BulletSim: fix vehicles going underground when unsat. Problem was that, when doing unsit, the order of operations on the prims and the vehicle is very chaotic and not in a good order so the root prim was being left physical and thus it fell for a bit. Also changed default of velocity scaling to be closer to the movement standard.
Robert Adams
parent
021623a17d
commit
11532a4390
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@ -87,7 +87,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate
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private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
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private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
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private Vector3 m_lastAngularCorrection = Vector3.Zero;
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private Vector3 m_lastAngularVelocity = Vector3.Zero;
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private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
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//Deflection properties
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@ -128,7 +128,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// Return 'true' if this vehicle is doing vehicle things
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public bool IsActive
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{
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get { return Type != Vehicle.TYPE_NONE; }
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get { return Type != Vehicle.TYPE_NONE && Prim.IsPhysical; }
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}
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internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
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@ -664,6 +664,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// an UpdateProperties event to send the changes up to the simulator.
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BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr);
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}
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m_knownChanged = 0;
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}
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// Since the computation of terrain height can be a little involved, this routine
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@ -993,11 +994,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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public Vector3 ComputeLinearMotorUp(float pTimestep)
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{
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Vector3 ret = Vector3.Zero;
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float distanceAboveGround = 0f;
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if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
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{
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float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
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float distanceAboveGround = VehiclePosition.Z - targetHeight;
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distanceAboveGround = VehiclePosition.Z - targetHeight;
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// Not colliding if the vehicle is off the ground
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if (!Prim.IsColliding)
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{
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@ -1010,9 +1012,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// has a decay factor. This says this force should
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// be computed with a motor.
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// TODO: add interaction with banking.
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VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
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Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret);
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}
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VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
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Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret);
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return ret;
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}
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@ -1049,8 +1051,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// ==================================================================
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m_lastVertAttractor = verticalAttractionContribution;
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// DEBUG DEBUG DEBUG: optionally scale the angular velocity. Debugging SL vs ODE turning functions.
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Vector3 originalAngularMotorContrib = angularMotorContribution;
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if (PhysicsScene.VehicleScaleAngularVelocityByTimestep)
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angularMotorContribution *= pTimestep;
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// Sum corrections
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m_lastAngularCorrection = angularMotorContribution
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m_lastAngularVelocity = angularMotorContribution
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+ verticalAttractionContribution
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+ deflectionContribution
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+ bankingContribution;
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@ -1058,19 +1065,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// ==================================================================
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// Apply the correction velocity.
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// TODO: Should this be applied as an angular force (torque)?
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if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f))
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if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
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{
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// DEBUG DEBUG DEBUG: optionally scale the angular velocity. Debugging SL vs ODE turning functions.
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Vector3 scaledCorrection = m_lastAngularCorrection;
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if (PhysicsScene.VehicleScaleAngularVelocityByTimestep)
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scaledCorrection *= pTimestep;
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VehicleRotationalVelocity = scaledCorrection;
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VehicleRotationalVelocity = m_lastAngularVelocity;
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VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}",
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VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}",
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Prim.LocalID,
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angularMotorContribution, verticalAttractionContribution,
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bankingContribution, deflectionContribution,
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m_lastAngularCorrection, scaledCorrection
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m_lastAngularVelocity
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);
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}
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else
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@ -1124,18 +1127,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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{
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Vector3 ret = Vector3.Zero;
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// If vertical attaction timescale is reasonable and we applied an angular force last time...
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// If vertical attaction timescale is reasonable
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if (m_verticalAttractionTimescale < m_verticalAttractionCutoff)
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{
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// Take a vector pointing up and convert it from world to vehicle relative coords.
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Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
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verticalError.Normalize();
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// If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
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// is now leaning to one side (rotated around the X axis) and the Y value will
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// go from zero (nearly straight up) to one (completely to the side) or leaning
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// front-to-back (rotated around the Y axis) and the value of X will be between
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// zero and one.
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// is now:
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// leaning to one side: rotated around the X axis with the Y value going
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// from zero (nearly straight up) to one (completely to the side)) or
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// leaning front-to-back: rotated around the Y axis with the value of X being between
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// zero and one.
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// The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
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// If verticalError.Z is negative, the vehicle is upside down. Add additional push.
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@ -94,10 +94,10 @@ public sealed class BSLinksetCompound : BSLinkset
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}
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// Schedule a refresh to happen after all the other taint processing.
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private void ScheduleRebuild()
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private void ScheduleRebuild(BSPhysObject requestor)
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{
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DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,rebuilding={1}",
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LinksetRoot.LocalID, Rebuilding);
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requestor.LocalID, Rebuilding);
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// When rebuilding, it is possible to set properties that would normally require a rebuild.
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// If already rebuilding, don't request another rebuild.
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if (!Rebuilding)
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@ -124,7 +124,7 @@ public sealed class BSLinksetCompound : BSLinkset
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{
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// The root is going dynamic. Make sure mass is properly set.
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m_mass = ComputeLinksetMass();
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ScheduleRebuild();
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ScheduleRebuild(LinksetRoot);
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}
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else
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{
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@ -153,7 +153,7 @@ public sealed class BSLinksetCompound : BSLinkset
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DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
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if (IsRoot(child))
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{
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ScheduleRebuild();
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ScheduleRebuild(LinksetRoot);
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}
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else
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{
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@ -182,7 +182,7 @@ public sealed class BSLinksetCompound : BSLinkset
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&& PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
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{
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updated.LinksetInfo = null;
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ScheduleRebuild();
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ScheduleRebuild(updated);
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}
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}
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@ -266,7 +266,7 @@ public sealed class BSLinksetCompound : BSLinkset
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DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
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// Rebuild the compound shape with the new child shape included
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ScheduleRebuild();
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ScheduleRebuild(child);
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}
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return;
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}
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@ -294,7 +294,7 @@ public sealed class BSLinksetCompound : BSLinkset
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else
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{
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// Rebuild the compound shape with the child removed
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ScheduleRebuild();
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ScheduleRebuild(child);
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}
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}
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return;
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@ -1240,7 +1240,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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(s) => { return s.m_params[0].vehicleAngularDamping; },
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(s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ),
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new ParameterDefn("VehicleScaleAngularVelocityByTimestep", "If true, scale angular turning by timestep",
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ConfigurationParameters.numericFalse,
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ConfigurationParameters.numericTrue,
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(s,cf,p,v) => { s.VehicleScaleAngularVelocityByTimestep = cf.GetBoolean(p, s.BoolNumeric(v)); },
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(s) => { return s.NumericBool(s.VehicleScaleAngularVelocityByTimestep); },
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(s,p,l,v) => { s.VehicleScaleAngularVelocityByTimestep = s.BoolNumeric(v); } ),
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@ -5,7 +5,7 @@ Eliminate all crashes (DONEish)
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Border crossing of physical linkset (DONE)
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Enable vehicle border crossings (at least as poorly as ODE)
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Avatar created in previous region and not new region when crossing border
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Vehicle recreated in new sim at small Z value (offset from root value?)
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Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
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Calibrate turning radius
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limitMotorUp calibration (more down?)
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study PID motors (include 'efficiency' implementation
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