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BulletSim: Use full linkset mass when computing vehicle gravity force. Add taint-time specification to new AddForce().

connector_plugin
Robert Adams 2012-10-10 13:56:16 -07:00
parent 919569f6ec
commit 3a458e2a36
3 changed files with 16 additions and 11 deletions
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6
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -462,7 +462,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
return; return;
// Set the prim's inertia to zero. The vehicle code handles that and this // Set the prim's inertia to zero. The vehicle code handles that and this
// removes the torque action introduced by Bullet. // removes the motion and torque actions introduced by Bullet.
Vector3 inertia = Vector3.Zero; Vector3 inertia = Vector3.Zero;
BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia); BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia);
BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr);
@ -540,7 +540,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// add Gravity and Buoyancy // add Gravity and Buoyancy
// There is some gravity, make a gravity force vector that is applied after object velocity. // There is some gravity, make a gravity force vector that is applied after object velocity.
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.MassRaw * (1f - m_VehicleBuoyancy)); Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Linkset.LinksetMass * (1f - m_VehicleBuoyancy));
/* /*
* RA: Not sure why one would do this * RA: Not sure why one would do this
@ -681,7 +681,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Prim.ForceVelocity = m_newVelocity; Prim.ForceVelocity = m_newVelocity;
// apply gravity force // apply gravity force
// Why is this set here? The physics engine already does gravity. // Why is this set here? The physics engine already does gravity.
Prim.AddForce(grav, false); Prim.AddForce(grav, false, true);
// Apply friction // Apply friction
Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep)); Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep));

9
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
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@ -165,13 +165,11 @@ public class BSLinkset
// May be called at runtime or taint-time (just pass the appropriate flag). // May be called at runtime or taint-time (just pass the appropriate flag).
public void Refresh(BSPhysObject requestor, bool inTaintTime) public void Refresh(BSPhysObject requestor, bool inTaintTime)
{ {
// If there are no children, there can't be any constraints to recompute // If there are no children, not physical or not root, I am not the one that recomputes the constraints
if (!HasAnyChildren) // (For the moment, static linksets do create constraints so remove the test for physical.)
if (!HasAnyChildren || /*!requestor.IsPhysical ||*/ !IsRoot(requestor))
return; return;
// Only the root does the recomputation
if (IsRoot(requestor))
{
BSScene.TaintCallback refreshOperation = delegate() BSScene.TaintCallback refreshOperation = delegate()
{ {
RecomputeLinksetConstraintVariables(); RecomputeLinksetConstraintVariables();
@ -182,7 +180,6 @@ public class BSLinkset
refreshOperation(); refreshOperation();
else else
PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation); PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation);
}
} }
// The object is going dynamic (physical). Do any setup necessary // The object is going dynamic (physical). Do any setup necessary

12
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -855,6 +855,9 @@ public sealed class BSPrim : BSPhysObject
private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>(); private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>();
public override void AddForce(OMV.Vector3 force, bool pushforce) { public override void AddForce(OMV.Vector3 force, bool pushforce) {
AddForce(force, pushforce, false);
}
public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
// for an object, doesn't matter if force is a pushforce or not // for an object, doesn't matter if force is a pushforce or not
if (force.IsFinite()) if (force.IsFinite())
{ {
@ -867,11 +870,12 @@ public sealed class BSPrim : BSPhysObject
m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
return; return;
} }
PhysicsScene.TaintedObject("BSPrim.AddForce", delegate() BSScene.TaintCallback addForceOperation = delegate()
{ {
OMV.Vector3 fSum = OMV.Vector3.Zero; OMV.Vector3 fSum = OMV.Vector3.Zero;
lock (m_accumulatedForces) lock (m_accumulatedForces)
{ {
// Sum the accumulated additional forces for one big force to apply once.
foreach (OMV.Vector3 v in m_accumulatedForces) foreach (OMV.Vector3 v in m_accumulatedForces)
{ {
fSum += v; fSum += v;
@ -881,7 +885,11 @@ public sealed class BSPrim : BSPhysObject
// DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum);
// For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object. // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object.
BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
}); };
if (inTaintTime)
addForceOperation();
else
PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation);
} }
public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {