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BulletSim: distribute vehicle physical settings to all members of 

a linkset. Enables constraint based linksets.
Rename some internal variables to clarify whether values world or
vehicle relative.
TeleportWork
Robert Adams 2013-07-30 15:23:33 -07:00
parent 6ad577d32b
commit 0d189165a8
3 changed files with 61 additions and 43 deletions
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75
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
View File

@ -589,10 +589,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_vehicleMass = ControllingPrim.TotalMass;
// Friction affects are handled by this vehicle code
m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction);
m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution);
// ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction);
// ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution);
// m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction);
// m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution);
ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction);
ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution);
// Moderate angular movement introduced by Bullet.
// TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
@ -602,21 +602,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_physicsScene.PE.SetAngularFactorV(ControllingPrim.PhysBody, BSParam.VehicleAngularFactor);
// Vehicles report collision events so we know when it's on the ground
m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
// ControllingPrim.Linkset.SetPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
// m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
ControllingPrim.Linkset.AddToPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass);
ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor;
m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia);
m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody);
// ControllingPrim.Linkset.ComputeLocalInertia(BSParam.VehicleInertiaFactor);
// Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass);
// ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor;
// m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia);
// m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody);
ControllingPrim.Linkset.ComputeAndSetLocalInertia(BSParam.VehicleInertiaFactor, m_vehicleMass);
// Set the gravity for the vehicle depending on the buoyancy
// TODO: what should be done if prim and vehicle buoyancy differ?
m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy);
// The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero);
// ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero);
// m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero);
ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero);
VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity,
@ -1121,7 +1121,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
m_VhoverTargetHeight = m_VhoverHeight;
}
if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
{
// If body is already heigher, use its height as target height
@ -1170,7 +1169,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight,
verticalError, verticalCorrection);
}
}
}
@ -1357,6 +1355,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private void ComputeAngularTurning(float pTimestep)
{
// The user wants this many radians per second angular change?
Vector3 origVehicleRotationalVelocity = VehicleRotationalVelocity; // DEBUG DEBUG
Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation);
Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV);
@ -1369,20 +1368,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// TODO: This is here because this is where ODE put it but documentation says it
// is a linear effect. Where should this check go?
//if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
// {
// {
// angularMotorContributionV.X = 0f;
// angularMotorContributionV.Y = 0f;
// }
// }
// Reduce any velocity by friction.
Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep);
angularMotorContributionV -= (currentAngularV * frictionFactorW);
VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation;
Vector3 angularMotorContributionW = angularMotorContributionV * VehicleOrientation;
VehicleRotationalVelocity += angularMotorContributionW;
VDetailLog("{0}, MoveAngular,angularTurning,angContribV={1}", ControllingPrim.LocalID, angularMotorContributionV);
VDetailLog("{0}, MoveAngular,angularTurning,curAngVelV={1},origVehRotVel={2},vehRotVel={3},frictFact={4}, angContribV={5},angContribW={6}",
ControllingPrim.LocalID, currentAngularV, origVehicleRotationalVelocity, VehicleRotationalVelocity, frictionFactorW, angularMotorContributionV, angularMotorContributionW);
}
// From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
@ -1409,7 +1408,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Flipping what was originally a timescale into a speed variable and then multiplying it by 2
// since only computing half the distance between the angles.
float VerticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f;
float verticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f;
// Make a prediction of where the up axis will be when this is applied rather then where it is now as
// this makes for a smoother adjustment and less fighting between the various forces.
@ -1419,12 +1418,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ);
// Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared
Vector3 vertContributionV = torqueVector * VerticalAttractionSpeed * VerticalAttractionSpeed;
Vector3 vertContributionV = torqueVector * verticalAttractionSpeed * verticalAttractionSpeed;
VehicleRotationalVelocity += vertContributionV;
VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},PredictedUp={2},torqueVector={3},contrib={4}",
VDetailLog("{0}, MoveAngular,verticalAttraction,vertAttrSpeed={1},upAxis={2},PredictedUp={3},torqueVector={4},contrib={5}",
ControllingPrim.LocalID,
verticalAttractionSpeed,
vehicleUpAxis,
predictedUp,
torqueVector,
@ -1437,37 +1437,38 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no
// Create a rotation that is only the vehicle's rotation around Z
Vector3 currentEuler = Vector3.Zero;
VehicleOrientation.GetEulerAngles(out currentEuler.X, out currentEuler.Y, out currentEuler.Z);
Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEuler.Z);
Vector3 currentEulerW = Vector3.Zero;
VehicleOrientation.GetEulerAngles(out currentEulerW.X, out currentEulerW.Y, out currentEulerW.Z);
Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEulerW.Z);
// Create the axis that is perpendicular to the up vector and the rotated up vector.
Vector3 differenceAxis = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation);
Vector3 differenceAxisW = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation);
// Compute the angle between those to vectors.
double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation)));
// 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical
// Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied.
// TODO: add 'efficiency'.
differenceAngle /= m_verticalAttractionTimescale;
// differenceAngle /= m_verticalAttractionTimescale;
// Create the quaterian representing the correction angle
Quaternion correctionRotation = Quaternion.CreateFromAxisAngle(differenceAxis, (float)differenceAngle);
Quaternion correctionRotationW = Quaternion.CreateFromAxisAngle(differenceAxisW, (float)differenceAngle);
// Turn that quaternion into Euler values to make it into velocities to apply.
Vector3 vertContributionV = Vector3.Zero;
correctionRotation.GetEulerAngles(out vertContributionV.X, out vertContributionV.Y, out vertContributionV.Z);
vertContributionV *= -1f;
Vector3 vertContributionW = Vector3.Zero;
correctionRotationW.GetEulerAngles(out vertContributionW.X, out vertContributionW.Y, out vertContributionW.Z);
vertContributionW *= -1f;
vertContributionW /= m_verticalAttractionTimescale;
VehicleRotationalVelocity += vertContributionV;
VehicleRotationalVelocity += vertContributionW;
VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},diffAxis={2},diffAng={3},corrRot={4},contrib={5}",
ControllingPrim.LocalID,
vehicleUpAxis,
differenceAxis,
differenceAxisW,
differenceAngle,
correctionRotation,
vertContributionV);
correctionRotationW,
vertContributionW);
break;
}
case 2:

18
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
View File

@ -309,16 +309,18 @@ public abstract class BSLinkset
}
);
}
public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
public virtual void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass)
{
ForEachMember((member) =>
{
if (member.PhysBody.HasPhysicalBody)
{
OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass);
OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, linksetMass);
member.Inertia = inertia * inertiaFactor;
m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia);
m_physicsScene.PE.SetMassProps(member.PhysBody, linksetMass, member.Inertia);
m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
DetailLog("{0},BSLinkset.ComputeAndSetLocalInertia,m.mass={1}, inertia={2}", member.LocalID, linksetMass, member.Inertia);
}
return false; // 'false' says to continue looping
}
@ -334,6 +336,16 @@ public abstract class BSLinkset
}
);
}
public virtual void AddToPhysicalCollisionFlags(CollisionFlags collFlags)
{
ForEachMember((member) =>
{
if (member.PhysBody.HasPhysicalBody)
m_physicsScene.PE.AddToCollisionFlags(member.PhysBody, collFlags);
return false; // 'false' says to continue looping
}
);
}
public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
{
ForEachMember((member) =>

11
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
View File

@ -61,11 +61,11 @@ public sealed class BSLinksetCompound : BSLinkset
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity);
}
public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
public override void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass)
{
OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass);
OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, linksetMass);
LinksetRoot.Inertia = inertia * inertiaFactor;
m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia);
m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, linksetMass, LinksetRoot.Inertia);
m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody);
}
public override void SetPhysicalCollisionFlags(CollisionFlags collFlags)
@ -73,6 +73,11 @@ public sealed class BSLinksetCompound : BSLinkset
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags);
}
public override void AddToPhysicalCollisionFlags(CollisionFlags collFlags)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)
m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, collFlags);
}
public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
{
if (LinksetRoot.PhysBody.HasPhysicalBody)