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BulletSim: experimental lock axis code using constraints. Not enabled 

by default. Like more debugging is needed.
user_profiles
Robert Adams 2013-02-17 20:11:40 -08:00
parent 1d7276235a
commit 26421294f6
2 changed files with 77 additions and 25 deletions
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4
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
View File

@ -485,8 +485,8 @@ public sealed class BSLinksetCompound : BSLinkset
}
OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNonNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}",
PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNonNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}",
LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot);
}

98
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -239,50 +239,98 @@ public class BSPrim : BSPhysObject
});
}
bool TryExperimentalLockAxisCode = false;
BSConstraint LockAxisConstraint = null;
public override void LockAngularMotion(OMV.Vector3 axis)
{
DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
// "1" means free, "0" means locked
OMV.Vector3 locking = new OMV.Vector3(1f, 1f, 1f);
if (axis.X != 1) locking.X = 0f;
if (axis.Y != 1) locking.Y = 0f;
if (axis.Z != 1) locking.Z = 0f;
LockedAxis = locking;
/* Not implemented yet
if (LockedAxis != LockedAxisFree)
if (TryExperimentalLockAxisCode && LockedAxis != LockedAxisFree)
{
// Something is locked so start the thingy that keeps that axis from changing
RegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion", delegate(ref EntityProperties entprop)
// Lock that axis by creating a 6DOF constraint that has one end in the world and
// the other in the object.
// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=20817
// http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?p=26380
PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate()
{
if (LockedAxis != LockedAxisFree)
{
if (IsPhysicallyActive)
{
// Bullet can lock axis but it only works for global axis.
// Check if this prim is aligned on global axis and use Bullet's
// system if so.
CleanUpLockAxisPhysicals(true /* inTaintTime */);
ForceOrientation = entprop.Rotation;
ForceRotationalVelocity = entprop.RotationalVelocity;
}
}
else
{
UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion");
}
BSConstraint6Dof axisConstrainer = new BSConstraint6Dof(PhysicsScene.World, PhysBody,
OMV.Vector3.Zero, OMV.Quaternion.Inverse(RawOrientation),
true /* useLinearReferenceFrameB */, true /* disableCollisionsBetweenLinkedBodies */);
LockAxisConstraint = axisConstrainer;
PhysicsScene.Constraints.AddConstraint(LockAxisConstraint);
// The constraint is tied to the world and oriented to the prim.
// Free to move linearly
OMV.Vector3 linearLow = OMV.Vector3.Zero;
OMV.Vector3 linearHigh = PhysicsScene.TerrainManager.DefaultRegionSize;
axisConstrainer.SetLinearLimits(linearLow, linearHigh);
// Angular with some axis locked
float f2PI = (float)Math.PI * 2f;
OMV.Vector3 angularLow = new OMV.Vector3(-f2PI, -f2PI, -f2PI);
OMV.Vector3 angularHigh = new OMV.Vector3(f2PI, f2PI, f2PI);
if (LockedAxis.X != 1f)
{
angularLow.X = 0f;
angularHigh.X = 0f;
}
if (LockedAxis.Y != 1f)
{
angularLow.Y = 0f;
angularHigh.Y = 0f;
}
if (LockedAxis.Z != 1f)
{
angularLow.Z = 0f;
angularHigh.Z = 0f;
}
axisConstrainer.SetAngularLimits(angularLow, angularHigh);
DetailLog("{0},BSPrim.LockAngularMotion,create,linLow={1},linHi={2},angLow={3},angHi={4}",
LocalID, linearLow, linearHigh, angularLow, angularHigh);
// Constants from one of the posts mentioned above and used in Bullet's ConstraintDemo.
axisConstrainer.TranslationalLimitMotor(true /* enable */, 5.0f, 0.1f);
axisConstrainer.RecomputeConstraintVariables(RawMass);
});
}
else
{
// Everything seems unlocked
UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion");
CleanUpLockAxisPhysicals(false /* inTaintTime */);
}
*/
return;
}
// Get rid of any constraint built for LockAxis
// Most often the constraint is removed when the constraint collection is cleaned for this prim.
private void CleanUpLockAxisPhysicals(bool inTaintTime)
{
if (LockAxisConstraint != null)
{
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.CleanUpLockAxisPhysicals", delegate()
{
if (LockAxisConstraint != null)
{
PhysicsScene.Constraints.RemoveAndDestroyConstraint(LockAxisConstraint);
LockAxisConstraint = null;
DetailLog("{0},BSPrim.CleanUpLockAxisPhysicals,destroyingConstraint", LocalID);
}
});
}
}
public override OMV.Vector3 RawPosition
{
@ -762,6 +810,7 @@ public class BSPrim : BSPhysObject
SetObjectDynamic(true);
// whether phys-to-static or static-to-phys, the object is not moving.
ZeroMotion(true);
});
}
}
@ -885,6 +934,8 @@ public class BSPrim : BSPhysObject
// For good measure, make sure the transform is set through to the motion state
ForcePosition = _position;
ForceVelocity = _velocity;
ForceRotationalVelocity = _rotationalVelocity;
// A dynamic object has mass
UpdatePhysicalMassProperties(RawMass, false);
@ -1064,8 +1115,8 @@ public class BSPrim : BSPhysObject
_buoyancy = value;
// DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
// Force the recalculation of the various inertia,etc variables in the object
DetailLog("{0},BSPrim.ForceBuoyancy,buoy={1},mass={2}", LocalID, _buoyancy, _mass);
UpdatePhysicalMassProperties(_mass, true);
UpdatePhysicalMassProperties(RawMass, true);
DetailLog("{0},BSPrim.ForceBuoyancy,buoy={1},mass={2},grav={3}", LocalID, _buoyancy, RawMass, Gravity);
ActivateIfPhysical(false);
}
}
@ -1303,6 +1354,7 @@ public class BSPrim : BSPhysObject
{
if (PhysBody.HasPhysicalBody)
{
DetailLog("{0},BSPrim.AddAngularForce,taint,angForce={1}", LocalID, angForce);
PhysicsScene.PE.ApplyTorque(PhysBody, angForce);
ActivateIfPhysical(false);
}