMesh : BSTerrainPhys
// Redo its bounding box now that it is in the world
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_terrainBody.ptr);
BulletSimAPI.SetCollisionFilterMask2(m_terrainBody.ptr,
(uint)CollisionFilterGroups.TerrainFilter,
BulletSimAPI.SetCollisionGroupMask2(m_terrainBody.ptr,
(uint)CollisionFilterGroups.TerrainGroup,
(uint)CollisionFilterGroups.TerrainMask);
// Make it so the terrain will not move or be considered for movement.

71
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@ -57,12 +57,12 @@ public struct BulletBody
{
ID = id;
ptr = xx;
collisionFilter = 0;
collisionGroup = 0;
collisionMask = 0;
}
public IntPtr ptr;
public uint ID;
public CollisionFilterGroups collisionFilter;
public CollisionFilterGroups collisionGroup;
public CollisionFilterGroups collisionMask;
public override string ToString()
{
@ -71,10 +71,10 @@ public struct BulletBody
buff.Append(ID.ToString());
buff.Append(",p=");
buff.Append(ptr.ToString("X"));
if (collisionFilter != 0 || collisionMask != 0)
if (collisionGroup != 0 || collisionMask != 0)
{
buff.Append(",f=");
buff.Append(collisionFilter.ToString("X"));
buff.Append(",g=");
buff.Append(collisionGroup.ToString("X"));
buff.Append(",m=");
buff.Append(collisionMask.ToString("X"));
}
@ -376,36 +376,36 @@ public enum CollisionFilterGroups : uint
// Don't use the bit definitions!! Define the use in a
// filter/mask definition below. This way collision interactions
// are more easily debugged.
BNoneFilter = 0,
BDefaultFilter = 1 << 0,
BStaticFilter = 1 << 1,
BKinematicFilter = 1 << 2,
BDebrisFilter = 1 << 3,
BSensorTrigger = 1 << 4,
BCharacterFilter = 1 << 5,
BAllFilter = 0xFFFFFFFF,
BNoneGroup = 0,
BDefaultGroup = 1 << 0,
BStaticGroup = 1 << 1,
BKinematicGroup = 1 << 2,
BDebrisGroup = 1 << 3,
BSensorTrigger = 1 << 4,
BCharacterGroup = 1 << 5,
BAllGroup = 0xFFFFFFFF,
// Filter groups defined by BulletSim
BGroundPlaneFilter = 1 << 10,
BTerrainFilter = 1 << 11,
BRaycastFilter = 1 << 12,
BSolidFilter = 1 << 13,
BLinksetFilter = 1 << 14,
BGroundPlaneGroup = 1 << 10,
BTerrainGroup = 1 << 11,
BRaycastGroup = 1 << 12,
BSolidGroup = 1 << 13,
BLinksetGroup = 1 << 14,
// The collsion filters and masked are defined in one place -- don't want them scattered
AvatarFilter = BCharacterFilter,
AvatarMask = BAllFilter,
ObjectFilter = BSolidFilter,
ObjectMask = BAllFilter,
StaticObjectFilter = BStaticFilter,
StaticObjectMask = BAllFilter & ~BStaticFilter, // static objects don't collide with each other
LinksetFilter = BLinksetFilter,
LinksetMask = BAllFilter & ~BLinksetFilter, // linkset objects don't collide with each other
VolumeDetectFilter = BSensorTrigger,
AvatarGroup = BCharacterGroup,
AvatarMask = BAllGroup,
ObjectGroup = BSolidGroup,
ObjectMask = BAllGroup,
StaticObjectGroup = BStaticGroup,
StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much
LinksetGroup = BLinksetGroup,
LinksetMask = BAllGroup & ~BLinksetGroup, // linkset objects don't collide with each other
VolumeDetectGroup = BSensorTrigger,
VolumeDetectMask = ~BSensorTrigger,
TerrainFilter = BTerrainFilter,
TerrainMask = BAllFilter & ~BStaticFilter, // static objects on the ground don't collide
GroundPlaneFilter = BGroundPlaneFilter,
GroundPlaneMask = BAllFilter
TerrainGroup = BTerrainGroup,
TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide
GroundPlaneGroup = BGroundPlaneGroup,
GroundPlaneMask = BAllGroup
};
@ -945,7 +945,7 @@ public static extern IntPtr GetConstraintRef2(IntPtr obj, int index);
public static extern int GetNumConstraintRefs2(IntPtr obj);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void SetCollisionFilterMask2(IntPtr body, uint filter, uint mask);
public static extern bool SetCollisionGroupMask2(IntPtr body, uint filter, uint mask);
// =====================================================================================
// btCollisionShape entries
@ -1006,14 +1006,17 @@ public static extern void DumpRigidBody2(IntPtr sim, IntPtr collisionObject);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpCollisionShape2(IntPtr sim, IntPtr collisionShape);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpConstraint2(IntPtr sim, IntPtr constrain);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpAllInfo2(IntPtr sim);
public static extern void DumpActivationInfo2(IntPtr sim);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpMapInfo2(IntPtr sim, IntPtr manInfo);
public static extern void DumpAllInfo2(IntPtr sim);
[DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity]
public static extern void DumpPhysicsStatistics2(IntPtr sim);

117
OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt Executable file
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@ -0,0 +1,117 @@
CRASHES
=================================================
20121129.1411: editting/moving phys object across region boundries causes crash
getPos-> btRigidBody::upcast -> getBodyType -> BOOM
20121128.1600: mesh object not rezzing (no physics mesh).
Causes many errors. Doesn't stop after first error with box shape.
Eventually crashes when deleting the object.
BULLETSIM TODO LIST:
=================================================
Neb car jiggling left and right
Vehicles (Move smoothly)
Light cycle falling over when driving
Light cycle not banking
Do single prim vehicles don't seem to properly vehiclize.
Gun sending shooter flying
Collision margin (gap between physical objects lying on each other)
Boundry checking (crashes related to crossing boundry)
Add check for border edge position for avatars and objects.
Verify the events are created for border crossings.
Avatar rotation (check out changes to ScenePresence for physical rotation)
Avatar running (what does phys engine need to do?)
Small physical objects do not interact correctly
Create chain of .5x.5x.1 torui and make all but top physical so to hang.
The chain will fall apart and pairs will dance around on ground
Chains of 1x1x.2 will stay connected but will dance.
Chains above 2x2x.4 are move stable and get stablier as torui get larger.
Add material type linkage and input all the material property definitions.
Skeleton classes and table are in the sources but are not filled or used.
Add PID motor for avatar movement (slow to stop, ...)
Implement function efficiency for lineaar and angular motion.
After getting off a vehicle, the root prim is phantom (can be walked through)
Need to force a position update for the root prim after compound shape destruction
Find/remove avatar collision with ID=0.
Test avatar walking up stairs. How does compare with SL.
Radius of the capsule affects ability to climb edges.
Tune terrain/object friction to be closer to SL.
Debounce avatar contact so legs don't keep folding up when standing.
Implement LSL physics controls. Like STATUS_ROTATE_X.
Add border extensions to terrain to help region crossings and objects leaving region.
Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint)
Speed up creation of large physical linksets
For instance, sitting in Neb's car (130 prims) takes several seconds to become physical
Performance test with lots of avatars. Can BulletSim support a thousand?
Optimize collisions in C++: only send up to the object subscribed to collisions.
Use collision subscription and remove the collsion(A,B) and collision(B,A)
Check wheter SimMotionState needs large if statement (see TODO).
Implement 'top colliders' info.
Avatar jump
Implement meshes or just verify that they work.
Do prim hash codes work for sculpties and meshes?
Performance measurement and changes to make quicker.
Implement detailed physics stats (GetStats()).
Eliminate collisions between objects in a linkset. (LinksetConstraint)
Have UserPointer point to struct with localID and linksetID?
Objects in original linkset still collide with each other?
Measure performance improvement from hulls
Test not using ghost objects for volume detect implementation.
Performance of closures and delegates for taint processing
Are there faster ways?
Is any slowdown introduced by the existing implementation significant?
Is there are more efficient method of implementing pre and post step actions?
See http://www.codeproject.com/Articles/29922/Weak-Events-in-C
Package Bullet source mods for Bullet internal stats output
Physics Arena central pyramid: why is one side permiable?
INTERNAL IMPROVEMENT/CLEANUP
=================================================
Remove unused fields from ShapeData (not used in API2)
Breakout code for mesh/hull/compound/native into separate BSShape* classes
Standardize access to building and reference code.
The skeleton classes are in the sources but are not complete or linked in.
Generalize Dynamics and PID with standardized motors.
Generalize Linkset and vehicles into PropertyManagers
Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies
Possibly generalized a 'pre step action' registration.
Complete implemention of preStepActions
Replace vehicle step call with prestep event.
Is there a need for postStepActions? postStepTaints?
Implement linkset by setting position of children when root updated. (LinksetManual)
LinkablePrim class? Would that simplify/centralize the linkset logic?
Linkset implementation using manual prim movement.
Linkset implementation using compound shapes.
Compound shapes will need the LocalID in the shapes and collision
processing to get it from there.
BSScene.UpdateParameterSet() is broken. How to set params on objects?
Remove HeightmapInfo from terrain specification.
Since C++ code does not need terrain height, this structure et al are not needed.
Add floating motor for BS_FLOATS_ON_WATER so prim and avatar will
bob at the water level. BSPrim.PositionSanityCheck().
DONE DONE DONE DONE
=================================================
Cleanup code in BSDynamics by using motors.
Consider implementing terrain with a mesh rather than heightmap.
Would have better and adjustable resolution.
NOTDONE: Build terrain mesh so heighmap is height of the center of the square meter.
SL and ODE define meter square as being at one corner with one diagional.
Terrain as mesh.
How are static linksets seen by the physics engine?
A: they are not linked in physics. When moved, all the children are repositioned.
Remember to remove BSScene.DetailLog Refresh call.
Convert BSCharacter to use all API2
Avatar pushing difficult (too heavy?)
Use asset service passed to BulletSim to get sculptie bodies, etc.
Vehicles (fix bouncing on terrain)
Remove old code in DLL (all non-API2 stuff).
Measurements of mega-physical prim performance (with graph)
Debug Bullet internal stats output (why is timing all wrong?)
Bullet stats logging only works with a single instance of Bullet (one region).

1
OpenSim/Region/Physics/Manager/IMesher.cs
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@ -36,6 +36,7 @@ namespace OpenSim.Region.Physics.Manager
{
IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod);
IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical);
IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache);
}
// Values for level of detail to be passed to the mesher.

7
OpenSim/Region/Physics/Manager/ZeroMesher.cs
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@ -64,10 +64,15 @@ namespace OpenSim.Region.Physics.Manager
{
public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
{
return CreateMesh(primName, primShape, size, lod, false);
return CreateMesh(primName, primShape, size, lod, false, false);
}
public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
{
return CreateMesh(primName, primShape, size, lod, false, false);
}
public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache)
{
// Remove the reference to the encoded JPEG2000 data so it can be GCed
primShape.SculptData = OpenMetaverse.Utils.EmptyBytes;

21
OpenSim/Region/Physics/Meshing/Meshmerizer.cs
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@ -702,11 +702,16 @@ namespace OpenSim.Region.Physics.Meshing
public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod)
{
return CreateMesh(primName, primShape, size, lod, false);
return CreateMesh(primName, primShape, size, lod, false, true);
}
public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical)
{
return CreateMesh(primName, primShape, size, lod, isPhysical, true);
}
public IMesh CreateMesh(String primName, PrimitiveBaseShape primShape, Vector3 size, float lod, bool isPhysical, bool shouldCache)
{
#if SPAM
m_log.DebugFormat("[MESH]: Creating mesh for {0}", primName);
#endif
@ -716,9 +721,12 @@ namespace OpenSim.Region.Physics.Meshing
// If this mesh has been created already, return it instead of creating another copy
// For large regions with 100k+ prims and hundreds of copies of each, this can save a GB or more of memory
key = primShape.GetMeshKey(size, lod);
if (m_uniqueMeshes.TryGetValue(key, out mesh))
return mesh;
if (shouldCache)
{
key = primShape.GetMeshKey(size, lod);
if (m_uniqueMeshes.TryGetValue(key, out mesh))
return mesh;
}
if (size.X < 0.01f) size.X = 0.01f;
if (size.Y < 0.01f) size.Y = 0.01f;
@ -741,7 +749,10 @@ namespace OpenSim.Region.Physics.Meshing
// trim the vertex and triangle lists to free up memory
mesh.TrimExcess();
m_uniqueMeshes.Add(key, mesh);
if (shouldCache)
{
m_uniqueMeshes.Add(key, mesh);
}
}
return mesh;

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