BulletSim: add parameters, code cleanup around checking and enforcing

maximum velocity and angular velocity values for prims.

OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs

@@ -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;

OpenSim/Region/Physics/BulletSPlugin/BSParam.cs

@@ -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; },

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -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;