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* Tweak the character controller some more 

* Add cursory integration with script engine.    
* LLMoveToTarget, LLSetBouyancy, LLSetStatus (Physical only), LLApplyImpulse, LLApplyTorque, LLPushObject..   etc.
* Still missing linked physical active and LLSetStatus with an axis lock.
0.6.5-rc1
Teravus Ovares 2009-04-10 06:01:29 +00:00
parent b664566b8f
commit 10f5615573
2 changed files with 357 additions and 200 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs
View File

@ -963,7 +963,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
if (m_flying)
{
// Slight PID correction
vec.Z += (((-1 * m_parent_scene.gravityz) * m_mass) * 0.035f);
vec.Z += (((-1 * m_parent_scene.gravityz) * m_mass) * 0.06f);
//auto fly height. Kitto Flora

555
OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs
View File

@ -43,6 +43,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private PhysicsVector _position;
private PhysicsVector m_zeroPosition;
private PhysicsVector _velocity;
private PhysicsVector _torque = new PhysicsVector(0, 0, 0);
private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f);
@ -168,6 +169,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
private btVector3 tempAngularVelocity2;
private btVector3 tempInertia1;
private btVector3 tempInertia2;
private btVector3 tempAddForce;
private btQuaternion tempOrientation1;
private btQuaternion tempOrientation2;
private btMotionState tempMotionState1;
@ -870,16 +872,59 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
m_log.Debug("[PHYSICS]: _________ChangeMove");
tempTransform2 = Body.getWorldTransform();
btQuaternion quat = tempTransform2.getRotation();
tempPosition2.setValue(_position.X, _position.Y, _position.Z);
tempTransform2.Dispose();
tempTransform2 = new btTransform(quat, tempPosition2);
Body.setWorldTransform(tempTransform2);
if (!m_isphysical)
{
tempTransform2 = Body.getWorldTransform();
btQuaternion quat = tempTransform2.getRotation();
tempPosition2.setValue(_position.X, _position.Y, _position.Z);
tempTransform2.Dispose();
tempTransform2 = new btTransform(quat, tempPosition2);
Body.setWorldTransform(tempTransform2);
changeSelectedStatus(timestep);
changeSelectedStatus(timestep);
resetCollisionAccounting();
resetCollisionAccounting();
}
else
{
if (Body != null)
{
if (Body.Handle != IntPtr.Zero)
{
_parent_scene.removeFromWorld(this, Body);
//Body.Dispose();
}
//Body = null;
// TODO: dispose parts that make up body
}
/*
if (_parent_scene.needsMeshing(_pbs))
{
// Don't need to re-enable body.. it's done in SetMesh
float meshlod = _parent_scene.meshSculptLOD;
if (IsPhysical)
meshlod = _parent_scene.MeshSculptphysicalLOD;
IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical);
// createmesh returns null when it doesn't mesh.
CreateGeom(IntPtr.Zero, mesh);
}
else
{
_mesh = null;
CreateGeom(IntPtr.Zero, null);
}
SetCollisionShape(prim_geom);
*/
if (m_isphysical)
SetBody(Mass);
else
SetBody(0);
changeSelectedStatus(timestep);
resetCollisionAccounting();
}
m_taintposition = _position;
}
@ -1090,17 +1135,88 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
private void changeAddForce(float timestep)
{
// TODO: throw new NotImplementedException();
if (!m_isSelected)
{
lock (m_forcelist)
{
//m_log.Info("[PHYSICS]: dequeing forcelist");
if (IsPhysical)
{
PhysicsVector iforce = new PhysicsVector();
for (int i = 0; i < m_forcelist.Count; i++)
{
iforce = iforce + m_forcelist[i];
}
if (Body != null && Body.Handle != IntPtr.Zero)
{
if (tempAddForce != null && tempAddForce.Handle != IntPtr.Zero)
tempAddForce.Dispose();
enableBodySoft();
tempAddForce = new btVector3(iforce.X, iforce.Y, iforce.Z);
Body.applyCentralImpulse(tempAddForce);
}
}
m_forcelist.Clear();
}
m_collisionscore = 0;
m_interpenetrationcount = 0;
}
m_taintforce = false;
}
private void changeAddAngularForce(float timestep)
{
// TODO: throw new NotImplementedException();
if (!m_isSelected)
{
lock (m_angularforcelist)
{
//m_log.Info("[PHYSICS]: dequeing forcelist");
if (IsPhysical)
{
PhysicsVector iforce = new PhysicsVector();
for (int i = 0; i < m_angularforcelist.Count; i++)
{
iforce = iforce + m_angularforcelist[i];
}
if (Body != null && Body.Handle != IntPtr.Zero)
{
if (tempAddForce != null && tempAddForce.Handle != IntPtr.Zero)
tempAddForce.Dispose();
enableBodySoft();
tempAddForce = new btVector3(iforce.X, iforce.Y, iforce.Z);
Body.applyTorqueImpulse(tempAddForce);
}
}
m_angularforcelist.Clear();
}
m_collisionscore = 0;
m_interpenetrationcount = 0;
}
m_taintaddangularforce = false;
}
private void changeSetTorque(float timestep)
{
// TODO: throw new NotImplementedException();
if (!m_isSelected)
{
if (IsPhysical)
{
if (Body != null && Body.Handle != IntPtr.Zero)
{
tempAngularVelocity2.setValue(m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z);
Body.applyTorque(tempAngularVelocity2);
}
}
}
m_taintTorque = new PhysicsVector(0, 0, 0);
}
private void changedisable(float timestep)
@ -1113,10 +1229,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
// TODO: throw new NotImplementedException();
if (m_taintselected)
{
Body.setCollisionFlags((int)ContactFlags.CF_NO_CONTACT_RESPONSE);
disableBodySoft();
}
else
{
Body.setCollisionFlags(0);
enableBodySoft();
}
m_isSelected = m_taintselected;
@ -1125,7 +1244,20 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
private void changevelocity(float timestep)
{
// TODO: throw new NotImplementedException();
if (!m_isSelected)
{
if (IsPhysical)
{
if (Body != null && Body.Handle != IntPtr.Zero)
{
tempLinearVelocity2.setValue(m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z);
Body.setLinearVelocity(tempLinearVelocity2);
}
}
//resetCollisionAccounting();
}
m_taintVelocity = PhysicsVector.Zero;
}
private void changelink(float timestep)
@ -1165,23 +1297,25 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
{
if (m_buoyancy > 0)
{
fz = (((-1 * _parent_scene.gravityz) * m_buoyancy) * m_mass);
fz = (((-1 * _parent_scene.gravityz) * m_buoyancy) * m_mass) * 0.035f;
//d.Vector3 l_velocity = d.BodyGetLinearVel(Body);
//m_log.Info("Using Buoyancy: " + buoyancy + " G: " + (_parent_scene.gravityz * m_buoyancy) + "mass:" + m_mass + " Pos: " + Position.ToString());
}
else
{
fz = (-1 * (((-1 * _parent_scene.gravityz) * (-1 * m_buoyancy)) * m_mass));
fz = (-1 * (((-1 * _parent_scene.gravityz) * (-1 * m_buoyancy)) * m_mass) * 0.035f);
}
}
if (m_usePID)
{
PID_D = 61f;
PID_G = 65f;
//if (!d.BodyIsEnabled(Body))
//d.BodySetForce(Body, 0f, 0f, 0f);
// If we're using the PID controller, then we have no gravity
fz = (-1 * _parent_scene.gravityz) * m_mass;
fz = ((-1 * _parent_scene.gravityz) * m_mass) * 1.025f;
// no lock; for now it's only called from within Simulate()
@ -1202,8 +1336,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
// TODO: NEED btVector3 for Linear Velocity
// NEED btVector3 for Position
PhysicsVector pos = new PhysicsVector(0, 0, 0); //TODO: Insert values gotten from bullet
PhysicsVector vel = new PhysicsVector(0, 0, 0);
PhysicsVector pos = new PhysicsVector(_position.X, _position.Y, _position.Z); //TODO: Insert values gotten from bullet
PhysicsVector vel = new PhysicsVector(_velocity.X, _velocity.Y, _velocity.Z);
_target_velocity =
new PhysicsVector(
@ -1301,6 +1435,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
d.BodySetLinearVel(Body, vel.X, vel.Y, 0);
d.BodyAddForce(Body, 0, 0, fz);
*/
if (Body != null && Body.Handle != IntPtr.Zero)
{
Body.setLinearVelocity(_parent_scene.VectorZero);
Body.clearForces();
}
return;
}
else
@ -1349,11 +1488,22 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
// TODO: Do Bullet Equiv
// d.BodyAddForce(Body, fx, fy, fz);
if (Body != null && Body.Handle != IntPtr.Zero)
{
Body.activate(true);
if (tempAddForce != null && tempAddForce.Handle != IntPtr.Zero)
tempAddForce.Dispose();
tempAddForce = new btVector3(fx * 0.01f, fy * 0.01f, fz * 0.01f);
Body.applyCentralImpulse(tempAddForce);
}
}
}
else
{
// _zeroPosition = d.BodyGetPosition(Body);
if (m_zeroPosition == null)
m_zeroPosition = new PhysicsVector(0, 0, 0);
m_zeroPosition.setValues(_position.X,_position.Y,_position.Z);
return;
}
}
@ -2066,212 +2216,219 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
public void UpdatePositionAndVelocity()
{
if (_parent == null)
if (!m_isSelected)
{
PhysicsVector pv = new PhysicsVector(0, 0, 0);
bool lastZeroFlag = _zeroFlag;
if (tempPosition3 != null && tempPosition3.Handle != IntPtr.Zero)
tempPosition3.Dispose();
if (tempTransform3 != null && tempTransform3.Handle != IntPtr.Zero)
tempTransform3.Dispose();
if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero)
tempOrientation2.Dispose();
if (tempAngularVelocity1 != null && tempAngularVelocity1.Handle != IntPtr.Zero)
tempAngularVelocity1.Dispose();
if (tempLinearVelocity1 != null && tempLinearVelocity1.Handle != IntPtr.Zero)
tempLinearVelocity1.Dispose();
tempTransform3 = Body.getInterpolationWorldTransform();
tempPosition3 = tempTransform3.getOrigin(); // vec
tempOrientation2 = tempTransform3.getRotation(); // ori
tempAngularVelocity1 = Body.getInterpolationAngularVelocity(); //rotvel
tempLinearVelocity1 = Body.getInterpolationLinearVelocity(); // vel
_torque.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(), tempAngularVelocity1.getZ());
PhysicsVector l_position = new PhysicsVector();
Quaternion l_orientation = new Quaternion();
m_lastposition = _position;
m_lastorientation = _orientation;
l_position.X = tempPosition3.getX();
l_position.Y = tempPosition3.getY();
l_position.Z = tempPosition3.getZ();
l_orientation.X = tempOrientation2.getX();
l_orientation.Y = tempOrientation2.getY();
l_orientation.Z = tempOrientation2.getZ();
l_orientation.W = tempOrientation2.getW();
if (l_position.X > 255.95f || l_position.X < 0f || l_position.Y > 255.95f || l_position.Y < 0f)
if (_parent == null)
{
//base.RaiseOutOfBounds(l_position);
PhysicsVector pv = new PhysicsVector(0, 0, 0);
bool lastZeroFlag = _zeroFlag;
if (tempPosition3 != null && tempPosition3.Handle != IntPtr.Zero)
tempPosition3.Dispose();
if (tempTransform3 != null && tempTransform3.Handle != IntPtr.Zero)
tempTransform3.Dispose();
if (m_crossingfailures < _parent_scene.geomCrossingFailuresBeforeOutofbounds)
if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero)
tempOrientation2.Dispose();
if (tempAngularVelocity1 != null && tempAngularVelocity1.Handle != IntPtr.Zero)
tempAngularVelocity1.Dispose();
if (tempLinearVelocity1 != null && tempLinearVelocity1.Handle != IntPtr.Zero)
tempLinearVelocity1.Dispose();
tempTransform3 = Body.getInterpolationWorldTransform();
tempPosition3 = tempTransform3.getOrigin(); // vec
tempOrientation2 = tempTransform3.getRotation(); // ori
tempAngularVelocity1 = Body.getInterpolationAngularVelocity(); //rotvel
tempLinearVelocity1 = Body.getInterpolationLinearVelocity(); // vel
_torque.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(),
tempAngularVelocity1.getZ());
PhysicsVector l_position = new PhysicsVector();
Quaternion l_orientation = new Quaternion();
m_lastposition = _position;
m_lastorientation = _orientation;
l_position.X = tempPosition3.getX();
l_position.Y = tempPosition3.getY();
l_position.Z = tempPosition3.getZ();
l_orientation.X = tempOrientation2.getX();
l_orientation.Y = tempOrientation2.getY();
l_orientation.Z = tempOrientation2.getZ();
l_orientation.W = tempOrientation2.getW();
if (l_position.X > 255.95f || l_position.X < 0f || l_position.Y > 255.95f || l_position.Y < 0f)
{
_position = l_position;
//_parent_scene.remActivePrim(this);
//base.RaiseOutOfBounds(l_position);
if (m_crossingfailures < _parent_scene.geomCrossingFailuresBeforeOutofbounds)
{
_position = l_position;
//_parent_scene.remActivePrim(this);
if (_parent == null)
base.RequestPhysicsterseUpdate();
return;
}
else
{
if (_parent == null)
base.RaiseOutOfBounds(l_position);
return;
}
}
if (l_position.Z < -200000f)
{
// This is so prim that get lost underground don't fall forever and suck up
//
// Sim resources and memory.
// Disables the prim's movement physics....
// It's a hack and will generate a console message if it fails.
//IsPhysical = false;
//if (_parent == null)
//base.RaiseOutOfBounds(_position);
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
if (_parent == null)
base.RequestPhysicsterseUpdate();
return;
m_throttleUpdates = false;
throttleCounter = 0;
_zeroFlag = true;
//outofBounds = true;
}
if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
&& (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
&& (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02)
&& (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01))
{
_zeroFlag = true;
m_throttleUpdates = false;
}
else
{
//m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString());
_zeroFlag = false;
}
if (_zeroFlag)
{
_velocity.X = 0.0f;
_velocity.Y = 0.0f;
_velocity.Z = 0.0f;
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
//_orientation.w = 0f;
//_orientation.X = 0f;
//_orientation.Y = 0f;
//_orientation.Z = 0f;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
if (!m_lastUpdateSent)
{
m_throttleUpdates = false;
throttleCounter = 0;
m_rotationalVelocity = pv;
if (_parent == null)
base.RequestPhysicsterseUpdate();
m_lastUpdateSent = true;
}
}
else
{
if (lastZeroFlag != _zeroFlag)
{
if (_parent == null)
base.RequestPhysicsterseUpdate();
}
m_lastVelocity = _velocity;
_position = l_position;
_velocity.X = tempLinearVelocity1.getX();
_velocity.Y = tempLinearVelocity1.getY();
_velocity.Z = tempLinearVelocity1.getZ();
_acceleration = ((_velocity - m_lastVelocity)/0.1f);
_acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X/0.1f,
_velocity.Y - m_lastVelocity.Y/0.1f,
_velocity.Z - m_lastVelocity.Z/0.1f);
//m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
if (_velocity.IsIdentical(pv, 0.5f))
{
m_rotationalVelocity = pv;
}
else
{
m_rotationalVelocity.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(),
tempAngularVelocity1.getZ());
}
//m_log.Debug("ODE: " + m_rotationalVelocity.ToString());
_orientation.X = l_orientation.X;
_orientation.Y = l_orientation.Y;
_orientation.Z = l_orientation.Z;
_orientation.W = l_orientation.W;
m_lastUpdateSent = false;
//if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
//{
if (_parent == null)
base.RaiseOutOfBounds(l_position);
return;
base.RequestPhysicsterseUpdate();
// }
// else
// {
// throttleCounter++;
//}
}
m_lastposition = l_position;
if (forceenable)
{
Body.forceActivationState(1);
forceenable = false;
}
}
if (l_position.Z < -200000f)
else
{
// This is so prim that get lost underground don't fall forever and suck up
//
// Sim resources and memory.
// Disables the prim's movement physics....
// It's a hack and will generate a console message if it fails.
//IsPhysical = false;
//if (_parent == null)
//base.RaiseOutOfBounds(_position);
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
// Not a body.. so Make sure the client isn't interpolating
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
if (_parent == null)
base.RequestPhysicsterseUpdate();
m_throttleUpdates = false;
throttleCounter = 0;
_zeroFlag = true;
//outofBounds = true;
}
if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02)
&& (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02)
&& (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02)
&& (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01 ))
{
_zeroFlag = true;
m_throttleUpdates = false;
}
else
{
//m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString());
_zeroFlag = false;
}
if (_zeroFlag)
{
_velocity.X = 0.0f;
_velocity.Y = 0.0f;
_velocity.Z = 0.0f;
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
//_orientation.w = 0f;
//_orientation.X = 0f;
//_orientation.Y = 0f;
//_orientation.Z = 0f;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
if (!m_lastUpdateSent)
{
m_throttleUpdates = false;
throttleCounter = 0;
m_rotationalVelocity = pv;
if (_parent == null)
base.RequestPhysicsterseUpdate();
m_lastUpdateSent = true;
}
_zeroFlag = true;
}
else
{
if (lastZeroFlag != _zeroFlag)
{
if (_parent == null)
base.RequestPhysicsterseUpdate();
}
m_lastVelocity = _velocity;
_position = l_position;
_velocity.X = tempLinearVelocity1.getX();
_velocity.Y = tempLinearVelocity1.getY();
_velocity.Z = tempLinearVelocity1.getZ();
_acceleration = ((_velocity - m_lastVelocity) / 0.1f);
_acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f);
//m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
if (_velocity.IsIdentical(pv, 0.5f))
{
m_rotationalVelocity = pv;
}
else
{
m_rotationalVelocity.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(), tempAngularVelocity1.getZ());
}
//m_log.Debug("ODE: " + m_rotationalVelocity.ToString());
_orientation.X = l_orientation.X;
_orientation.Y = l_orientation.Y;
_orientation.Z = l_orientation.Z;
_orientation.W = l_orientation.W;
m_lastUpdateSent = false;
//if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate)
//{
if (_parent == null)
base.RequestPhysicsterseUpdate();
// }
// else
// {
// throttleCounter++;
//}
}
m_lastposition = l_position;
if (forceenable)
{
Body.forceActivationState(1);
forceenable = false;
}
}
else
{
// Not a body.. so Make sure the client isn't interpolating
_velocity.X = 0;
_velocity.Y = 0;
_velocity.Z = 0;
_acceleration.X = 0;
_acceleration.Y = 0;
_acceleration.Z = 0;
m_rotationalVelocity.X = 0;
m_rotationalVelocity.Y = 0;
m_rotationalVelocity.Z = 0;
_zeroFlag = true;
}
}