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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim

0.7.5-pf-bulletsim
Justin Clark-Casey (justincc) 2012-12-17 22:19:42 +00:00
parent e6fd8365af 8653ea93b2
commit 235afebf03
5 changed files with 28 additions and 37 deletions
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39
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -87,7 +87,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate
private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
private Vector3 m_lastAngularCorrection = Vector3.Zero;
private Vector3 m_lastAngularVelocity = Vector3.Zero;
private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
//Deflection properties
@ -128,7 +128,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Return 'true' if this vehicle is doing vehicle things
public bool IsActive
{
get { return Type != Vehicle.TYPE_NONE; }
get { return Type != Vehicle.TYPE_NONE && Prim.IsPhysical; }
}
internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
@ -664,6 +664,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// an UpdateProperties event to send the changes up to the simulator.
BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr);
}
m_knownChanged = 0;
}
// Since the computation of terrain height can be a little involved, this routine
@ -993,11 +994,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
public Vector3 ComputeLinearMotorUp(float pTimestep)
{
Vector3 ret = Vector3.Zero;
float distanceAboveGround = 0f;
if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
{
float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
float distanceAboveGround = VehiclePosition.Z - targetHeight;
distanceAboveGround = VehiclePosition.Z - targetHeight;
// Not colliding if the vehicle is off the ground
if (!Prim.IsColliding)
{
@ -1010,9 +1012,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// has a decay factor. This says this force should
// be computed with a motor.
// TODO: add interaction with banking.
VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret);
}
VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret);
return ret;
}
@ -1049,8 +1051,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// ==================================================================
m_lastVertAttractor = verticalAttractionContribution;
// Sum corrections
m_lastAngularCorrection = angularMotorContribution
m_lastAngularVelocity = angularMotorContribution
+ verticalAttractionContribution
+ deflectionContribution
+ bankingContribution;
@ -1058,19 +1059,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// ==================================================================
// Apply the correction velocity.
// TODO: Should this be applied as an angular force (torque)?
if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f))
if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
{
// DEBUG DEBUG DEBUG: optionally scale the angular velocity. Debugging SL vs ODE turning functions.
Vector3 scaledCorrection = m_lastAngularCorrection;
if (PhysicsScene.VehicleScaleAngularVelocityByTimestep)
scaledCorrection *= pTimestep;
VehicleRotationalVelocity = scaledCorrection;
VehicleRotationalVelocity = m_lastAngularVelocity;
VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}",
VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}",
Prim.LocalID,
angularMotorContribution, verticalAttractionContribution,
bankingContribution, deflectionContribution,
m_lastAngularCorrection, scaledCorrection
m_lastAngularVelocity
);
}
else
@ -1124,18 +1121,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
Vector3 ret = Vector3.Zero;
// If vertical attaction timescale is reasonable and we applied an angular force last time...
// If vertical attaction timescale is reasonable
if (m_verticalAttractionTimescale < m_verticalAttractionCutoff)
{
// Take a vector pointing up and convert it from world to vehicle relative coords.
Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
verticalError.Normalize();
// If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
// is now leaning to one side (rotated around the X axis) and the Y value will
// go from zero (nearly straight up) to one (completely to the side) or leaning
// front-to-back (rotated around the Y axis) and the value of X will be between
// zero and one.
// is now:
// leaning to one side: rotated around the X axis with the Y value going
// from zero (nearly straight up) to one (completely to the side)) or
// leaning front-to-back: rotated around the Y axis with the value of X being between
// zero and one.
// The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
// If verticalError.Z is negative, the vehicle is upside down. Add additional push.

14
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
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@ -94,10 +94,10 @@ public sealed class BSLinksetCompound : BSLinkset
}
// Schedule a refresh to happen after all the other taint processing.
private void ScheduleRebuild()
private void ScheduleRebuild(BSPhysObject requestor)
{
DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,rebuilding={1}",
LinksetRoot.LocalID, Rebuilding);
requestor.LocalID, Rebuilding);
// When rebuilding, it is possible to set properties that would normally require a rebuild.
// If already rebuilding, don't request another rebuild.
if (!Rebuilding)
@ -124,7 +124,7 @@ public sealed class BSLinksetCompound : BSLinkset
{
// The root is going dynamic. Make sure mass is properly set.
m_mass = ComputeLinksetMass();
ScheduleRebuild();
ScheduleRebuild(LinksetRoot);
}
else
{
@ -153,7 +153,7 @@ public sealed class BSLinksetCompound : BSLinkset
DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
if (IsRoot(child))
{
ScheduleRebuild();
ScheduleRebuild(LinksetRoot);
}
else
{
@ -182,7 +182,7 @@ public sealed class BSLinksetCompound : BSLinkset
&& PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
{
updated.LinksetInfo = null;
ScheduleRebuild();
ScheduleRebuild(updated);
}
}
@ -266,7 +266,7 @@ public sealed class BSLinksetCompound : BSLinkset
DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
// Rebuild the compound shape with the new child shape included
ScheduleRebuild();
ScheduleRebuild(child);
}
return;
}
@ -294,7 +294,7 @@ public sealed class BSLinksetCompound : BSLinkset
else
{
// Rebuild the compound shape with the child removed
ScheduleRebuild();
ScheduleRebuild(child);
}
}
return;

4
OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
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@ -134,8 +134,6 @@ public class BSVMotor : BSMotor
Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep;
CurrentValue += addAmount;
returnCurrent = CurrentValue;
// The desired value reduces to zero which also reduces the difference with current.
// If the decay time is infinite, don't decay at all.
float decayFactor = 0f;
@ -156,6 +154,8 @@ public class BSVMotor : BSMotor
CurrentValue *= (Vector3.One - frictionFactor);
}
returnCurrent = CurrentValue;
MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}",
BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
timeStep, TimeScale, addAmount,

6
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@ -189,7 +189,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
// 'true' of the vehicle code is to log lots of details
public bool VehicleLoggingEnabled { get; private set; }
public bool VehiclePhysicalLoggingEnabled { get; private set; }
public bool VehicleScaleAngularVelocityByTimestep { get; private set; }
#region Construction and Initialization
public BSScene(string identifier)
@ -1239,11 +1238,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
(s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].vehicleAngularDamping; },
(s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ),
new ParameterDefn("VehicleScaleAngularVelocityByTimestep", "If true, scale angular turning by timestep",
ConfigurationParameters.numericFalse,
(s,cf,p,v) => { s.VehicleScaleAngularVelocityByTimestep = cf.GetBoolean(p, s.BoolNumeric(v)); },
(s) => { return s.NumericBool(s.VehicleScaleAngularVelocityByTimestep); },
(s,p,l,v) => { s.VehicleScaleAngularVelocityByTimestep = s.BoolNumeric(v); } ),
new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
0f,

2
OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
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@ -5,7 +5,7 @@ Eliminate all crashes (DONEish)
Border crossing of physical linkset (DONE)
Enable vehicle border crossings (at least as poorly as ODE)
Avatar created in previous region and not new region when crossing border
Vehicle recreated in new sim at small Z value (offset from root value?)
Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
Calibrate turning radius
limitMotorUp calibration (more down?)
study PID motors (include 'efficiency' implementation