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BulletSim: add parameters, code cleanup around checking and enforcing 

maximum velocity and angular velocity values for prims.
user_profiles
Robert Adams 2013-03-01 08:52:06 -08:00
parent 862c3fd446
commit 1c740798b4
3 changed files with 57 additions and 14 deletions
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4
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
View File

@ -961,13 +961,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// ==================================================================
// Clamp high or low velocities
float newVelocityLengthSq = VehicleVelocity.LengthSquared();
if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocitySq)
if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocitySquared)
{
Vector3 origVelW = VehicleVelocity; // DEBUG DEBUG
VehicleVelocity /= VehicleVelocity.Length();
VehicleVelocity *= BSParam.VehicleMaxLinearVelocity;
VDetailLog("{0}, MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}",
Prim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySq, VehicleVelocity);
Prim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity);
}
else if (newVelocityLengthSq < 0.001f)
VehicleVelocity = Vector3.Zero;

20
OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
View File

@ -47,12 +47,16 @@ public static class BSParam
public static float SculptLOD { get; private set; }
public static int CrossingFailuresBeforeOutOfBounds { get; private set; }
public static float UpdateVelocityChangeThreshold { get; private set; }
public static float MinimumObjectMass { get; private set; }
public static float MaximumObjectMass { get; private set; }
public static float MaxLinearVelocity { get; private set; }
public static float MaxLinearVelocitySquared { get; private set; }
public static float MaxAngularVelocity { get; private set; }
public static float MaxAngularVelocitySquared { get; private set; }
public static float MaxAddForceMagnitude { get; private set; }
public static float MaxAddForceMagnitudeSquared { get; private set; }
public static float DensityScaleFactor { get; private set; }
public static float LinearDamping { get; private set; }
@ -109,7 +113,7 @@ public static class BSParam
// Vehicle parameters
public static float VehicleMaxLinearVelocity { get; private set; }
public static float VehicleMaxLinearVelocitySq { get; private set; }
public static float VehicleMaxLinearVelocitySquared { get; private set; }
public static float VehicleMaxAngularVelocity { get; private set; }
public static float VehicleMaxAngularVelocitySq { get; private set; }
public static float VehicleAngularDamping { get; private set; }
@ -265,7 +269,7 @@ public static class BSParam
// The single letter parameters for the delegates are:
// s = BSScene
// o = BSPhysObject
// v = value (float)
// v = value (appropriate type)
private static ParameterDefnBase[] ParameterDefinitions =
{
new ParameterDefn<bool>("MeshSculptedPrim", "Whether to create meshes for sculpties",
@ -289,6 +293,10 @@ public static class BSParam
5,
(s) => { return CrossingFailuresBeforeOutOfBounds; },
(s,v) => { CrossingFailuresBeforeOutOfBounds = v; } ),
new ParameterDefn<float>("UpdateVelocityChangeThreshold", "Change in updated velocity required before reporting change to simulator",
0.1f,
(s) => { return UpdateVelocityChangeThreshold; },
(s,v) => { UpdateVelocityChangeThreshold = v; } ),
new ParameterDefn<float>("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
32f,
@ -343,16 +351,16 @@ public static class BSParam
new ParameterDefn<float>("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object",
1000.0f,
(s) => { return MaxLinearVelocity; },
(s,v) => { MaxLinearVelocity = v; } ),
(s,v) => { MaxLinearVelocity = v; MaxLinearVelocitySquared = v * v; } ),
new ParameterDefn<float>("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object",
1000.0f,
(s) => { return MaxAngularVelocity; },
(s,v) => { MaxAngularVelocity = v; } ),
(s,v) => { MaxAngularVelocity = v; MaxAngularVelocitySquared = v * v; } ),
// LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject
new ParameterDefn<float>("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)",
20000.0f,
(s) => { return MaxAddForceMagnitude; },
(s,v) => { MaxAddForceMagnitude = v; } ),
(s,v) => { MaxAddForceMagnitude = v; MaxAddForceMagnitudeSquared = v * v; } ),
// Density is passed around as 100kg/m3. This scales that to 1kg/m3.
new ParameterDefn<float>("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)",
0.01f,
@ -505,7 +513,7 @@ public static class BSParam
new ParameterDefn<float>("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
1000.0f,
(s) => { return (float)VehicleMaxLinearVelocity; },
(s,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySq = v * v; } ),
(s,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySquared = v * v; } ),
new ParameterDefn<float>("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle",
12.0f,
(s) => { return (float)VehicleMaxAngularVelocity; },

47
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -108,6 +108,9 @@ public class BSPrim : BSPhysObject
// do the actual object creation at taint time
PhysicsScene.TaintedObject("BSPrim.create", delegate()
{
// Make sure the object is being created with some sanity.
ExtremeSanityCheck(true /* inTaintTime */);
CreateGeomAndObject(true);
CurrentCollisionFlags = PhysicsScene.PE.GetCollisionFlags(PhysBody);
@ -450,6 +453,38 @@ public class BSPrim : BSPhysObject
return ret;
}
// Occasionally things will fly off and really get lost.
// Find the wanderers and bring them back.
// Return 'true' if some parameter need some sanity.
private bool ExtremeSanityCheck(bool inTaintTime)
{
bool ret = false;
uint wayOutThere = Constants.RegionSize * Constants.RegionSize;
// There have been instances of objects getting thrown way out of bounds and crashing
// the border crossing code.
if ( _position.X < -Constants.RegionSize || _position.X > wayOutThere
|| _position.Y < -Constants.RegionSize || _position.Y > wayOutThere
|| _position.Z < -Constants.RegionSize || _position.Z > wayOutThere)
{
_position = new OMV.Vector3(10, 10, 50);
ZeroMotion(inTaintTime);
ret = true;
}
if (_velocity.LengthSquared() > BSParam.MaxLinearVelocity)
{
_velocity = Util.ClampV(_velocity, BSParam.MaxLinearVelocity);
ret = true;
}
if (_rotationalVelocity.LengthSquared() > BSParam.MaxAngularVelocitySquared)
{
_rotationalVelocity = Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
ret = true;
}
return ret;
}
// Return the effective mass of the object.
// The definition of this call is to return the mass of the prim.
// If the simulator cares about the mass of the linkset, it will sum it itself.
@ -585,12 +620,12 @@ public class BSPrim : BSPhysObject
if (VehicleController.Type == Vehicle.TYPE_NONE)
{
UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
PhysicsScene.AfterStep -= VehicleController.PostStep;
UnRegisterPostStepAction("BSPrim.Vehicle", LocalID);
}
else
{
RegisterPreStepAction("BSPrim.Vehicle", LocalID, VehicleController.Step);
PhysicsScene.AfterStep += VehicleController.PostStep;
RegisterPostStepAction("BSPrim.Vehicle", LocalID, VehicleController.PostStep);
}
});
}
@ -732,7 +767,7 @@ public class BSPrim : BSPhysObject
set {
PhysicsScene.AssertInTaintTime("BSPrim.ForceVelocity");
_velocity = value;
_velocity = Util.ClampV(value, BSParam.MaxLinearVelocity);
if (PhysBody.HasPhysicalBody)
{
DetailLog("{0},BSPrim.ForceVelocity,taint,vel={1}", LocalID, _velocity);
@ -1098,7 +1133,7 @@ public class BSPrim : BSPhysObject
return _rotationalVelocity;
}
set {
_rotationalVelocity = value;
_rotationalVelocity = Util.ClampV(value, BSParam.MaxAngularVelocity);
if (PhysBody.HasPhysicalBody)
{
DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
@ -1230,6 +1265,7 @@ public class BSPrim : BSPhysObject
RegisterPreStepAction("BSPrim.Hover", LocalID, delegate(float timeStep)
{
// Don't do hovering while the object is selected.
if (!IsPhysicallyActive)
return;
@ -1737,10 +1773,9 @@ public class BSPrim : BSPhysObject
// Assign directly to the local variables so the normal set actions do not happen
_position = entprop.Position;
_orientation = entprop.Rotation;
// _velocity = entprop.Velocity;
// DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be
// very sensitive to velocity changes.
if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(_velocity, 0.1f))
if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(_velocity, BSParam.UpdateVelocityChangeThreshold))
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;