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* 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 2007-12-19 22:42:06 +00:00
parent 94ec2a508a
commit 27e0287526
7 changed files with 303 additions and 17 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
OpenSim/Region/Physics/BasicPhysicsPlugin/BasicPhysicsPlugin.cs
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@ -258,7 +258,7 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
public override PhysicsVector Size
{
get { return new PhysicsVector(0, 0, 0); }
get { return PhysicsVector.Zero; }
set { }
}
@ -269,7 +269,22 @@ namespace OpenSim.Region.Physics.BasicPhysicsPlugin
return;
}
}
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; }

44
OpenSim/Region/Physics/BulletXPlugin/BulletXPlugin.cs
View File

@ -511,10 +511,12 @@ namespace OpenSim.Region.Physics.BulletXPlugin
GC.Collect();
}
}
public override void AddPhysicsActorTaint(PhysicsActor prim)
{
}
public override float Simulate(float timeStep)
{
float fps = 0;
@ -735,11 +737,13 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
}
}
public override PhysicsVector RotationalVelocity
{
get { return m_rotationalVelocity; }
set { m_rotationalVelocity = value; }
}
public override PhysicsVector Velocity
{
get { return _velocity; }
@ -760,12 +764,28 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
}
}
public override PhysicsVector Size
{
get { return _size; }
set { lock (BulletXScene.BulletXLock) { _size = value; } }
}
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 PrimitiveBaseShape Shape
{
set
@ -773,15 +793,18 @@ namespace OpenSim.Region.Physics.BulletXPlugin
return;
}
}
public override bool SetAlwaysRun
{
get { return false; }
set { return; }
}
public override PhysicsVector Acceleration
{
get { return _acceleration; }
}
public override AxiomQuaternion Orientation
{
get { return _orientation; }
@ -794,10 +817,17 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
}
}
public virtual float Mass
public override float Mass
{
get { return ActorMass; }
}
public virtual float ActorMass
{
get { return 0; }
}
public override int PhysicsActorType
{
get { return (int) m_PhysicsActorType; }
@ -808,6 +838,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
{
get { return rigidBody; }
}
public Vector3 RigidBodyPosition
{
get { return this.rigidBody.CenterOfMassPosition; }
@ -829,21 +860,25 @@ namespace OpenSim.Region.Physics.BulletXPlugin
get { return false; }
set { return; }
}
public override bool IsColliding
{
get { return iscolliding; }
set { iscolliding = value; }
}
public override bool CollidingGround
{
get { return false; }
set { return; }
}
public override bool CollidingObj
{
get { return false; }
set { return; }
}
public virtual void SetAcceleration(PhysicsVector accel)
{
lock (BulletXScene.BulletXLock)
@ -851,6 +886,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
_acceleration = accel;
}
}
public override bool Kinematic
{
get
@ -862,16 +898,20 @@ namespace OpenSim.Region.Physics.BulletXPlugin
}
}
public override void AddForce(PhysicsVector force)
{
}
public override void SetMomentum(PhysicsVector momentum)
{
}
internal virtual void ValidateHeight(float heighmapPositionValue)
{
}
internal virtual void UpdateKinetics()
{
}
@ -1176,7 +1216,7 @@ namespace OpenSim.Region.Physics.BulletXPlugin
get { return base.Orientation; }
set { base.Orientation = value; }
}
public override float Mass
public override float ActorMass
{
get
{

25
OpenSim/Region/Physics/Manager/PhysicsActor.cs
View File

@ -157,6 +157,14 @@ namespace OpenSim.Region.Physics.Manager
public abstract PhysicsVector Position { get; set; }
public abstract float Mass { get; }
public abstract PhysicsVector Force { get;}
public abstract PhysicsVector GeometricCenter { get; }
public abstract PhysicsVector CenterOfMass { get; }
public abstract PhysicsVector Velocity { get; set; }
public abstract PhysicsVector Acceleration { get; }
@ -210,7 +218,22 @@ namespace OpenSim.Region.Physics.Manager
get { return PhysicsVector.Zero; }
set { return; }
}
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 PrimitiveBaseShape Shape
{
set

28
OpenSim/Region/Physics/OdePlugin/ODECharacter.cs
View File

@ -46,6 +46,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private PhysicsVector _target_velocity;
private PhysicsVector _acceleration;
private PhysicsVector m_rotationalVelocity;
private float m_density = 50f;
private bool m_pidControllerActive = true;
private static float PID_D = 3020.0f;
private static float PID_P = 7000.0f;
@ -93,7 +94,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{
Shell = d.CreateCapsule(parent_scene.space, CAPSULE_RADIUS, CAPSULE_LENGTH);
d.MassSetCapsule(out ShellMass, 50.0f, 3, 0.4f, 1.0f);
d.MassSetCapsule(out ShellMass, m_density, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
Body = d.BodyCreate(parent_scene.world);
d.BodySetMass(Body, ref ShellMass);
d.BodySetPosition(Body, pos.X, pos.Y, pos.Z);
@ -273,7 +274,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.GeomDestroy(Shell);
//MainLog.Instance.Verbose("PHYSICS", "Set Avatar Height To: " + (CAPSULE_RADIUS + CAPSULE_LENGTH));
Shell = d.CreateCapsule(_parent_scene.space, capsuleradius, CAPSULE_LENGTH);
d.MassSetCapsule(out ShellMass, 50.0f, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
d.MassSetCapsule(out ShellMass, m_density, 3, CAPSULE_RADIUS, CAPSULE_LENGTH);
Body = d.BodyCreate(_parent_scene.world);
d.BodySetMass(Body, ref ShellMass);
d.BodySetPosition(Body, _position.X, _position.Y, _position.Z + Math.Abs(CAPSULE_LENGTH - prevCapsule));
@ -283,6 +284,29 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.actor_name_map[Shell] = (PhysicsActor)this;
}
}
public override float Mass
{
get {
float AVvolume = (float)(Math.PI * Math.Pow(CAPSULE_RADIUS, 2) * CAPSULE_LENGTH);
return m_density * AVvolume;
}
}
public override PhysicsVector Force
{
get { return new PhysicsVector(_target_velocity.X,_target_velocity.Y,_target_velocity.Z); }
}
public override PhysicsVector CenterOfMass
{
get { return PhysicsVector.Zero; }
}
public override PhysicsVector GeometricCenter
{
get { return PhysicsVector.Zero; }
}
public override PrimitiveBaseShape Shape
{

118
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
View File

@ -65,6 +65,9 @@ namespace OpenSim.Region.Physics.OdePlugin
private bool m_throttleUpdates = false;
private int throttleCounter = 0;
public bool outofBounds = false;
private float m_density = 0f;
public bool _zeroFlag = false;
private bool m_lastUpdateSent = false;
@ -73,7 +76,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private String m_primName;
private PhysicsVector _target_velocity;
public d.Mass pMass;
private const float MassMultiplier = 150f; // Ref: Water: 1000kg.. this iset to 500
private const float MassMultiplier = 150f;
private int debugcounter = 0;
public OdePrim(String primName, OdeScene parent_scene, IntPtr targetSpace, PhysicsVector pos, PhysicsVector size,
@ -182,15 +185,104 @@ namespace OpenSim.Region.Physics.OdePlugin
_parent_scene.addActivePrim(this);
}
private float CalculateMass()
{
float volume = 0;
// No material is passed to the physics engines yet.. soo..
float density = 2.7f; // Aluminum g/cm3;
float returnMass = 0;
switch (_pbs.ProfileShape)
{
case ProfileShape.Square:
// Profile Volume
volume = _size.X * _size.Y * _size.Z;
// If the user has 'hollowed out'
if (((float)_pbs.ProfileHollow / 50000f) > 0.0)
{
float hollowAmount = (float)_pbs.ProfileHollow / 50000f;
//break;
float hollowVolume = 0;
switch (_pbs.HollowShape)
{
case HollowShape.Square:
case HollowShape.Same:
// Cube Hollow
float hollowsizex = _size.X * hollowAmount;
float hollowsizey = _size.Y * hollowAmount;
float hollowsizez = _size.Z * hollowAmount;
hollowVolume = hollowsizex * hollowsizey * hollowsizez;
break;
case HollowShape.Circle:
// Hollow shape is a perfect cyllinder in respect to the cube's scale
float hRadius = _size.X / 2;
float hLength = _size.Z;
// pi * r2 * h
hollowVolume = ((float)(Math.PI * Math.Pow(hRadius, 2) * hLength) * hollowAmount);
break;
case HollowShape.Triangle:
float aLength = _size.Y; // Triangle is an Equilateral Triangular Prism with aLength = to _size.Y
// 1/2 abh
hollowVolume = (float)((0.5 * aLength * _size.X * _size.Z) * hollowAmount);
break;
default:
hollowVolume = 0;
break;
}
volume = volume - hollowVolume;
}
break;
default:
volume = _size.X * _size.Y * _size.Z;
break;
}
// Calculate Path cut effect on volume
// Not exact, in the triangle hollow example
// They should ever be less then zero..
// we'll ignore it if it's less then zero
float PathCutEndAmount = _pbs.ProfileEnd;
float PathCutStartAmount = _pbs.ProfileBegin;
if (((PathCutStartAmount + PathCutEndAmount)/50000f) > 0.0f)
{
float pathCutAmount = ((PathCutStartAmount + PathCutEndAmount) / 50000f);
if (pathCutAmount >= 0.99f)
pathCutAmount=0.99f;
volume = volume - (volume * pathCutAmount);
}
returnMass = density * volume;
return returnMass;
}
public void setMass()
{
//Sets Mass based on member MassMultiplier.
if (Body != (IntPtr)0)
{
d.MassSetBox(out pMass, (_size.X * _size.Y * _size.Z * MassMultiplier), _size.X, _size.Y, _size.Z);
//if (_pbs.ProfileShape = ProfileShape.Square) {
d.MassSetBoxTotal(out pMass, CalculateMass(), _size.X, _size.Y, _size.Z);
d.BodySetMass(Body, ref pMass);
}
}
public void disableBody()
{
//this kills the body so things like 'mesh' can re-create it.
@ -502,6 +594,26 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public override float Mass
{
get { return CalculateMass(); }
}
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 PrimitiveBaseShape Shape
{
set

36
OpenSim/Region/Physics/POSPlugin/POSPlugin.cs
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@ -383,6 +383,22 @@ namespace OpenSim.Region.Physics.POSPlugin
get { return new PhysicsVector(0.5f, 0.5f, 1.0f); }
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 PrimitiveBaseShape Shape
{
@ -492,6 +508,26 @@ namespace OpenSim.Region.Physics.POSPlugin
set { _size = value; }
}
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 PrimitiveBaseShape Shape
{
set

42
OpenSim/Region/Physics/PhysXPlugin/PhysXPlugin.cs
View File

@ -270,10 +270,25 @@ 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; }
}
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; }
}
}
}