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BulletSim: Fix llApplyImpulse so it works after the first impulse. The problem was Bullet deactivating the object between the pushes (when, as far as the physics engine is concerned, it isn't moving).

0.7.5-pf-bulletsim
Robert Adams 2012-12-21 23:03:27 -08:00
parent 3d659fe97d
commit 37fb691ba5
2 changed files with 29 additions and 4 deletions
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5
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
View File

@ -304,17 +304,21 @@ public abstract class BSPhysObject : PhysicsActor
string identifier = op + "-" + id.ToString();
RegisteredActions[identifier] = actn;
PhysicsScene.BeforeStep += actn;
DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
}
// Unregister a pre step action. Safe to call if the action has not been registered.
protected void UnRegisterPreStepAction(string op, uint id)
{
string identifier = op + "-" + id.ToString();
bool removed = false;
if (RegisteredActions.ContainsKey(identifier))
{
PhysicsScene.BeforeStep -= RegisteredActions[identifier];
RegisteredActions.Remove(identifier);
removed = true;
}
DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
}
protected void UnRegisterAllPreStepActions()
@ -324,6 +328,7 @@ public abstract class BSPhysObject : PhysicsActor
PhysicsScene.BeforeStep -= kvp.Value;
}
RegisteredActions.Clear();
DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
}

28
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -442,8 +442,12 @@ public sealed class BSPrim : BSPhysObject
RegisterPreStepAction("BSPrim.setForce", LocalID,
delegate(float timeStep)
{
DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
if (PhysBody.HasPhysicalBody)
{
BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force);
ActivateIfPhysical(false);
}
}
);
}
@ -554,7 +558,10 @@ public sealed class BSPrim : BSPhysObject
_velocity = value;
if (PhysBody.HasPhysicalBody)
{
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
ActivateIfPhysical(false);
}
}
}
public override OMV.Vector3 Torque {
@ -845,7 +852,7 @@ public sealed class BSPrim : BSPhysObject
// Called in taint-time!!
private void ActivateIfPhysical(bool forceIt)
{
if (IsPhysical)
if (IsPhysical && PhysBody.HasPhysicalBody)
BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
}
@ -919,8 +926,7 @@ public sealed class BSPrim : BSPhysObject
PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
{
DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
if (PhysBody.HasPhysicalBody)
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
ForceRotationalVelocity = _rotationalVelocity;
});
}
}
@ -930,7 +936,11 @@ public sealed class BSPrim : BSPhysObject
}
set {
_rotationalVelocity = value;
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
if (PhysBody.HasPhysicalBody)
{
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
ActivateIfPhysical(false);
}
}
}
public override bool Kinematic {
@ -959,6 +969,7 @@ public sealed class BSPrim : BSPhysObject
{
float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
ActivateIfPhysical(false);
}
}
}
@ -1011,7 +1022,10 @@ public sealed class BSPrim : BSPhysObject
// Bullet adds this central force to the total force for this tick
DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
if (PhysBody.HasPhysicalBody)
{
BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce);
ActivateIfPhysical(false);
}
});
}
else
@ -1032,7 +1046,10 @@ public sealed class BSPrim : BSPhysObject
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
{
if (PhysBody.HasPhysicalBody)
{
BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce);
ActivateIfPhysical(false);
}
});
}
else
@ -1052,7 +1069,10 @@ public sealed class BSPrim : BSPhysObject
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
{
if (PhysBody.HasPhysicalBody)
{
BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
ActivateIfPhysical(false);
}
});
}