* Re-did the mass calculations in ODE for Prim
* Exposed the mass as a PhysicsActor read only property (so scripts can get at it - hint hint -) * Hollow and Path Cuts affect the prim mass (all Hollow Types are supported in this calculation (sphere,square,triangle)) * Prim no longer sink into the ground.afrisby
Teravus Ovares
parent
94ec2a508a
commit
27e0287526
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@ -258,7 +258,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
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public override PhysicsVector Size
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{
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get { return new PhysicsVector(0, 0, 0); }
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get { return PhysicsVector.Zero; }
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set { }
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}
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@ -269,7 +269,22 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
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return;
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}
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}
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public override float Mass
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{
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get { return 0f; }
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}
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public override PhysicsVector Force
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector CenterOfMass
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector GeometricCenter
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector Velocity
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{
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get { return _velocity; }
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@ -511,10 +511,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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GC.Collect();
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}
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}
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public override void AddPhysicsActorTaint(PhysicsActor prim)
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{
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}
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public override float Simulate(float timeStep)
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{
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float fps = 0;
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@ -735,11 +737,13 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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}
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}
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}
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public override PhysicsVector RotationalVelocity
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{
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get { return m_rotationalVelocity; }
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set { m_rotationalVelocity = value; }
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}
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public override PhysicsVector Velocity
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{
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get { return _velocity; }
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@ -760,12 +764,28 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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}
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}
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}
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public override PhysicsVector Size
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{
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get { return _size; }
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set { lock (BulletXScene.BulletXLock) { _size = value; } }
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}
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public override PhysicsVector Force
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector CenterOfMass
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector GeometricCenter
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{
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get { return PhysicsVector.Zero; }
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}
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public override PrimitiveBaseShape Shape
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{
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set
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@ -773,15 +793,18 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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return;
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}
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}
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public override bool SetAlwaysRun
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{
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get { return false; }
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set { return; }
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}
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public override PhysicsVector Acceleration
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{
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get { return _acceleration; }
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}
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public override AxiomQuaternion Orientation
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{
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get { return _orientation; }
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@ -794,10 +817,17 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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}
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}
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}
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public virtual float Mass
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public override float Mass
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{
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get { return 0; }
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get { return ActorMass; }
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}
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public virtual float ActorMass
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{
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get { return 0; }
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}
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public override int PhysicsActorType
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{
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get { return (int) m_PhysicsActorType; }
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@ -808,6 +838,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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{
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get { return rigidBody; }
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}
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public Vector3 RigidBodyPosition
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{
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get { return this.rigidBody.CenterOfMassPosition; }
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@ -829,21 +860,25 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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get { return false; }
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set { return; }
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}
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public override bool IsColliding
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{
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get { return iscolliding; }
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set { iscolliding = value; }
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}
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public override bool CollidingGround
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{
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get { return false; }
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set { return; }
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}
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public override bool CollidingObj
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{
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get { return false; }
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set { return; }
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}
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public virtual void SetAcceleration(PhysicsVector accel)
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{
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lock (BulletXScene.BulletXLock)
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@ -851,6 +886,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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_acceleration = accel;
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}
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}
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public override bool Kinematic
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{
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get
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@ -862,16 +898,20 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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}
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}
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public override void AddForce(PhysicsVector force)
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{
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}
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public override void SetMomentum(PhysicsVector momentum)
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{
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}
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internal virtual void ValidateHeight(float heighmapPositionValue)
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{
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}
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internal virtual void UpdateKinetics()
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{
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}
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@ -1176,7 +1216,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
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get { return base.Orientation; }
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set { base.Orientation = value; }
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}
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public override float Mass
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public override float ActorMass
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{
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get
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{
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@ -157,6 +157,14 @@ namespace OpenSim.Region.Physics.Manager
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public abstract PhysicsVector Position { get; set; }
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public abstract float Mass { get; }
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public abstract PhysicsVector Force { get;}
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public abstract PhysicsVector GeometricCenter { get; }
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public abstract PhysicsVector CenterOfMass { get; }
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public abstract PhysicsVector Velocity { get; set; }
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public abstract PhysicsVector Acceleration { get; }
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@ -210,7 +218,22 @@ namespace OpenSim.Region.Physics.Manager
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get { return PhysicsVector.Zero; }
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set { return; }
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}
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public override float Mass
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{
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get { return 0f; }
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}
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public override PhysicsVector Force
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector CenterOfMass
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector GeometricCenter
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{
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get { return PhysicsVector.Zero; }
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}
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public override PrimitiveBaseShape Shape
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{
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set
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@ -46,6 +46,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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private PhysicsVector _target_velocity;
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private PhysicsVector _acceleration;
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private PhysicsVector m_rotationalVelocity;
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private float m_density = 50f;
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private bool m_pidControllerActive = true;
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private static float PID_D = 3020.0f;
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private static float PID_P = 7000.0f;
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@ -93,7 +94,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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Shell = d.CreateCapsule(parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
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d.MassSetCapsule(out ShellMass, 50.0f, 3, 0.4f, 1.0f);
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d.MassSetCapsule(out ShellMass, m_density, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
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Body = d.BodyCreate(parent_scene.world);
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d.BodySetMass(Body, ref ShellMass);
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d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
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@ -273,7 +274,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.GeomDestroy(Shell);
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//MainLog.Instance.Verbose("PHYSICS", "Set Avatar Height To: " + (CAPSULE_RADIUS + CAPSULE_LENGTH));
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Shell = d.CreateCapsule(_parent_scene.space, capsuleradius, CAPSULE_LENGTH);
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d.MassSetCapsule(out ShellMass, 50.0f, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
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d.MassSetCapsule(out ShellMass, m_density, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
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Body = d.BodyCreate(_parent_scene.world);
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d.BodySetMass(Body, ref ShellMass);
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d.BodySetPosition(Body, _position.X, _position.Y, _position.Z + Math.Abs(CAPSULE_LENGTH - prevCapsule));
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@ -283,6 +284,29 @@ namespace OpenSim.Region.Physics.OdePlugin
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_parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
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}
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}
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public override float Mass
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{
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get {
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float AVvolume = (float)(Math.PI * Math.Pow(CAPSULE_RADIUS, 2) * CAPSULE_LENGTH);
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return m_density * AVvolume;
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}
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}
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public override PhysicsVector Force
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{
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get { return new PhysicsVector(_target_velocity.X,_target_velocity.Y,_target_velocity.Z); }
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}
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public override PhysicsVector CenterOfMass
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector GeometricCenter
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{
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get { return PhysicsVector.Zero; }
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}
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public override PrimitiveBaseShape Shape
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{
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@ -65,6 +65,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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private bool m_throttleUpdates = false;
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private int throttleCounter = 0;
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public bool outofBounds = false;
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private float m_density = 0f;
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public bool _zeroFlag = false;
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private bool m_lastUpdateSent = false;
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@ -73,7 +76,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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private String m_primName;
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private PhysicsVector _target_velocity;
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public d.Mass pMass;
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private const float MassMultiplier = 150f; // Ref: Water: 1000kg.. this iset to 500
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private const float MassMultiplier = 150f;
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private int debugcounter = 0;
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public OdePrim(String primName, OdeScene parent_scene, IntPtr targetSpace, PhysicsVector pos, PhysicsVector size,
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@ -182,15 +185,104 @@ namespace OpenSim.Region.Physics.OdePlugin
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_parent_scene.addActivePrim(this);
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}
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public void setMass()
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private float CalculateMass()
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{
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//Sets Mass based on member MassMultiplier.
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float volume = 0;
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// No material is passed to the physics engines yet.. soo..
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float density = 2.7f; // Aluminum g/cm3;
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float returnMass = 0;
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switch (_pbs.ProfileShape)
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{
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case ProfileShape.Square:
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// Profile Volume
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volume = _size.X * _size.Y * _size.Z;
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// If the user has 'hollowed out'
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if (((float)_pbs.ProfileHollow / 50000f) > 0.0)
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{
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float hollowAmount = (float)_pbs.ProfileHollow / 50000f;
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//break;
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float hollowVolume = 0;
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switch (_pbs.HollowShape)
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{
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case HollowShape.Square:
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case HollowShape.Same:
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// Cube Hollow
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float hollowsizex = _size.X * hollowAmount;
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float hollowsizey = _size.Y * hollowAmount;
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float hollowsizez = _size.Z * hollowAmount;
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hollowVolume = hollowsizex * hollowsizey * hollowsizez;
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break;
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case HollowShape.Circle:
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// Hollow shape is a perfect cyllinder in respect to the cube's scale
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float hRadius = _size.X / 2;
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float hLength = _size.Z;
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// pi * r2 * h
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hollowVolume = ((float)(Math.PI * Math.Pow(hRadius, 2) * hLength) * hollowAmount);
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break;
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case HollowShape.Triangle:
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float aLength = _size.Y; // Triangle is an Equilateral Triangular Prism with aLength = to _size.Y
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// 1/2 abh
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hollowVolume = (float)((0.5 * aLength * _size.X * _size.Z) * hollowAmount);
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break;
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default:
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hollowVolume = 0;
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break;
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}
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volume = volume - hollowVolume;
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}
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break;
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default:
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volume = _size.X * _size.Y * _size.Z;
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break;
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}
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// Calculate Path cut effect on volume
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// Not exact, in the triangle hollow example
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// They should ever be less then zero..
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// we'll ignore it if it's less then zero
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float PathCutEndAmount = _pbs.ProfileEnd;
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float PathCutStartAmount = _pbs.ProfileBegin;
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if (((PathCutStartAmount + PathCutEndAmount)/50000f) > 0.0f)
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{
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float pathCutAmount = ((PathCutStartAmount + PathCutEndAmount) / 50000f);
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if (pathCutAmount >= 0.99f)
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pathCutAmount=0.99f;
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volume = volume - (volume * pathCutAmount);
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}
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returnMass = density * volume;
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return returnMass;
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}
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public void setMass()
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{
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if (Body != (IntPtr)0)
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{
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d.MassSetBox(out pMass, (_size.X * _size.Y * _size.Z * MassMultiplier), _size.X, _size.Y, _size.Z);
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//if (_pbs.ProfileShape = ProfileShape.Square) {
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d.MassSetBoxTotal(out pMass, CalculateMass(), _size.X, _size.Y, _size.Z);
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d.BodySetMass(Body, ref pMass);
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}
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}
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public void disableBody()
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{
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//this kills the body so things like 'mesh' can re-create it.
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@ -212,7 +304,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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int[] indexList = mesh.getIndexListAsIntLocked(); // Also pinned, needs release after usage
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int VertexCount = vertexList.GetLength(0) / 3;
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int IndexCount = indexList.GetLength(0);
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_triMeshData = d.GeomTriMeshDataCreate();
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d.GeomTriMeshDataBuildSimple(_triMeshData, vertexList, 3 * sizeof(float), VertexCount, indexList, IndexCount,
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@ -220,7 +312,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.GeomTriMeshDataPreprocess(_triMeshData);
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prim_geom = d.CreateTriMesh(m_targetSpace, _triMeshData, parent_scene.triCallback, null, null);
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if (IsPhysical && Body == (IntPtr)0)
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{
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// Recreate the body
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@ -502,6 +594,26 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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public override float Mass
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{
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get { return CalculateMass(); }
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}
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public override PhysicsVector Force
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector CenterOfMass
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector GeometricCenter
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{
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get { return PhysicsVector.Zero; }
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}
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public override PrimitiveBaseShape Shape
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{
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set
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|
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@ -383,6 +383,22 @@ namespace OpenSim.Region.Physics.POSPlugin
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get { return new PhysicsVector(0.5f, 0.5f, 1.0f); }
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set { }
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}
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public override float Mass
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{
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get { return 0f; }
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}
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public override PhysicsVector Force
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector CenterOfMass
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector GeometricCenter
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{
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get { return PhysicsVector.Zero; }
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}
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public override PrimitiveBaseShape Shape
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{
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@ -492,6 +508,26 @@ namespace OpenSim.Region.Physics.POSPlugin
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set { _size = value; }
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}
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public override float Mass
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{
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get { return 0f; }
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}
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public override PhysicsVector Force
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector CenterOfMass
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{
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get { return PhysicsVector.Zero; }
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}
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public override PhysicsVector GeometricCenter
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{
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get { return PhysicsVector.Zero; }
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}
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public override PrimitiveBaseShape Shape
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{
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set
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|
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|
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@ -270,10 +270,25 @@ namespace OpenSim.Region.Physics.PhysXPlugin
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public override PhysicsVector Size
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{
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get { return new PhysicsVector(0, 0, 0); }
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get { return PhysicsVector.Zero; }
|
||||
set { }
|
||||
}
|
||||
|
||||
public override float Mass
|
||||
{
|
||||
get { return 0f; }
|
||||
}
|
||||
public override PhysicsVector Force
|
||||
{
|
||||
get { return PhysicsVector.Zero; }
|
||||
}
|
||||
public override PhysicsVector CenterOfMass
|
||||
{
|
||||
get { return PhysicsVector.Zero; }
|
||||
}
|
||||
public override PhysicsVector GeometricCenter
|
||||
{
|
||||
get { return PhysicsVector.Zero; }
|
||||
}
|
||||
public override PhysicsVector Velocity
|
||||
{
|
||||
get { return _velocity; }
|
||||
|
|
@ -507,8 +522,29 @@ namespace OpenSim.Region.Physics.PhysXPlugin
|
|||
|
||||
public override PhysicsVector Size
|
||||
{
|
||||
get { return new PhysicsVector(0, 0, 0); }
|
||||
get { return PhysicsVector.Zero; }
|
||||
set { }
|
||||
}
|
||||
|
||||
public override float Mass
|
||||
{
|
||||
get { return 0f; }
|
||||
}
|
||||
|
||||
public override PhysicsVector Force
|
||||
{
|
||||
get { return PhysicsVector.Zero; }
|
||||
}
|
||||
|
||||
public override PhysicsVector CenterOfMass
|
||||
{
|
||||
get { return PhysicsVector.Zero; }
|
||||
}
|
||||
|
||||
public override PhysicsVector GeometricCenter
|
||||
{
|
||||
get { return PhysicsVector.Zero; }
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue