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BulletSim: modify avatar motor code to make falling movement better. Clean up some usages. Disable motor when done.

0.7.5-pf-bulletsim
Robert Adams 2012-12-22 17:09:40 -08:00
parent 144322a7c9
commit 30807b81cc
3 changed files with 45 additions and 35 deletions
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75
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
View File

@ -158,6 +158,7 @@ public sealed class BSCharacter : BSPhysObject
_velocityMotor.Reset();
_velocityMotor.SetCurrent(_velocity);
_velocityMotor.SetTarget(_velocity);
_velocityMotor.Enabled = false;
// This will enable or disable the flying buoyancy of the avatar.
// Needs to be reset especially when an avatar is recreated after crossing a region boundry.
@ -435,13 +436,13 @@ public sealed class BSCharacter : BSPhysObject
OMV.Vector3 targetVel = value;
PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
{
float timeStep = 0.089f; // DEBUG DEBUG FIX FIX FIX
_velocityMotor.Reset();
_velocityMotor.SetTarget(targetVel);
_velocityMotor.SetCurrent(_velocity);
// Compute a velocity value and make sure it gets pushed into the avatar.
// This makes sure the avatar will start from a stop.
ForceVelocity = _velocityMotor.Step(timeStep);
_velocityMotor.Enabled = true;
// Make sure a property update happens next step so the motor gets incorporated.
BulletSimAPI.PushUpdate2(PhysBody.ptr);
});
}
}
@ -450,12 +451,15 @@ public sealed class BSCharacter : BSPhysObject
get { return _velocity; }
set {
_velocity = value;
_velocityMotor.Reset();
_velocityMotor.SetCurrent(_velocity);
_velocityMotor.SetTarget(_velocity);
// m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
{
_velocityMotor.Reset();
_velocityMotor.SetCurrent(_velocity);
_velocityMotor.SetTarget(_velocity);
// Even though the motor is initialized, it's not used and the velocity goes straight into the avatar.
_velocityMotor.Enabled = false;
DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
ForceVelocity = _velocity;
});
@ -466,6 +470,7 @@ public sealed class BSCharacter : BSPhysObject
set {
PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
_velocity = value;
// Depending on whether the avatar is moving or not, change the friction
// to keep the avatar from slipping around
if (_velocity.Length() == 0)
@ -486,7 +491,6 @@ public sealed class BSCharacter : BSPhysObject
BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
}
}
_velocity = value;
// Remember the set velocity so we can suppress the reduction by friction, ...
_appliedVelocity = value;
@ -746,39 +750,42 @@ public sealed class BSCharacter : BSPhysObject
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
PositionSanityCheck(true);
if (_velocityMotor.Enabled)
{
// TODO: Decide if the step parameters should be changed depending on the avatar's
// state (flying, colliding, ...).
OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep);
// If falling, we keep the world's downward vector no matter what the other axis specify.
if (!Flying && !IsColliding)
{
stepVelocity.Z = entprop.Velocity.Z;
DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
}
// If the user has said stop and we've stopped applying velocity correction,
// the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer.
if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero)
{
stepVelocity = OMV.Vector3.Zero;
_velocityMotor.Enabled = false;
DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);
}
_velocity = stepVelocity;
entprop.Velocity = _velocity;
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
}
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;
// Avatars don't respond to world friction, etc. They only go the speed I tell them too.
// Special kludge here for falling. Even though the target velocity might not have a
// Z component, the avatar could be falling (walked off a ledge, stopped flying, ...)
// and that velocity component must be retained.
float timeStep = 0.089f; // DEBUG DEBUG FIX FIX FIX
OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep);
// Remove next line so avatars don't fly up forever. DEBUG DEBUG this is only temporary.
// stepVelocity.Z += entprop.Velocity.Z;
_velocity = stepVelocity;
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
/*
OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep);
OMV.Vector3 avVel = new OMV.Vector3(stepVelocity.X, stepVelocity.Y, entprop.Velocity.Z);
_velocity = avVel;
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel);
if (entprop.Velocity != LastEntityProperties.Velocity)
{
// Changes in the velocity are suppressed in avatars.
// That's just the way they are defined.
OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
_velocity = avVel;
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel);
}
*/
// Tell the linkset about value changes
Linkset.UpdateProperties(this, true);

2
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
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@ -153,7 +153,7 @@ public abstract class BSPhysObject : PhysicsActor
public abstract OMV.Quaternion ForceOrientation { get; set; }
// The system is telling us the velocity it wants to move at.
protected OMV.Vector3 m_targetVelocity;
// protected OMV.Vector3 m_targetVelocity; // use the definition in PhysicsActor
public override OMV.Vector3 TargetVelocity
{
get { return m_targetVelocity; }

3
OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
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@ -112,6 +112,9 @@ Test avatar walking up stairs. How does compare with SL.
Debounce avatar contact so legs don't keep folding up when standing.
Implement LSL physics controls. Like STATUS_ROTATE_X.
Add border extensions to terrain to help region crossings and objects leaving region.
Use a different capsule shape for avatar when sitting
LL uses a pyrimidal shape scaled by the avatar's bounding box
http://wiki.secondlife.com/wiki/File:Avmeshforms.png
Performance test with lots of avatars. Can BulletSim support a thousand?
Optimize collisions in C++: only send up to the object subscribed to collisions.