Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
commit
3e9f3c0383
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@ -225,9 +225,10 @@ public enum CollisionFlags : uint
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CF_DISABLE_VISUALIZE_OBJECT = 1 << 5,
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CF_DISABLE_VISUALIZE_OBJECT = 1 << 5,
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CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
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CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
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// Following used by BulletSim to control collisions and updates
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// Following used by BulletSim to control collisions and updates
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BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
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BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, // return collision events from unmanaged to managed
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BS_FLOATS_ON_WATER = 1 << 11,
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BS_FLOATS_ON_WATER = 1 << 11, // the object should float at water level
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BS_VEHICLE_COLLISIONS = 1 << 12,
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BS_VEHICLE_COLLISIONS = 1 << 12, // return collisions for vehicle ground checking
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BS_RETURN_ROOT_COMPOUND_SHAPE = 1 << 13, // return the pos/rot of the root shape in a compound shape
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BS_NONE = 0,
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BS_NONE = 0,
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BS_ALL = 0xFFFFFFFF
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BS_ALL = 0xFFFFFFFF
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};
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};
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@ -83,7 +83,7 @@ public sealed class BSCharacter : BSPhysObject
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_velocity = OMV.Vector3.Zero;
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_velocity = OMV.Vector3.Zero;
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_buoyancy = ComputeBuoyancyFromFlying(isFlying);
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_buoyancy = ComputeBuoyancyFromFlying(isFlying);
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Friction = BSParam.AvatarStandingFriction;
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Friction = BSParam.AvatarStandingFriction;
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Density = BSParam.AvatarDensity;
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Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor;
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// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
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// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
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// replace with the default values.
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// replace with the default values.
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@ -231,6 +231,15 @@ public sealed class BSCharacter : BSPhysObject
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PhysicsScene.PE.SetFriction(PhysBody, Friction);
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PhysicsScene.PE.SetFriction(PhysBody, Friction);
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}
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}
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}
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}
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else
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{
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if (Flying)
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{
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// Flying and not collising and velocity nearly zero.
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ZeroMotion(true /* inTaintTime */);
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}
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}
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DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", LocalID, _velocityMotor.TargetValue, IsColliding);
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DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", LocalID, _velocityMotor.TargetValue, IsColliding);
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}
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}
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else
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else
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@ -274,7 +283,7 @@ public sealed class BSCharacter : BSPhysObject
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// This test is done if moving forward, not flying and is colliding with something.
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// This test is done if moving forward, not flying and is colliding with something.
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// DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4}",
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// DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4}",
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// LocalID, IsColliding, Flying, TargetSpeed, CollisionsLastTick.Count);
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// LocalID, IsColliding, Flying, TargetSpeed, CollisionsLastTick.Count);
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if (IsColliding && !Flying && TargetSpeed > 0.1f /* && ForwardSpeed < 0.1f */)
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if (IsColliding && !Flying && TargetVelocitySpeed > 0.1f /* && ForwardSpeed < 0.1f */)
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{
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{
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// The range near the character's feet where we will consider stairs
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// The range near the character's feet where we will consider stairs
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float nearFeetHeightMin = RawPosition.Z - (Size.Z / 2f) + 0.05f;
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float nearFeetHeightMin = RawPosition.Z - (Size.Z / 2f) + 0.05f;
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@ -869,7 +878,7 @@ public sealed class BSCharacter : BSPhysObject
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* Math.Min(Size.X, Size.Y) / 2
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* Math.Min(Size.X, Size.Y) / 2
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* Size.Y / 2f // plus the volume of the capsule end caps
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* Size.Y / 2f // plus the volume of the capsule end caps
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);
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);
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_mass = Density * _avatarVolume;
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_mass = Density * BSParam.DensityScaleFactor * _avatarVolume;
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}
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}
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// The physics engine says that properties have updated. Update same and inform
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// The physics engine says that properties have updated. Update same and inform
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@ -127,6 +127,8 @@ public abstract class BSLinkset
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m_children = new HashSet<BSPrimLinkable>();
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m_children = new HashSet<BSPrimLinkable>();
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LinksetMass = parent.RawMass;
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LinksetMass = parent.RawMass;
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Rebuilding = false;
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Rebuilding = false;
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parent.ClearDisplacement();
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}
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}
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// Link to a linkset where the child knows the parent.
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// Link to a linkset where the child knows the parent.
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@ -280,6 +282,7 @@ public abstract class BSLinkset
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return mass;
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return mass;
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}
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}
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// Computes linkset's center of mass in world coordinates.
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protected virtual OMV.Vector3 ComputeLinksetCenterOfMass()
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protected virtual OMV.Vector3 ComputeLinksetCenterOfMass()
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{
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{
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OMV.Vector3 com;
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OMV.Vector3 com;
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@ -93,7 +93,8 @@ public sealed class BSLinksetCompound : BSLinkset
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{
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{
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private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
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private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]";
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public BSLinksetCompound(BSScene scene, BSPrimLinkable parent) : base(scene, parent)
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public BSLinksetCompound(BSScene scene, BSPrimLinkable parent)
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: base(scene, parent)
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{
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{
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}
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}
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@ -217,59 +218,45 @@ public sealed class BSLinksetCompound : BSLinkset
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// and that is caused by us updating the object.
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// and that is caused by us updating the object.
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if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0)
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if ((whichUpdated & ~(UpdatedProperties.Position | UpdatedProperties.Orientation)) == 0)
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{
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{
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// Gather the child info. It might not be there if the linkset is in transition.
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BSLinksetCompoundInfo lsi = updated.LinksetInfo as BSLinksetCompoundInfo;
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if (lsi != null)
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{
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// Since the child moved or rotationed, it needs a new relative position within the linkset
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BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, OMV.Vector3.Zero);
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updated.LinksetInfo = newLsi;
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// Find the physical instance of the child
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// Find the physical instance of the child
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if (LinksetRoot.PhysShape.HasPhysicalShape && PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape))
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if (LinksetRoot.PhysShape.HasPhysicalShape && PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape))
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{
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// It is possible that the linkset is still under construction and the child is not yet
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// inserted into the compound shape. A rebuild of the linkset in a pre-step action will
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// build the whole thing with the new position or rotation.
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// The index must be checked because Bullet references the child array but does no validity
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// checking of the child index passed.
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int numLinksetChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape);
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if (updated.LinksetChildIndex < numLinksetChildren)
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{
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{
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// It is possible that the linkset is still under construction and the child is not yet
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BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, updated.LinksetChildIndex);
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// inserted into the compound shape. A rebuild of the linkset in a pre-step action will
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if (linksetChildShape.HasPhysicalShape)
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// build the whole thing with the new position or rotation.
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// The index must be checked because Bullet references the child array but does no validity
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// checking of the child index passed.
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int numLinksetChildren = PhysicsScene.PE.GetNumberOfCompoundChildren(LinksetRoot.PhysShape);
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if (lsi.Index < numLinksetChildren)
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{
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{
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BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index);
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// Found the child shape within the compound shape
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if (linksetChildShape.HasPhysicalShape)
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PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, updated.LinksetChildIndex,
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{
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updated.RawPosition - LinksetRoot.RawPosition,
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// Found the child shape within the compound shape
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updated.RawOrientation * OMV.Quaternion.Inverse(LinksetRoot.RawOrientation),
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PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index,
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true /* shouldRecalculateLocalAabb */);
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newLsi.OffsetFromCenterOfMass,
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updatedChild = true;
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newLsi.OffsetRot,
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DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},pos={2},rot={3}",
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true /* shouldRecalculateLocalAabb */);
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updated.LocalID, whichUpdated, updated.RawPosition, updated.RawOrientation);
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updatedChild = true;
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DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},newLsi={2}",
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updated.LocalID, whichUpdated, newLsi);
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}
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else // DEBUG DEBUG
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{ // DEBUG DEBUG
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DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}",
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updated.LocalID, linksetChildShape);
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} // DEBUG DEBUG
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}
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}
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else // DEBUG DEBUG
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else // DEBUG DEBUG
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{ // DEBUG DEBUG
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{ // DEBUG DEBUG
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// the child is not yet in the compound shape. This is non-fatal.
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DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noChildShape,shape={1}",
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DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,childNotInCompoundShape,numChildren={1},index={2}",
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updated.LocalID, linksetChildShape);
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updated.LocalID, numLinksetChildren, lsi.Index);
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} // DEBUG DEBUG
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} // DEBUG DEBUG
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}
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}
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else // DEBUG DEBUG
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else // DEBUG DEBUG
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{ // DEBUG DEBUG
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{ // DEBUG DEBUG
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DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noBodyOrNotCompound", updated.LocalID);
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// the child is not yet in the compound shape. This is non-fatal.
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DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,childNotInCompoundShape,numChildren={1},index={2}",
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updated.LocalID, numLinksetChildren, updated.LinksetChildIndex);
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} // DEBUG DEBUG
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} // DEBUG DEBUG
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}
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}
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else // DEBUG DEBUG
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else // DEBUG DEBUG
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{ // DEBUG DEBUG
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{ // DEBUG DEBUG
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DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noLinkSetInfo,rootPhysShape={1}",
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DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,noBodyOrNotCompound", updated.LocalID);
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updated.LocalID, LinksetRoot.PhysShape);
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} // DEBUG DEBUG
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} // DEBUG DEBUG
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if (!updatedChild)
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if (!updatedChild)
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@ -379,6 +366,8 @@ public sealed class BSLinksetCompound : BSLinkset
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// Safe to call even if the child is not really in the linkset.
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// Safe to call even if the child is not really in the linkset.
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protected override void RemoveChildFromLinkset(BSPrimLinkable child)
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protected override void RemoveChildFromLinkset(BSPrimLinkable child)
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{
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{
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child.ClearDisplacement();
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if (m_children.Remove(child))
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if (m_children.Remove(child))
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{
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{
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DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
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DetailLog("{0},BSLinksetCompound.RemoveChildFromLinkset,call,rID={1},rBody={2},cID={3},cBody={4}",
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@ -424,30 +413,31 @@ public sealed class BSLinksetCompound : BSLinkset
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// The center of mass for the linkset is the geometric center of the group.
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// The center of mass for the linkset is the geometric center of the group.
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// Compute a displacement for each component so it is relative to the center-of-mass.
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// Compute a displacement for each component so it is relative to the center-of-mass.
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// Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass
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// Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass
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OMV.Vector3 centerOfMass;
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OMV.Vector3 centerOfMassW = LinksetRoot.RawPosition;
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OMV.Vector3 centerDisplacement = OMV.Vector3.Zero;
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if (!disableCOM) // DEBUG DEBUG
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if (disableCOM) // DEBUG DEBUG
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{ // DEBUG DEBUG
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centerOfMass = LinksetRoot.RawPosition; // DEBUG DEBUG
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// LinksetRoot.PositionDisplacement = OMV.Vector3.Zero;
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} // DEBUG DEBUG
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else
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|
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{
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{
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centerOfMass = ComputeLinksetCenterOfMass();
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// Compute a center-of-mass in world coordinates.
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// 'centerDisplacement' is the value to *add* to all the shape offsets
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centerOfMassW = ComputeLinksetCenterOfMass();
|
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centerDisplacement = LinksetRoot.RawPosition - centerOfMass;
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|
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// Since we're displacing the center of the shape, we need to move the body in the world
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|
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// LinksetRoot.PositionDisplacement = centerDisplacement;
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|
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// This causes the root prim position to be set properly based on the new PositionDisplacement
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|
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LinksetRoot.ForcePosition = LinksetRoot.RawPosition;
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|
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// Update the local transform for the root child shape so it is offset from the <0,0,0> which is COM
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|
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PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0, -centerDisplacement, OMV.Quaternion.Identity, false);
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|
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DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}",
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|
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LinksetRoot.LocalID, centerOfMass, LinksetRoot.RawPosition, centerDisplacement);
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|
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}
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}
|
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|
|
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OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
|
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|
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// 'centerDisplacement' is the value to subtract from children to give physical offset position
|
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OMV.Vector3 centerDisplacement = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation;
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LinksetRoot.SetEffectiveCenterOfMassW(centerDisplacement);
|
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|
|
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|
// This causes the physical position of the root prim to be offset to accomodate for the displacements
|
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LinksetRoot.ForcePosition = LinksetRoot.RawPosition;
|
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|
|
||||||
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// Update the local transform for the root child shape so it is offset from the <0,0,0> which is COM
|
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PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0 /* childIndex */,
|
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-centerDisplacement,
|
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OMV.Quaternion.Identity, // LinksetRoot.RawOrientation,
|
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|
false /* shouldRecalculateLocalAabb (is done later after linkset built) */);
|
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|
|
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|
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}",
|
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|
LinksetRoot.LocalID, centerOfMassW, LinksetRoot.RawPosition, centerDisplacement);
|
||||||
|
|
||||||
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
|
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
|
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LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
|
LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
|
||||||
|
|
||||||
|
@ -455,38 +445,33 @@ public sealed class BSLinksetCompound : BSLinkset
|
||||||
int memberIndex = 1;
|
int memberIndex = 1;
|
||||||
ForEachMember(delegate(BSPrimLinkable cPrim)
|
ForEachMember(delegate(BSPrimLinkable cPrim)
|
||||||
{
|
{
|
||||||
if (!IsRoot(cPrim))
|
if (IsRoot(cPrim))
|
||||||
{
|
{
|
||||||
// Compute the displacement of the child from the root of the linkset.
|
cPrim.LinksetChildIndex = 0;
|
||||||
// This info is saved in the child prim so the relationship does not
|
}
|
||||||
// change over time and the new child position can be computed
|
else
|
||||||
// when the linkset is being disassembled (the linkset may have moved).
|
{
|
||||||
BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo;
|
cPrim.LinksetChildIndex = memberIndex;
|
||||||
if (lci == null)
|
|
||||||
{
|
|
||||||
lci = new BSLinksetCompoundInfo(memberIndex, LinksetRoot, cPrim, centerDisplacement);
|
|
||||||
cPrim.LinksetInfo = lci;
|
|
||||||
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci);
|
|
||||||
}
|
|
||||||
|
|
||||||
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},lci={3}",
|
|
||||||
LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci);
|
|
||||||
|
|
||||||
if (cPrim.PhysShape.isNativeShape)
|
if (cPrim.PhysShape.isNativeShape)
|
||||||
{
|
{
|
||||||
// A native shape is turned into a hull collision shape because native
|
// A native shape is turned into a hull collision shape because native
|
||||||
// shapes are not shared so we have to hullify it so it will be tracked
|
// shapes are not shared so we have to hullify it so it will be tracked
|
||||||
// and freed at the correct time. This also solves the scaling problem
|
// and freed at the correct time. This also solves the scaling problem
|
||||||
// (native shapes scaled but hull/meshes are assumed to not be).
|
// (native shapes scale but hull/meshes are assumed to not be).
|
||||||
// TODO: decide of the native shape can just be used in the compound shape.
|
// TODO: decide of the native shape can just be used in the compound shape.
|
||||||
// Use call to CreateGeomNonSpecial().
|
// Use call to CreateGeomNonSpecial().
|
||||||
BulletShape saveShape = cPrim.PhysShape;
|
BulletShape saveShape = cPrim.PhysShape;
|
||||||
cPrim.PhysShape.Clear(); // Don't let the create free the child's shape
|
cPrim.PhysShape.Clear(); // Don't let the create free the child's shape
|
||||||
// PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null);
|
|
||||||
PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
|
PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
|
||||||
BulletShape newShape = cPrim.PhysShape;
|
BulletShape newShape = cPrim.PhysShape;
|
||||||
cPrim.PhysShape = saveShape;
|
cPrim.PhysShape = saveShape;
|
||||||
PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, lci.OffsetFromCenterOfMass, lci.OffsetRot);
|
|
||||||
|
OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
|
||||||
|
OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
|
||||||
|
PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, offsetPos, offsetRot);
|
||||||
|
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}",
|
||||||
|
LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, newShape, offsetPos, offsetRot);
|
||||||
}
|
}
|
||||||
else
|
else
|
||||||
{
|
{
|
||||||
|
@ -498,9 +483,13 @@ public sealed class BSLinksetCompound : BSLinkset
|
||||||
PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
|
PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}",
|
||||||
LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
|
LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape);
|
||||||
}
|
}
|
||||||
PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, lci.OffsetFromCenterOfMass, lci.OffsetRot);
|
OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
|
||||||
|
OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
|
||||||
|
PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot);
|
||||||
|
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNonNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}",
|
||||||
|
LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot);
|
||||||
|
|
||||||
}
|
}
|
||||||
lci.Index = memberIndex;
|
|
||||||
memberIndex++;
|
memberIndex++;
|
||||||
}
|
}
|
||||||
return false; // 'false' says to move onto the next child in the list
|
return false; // 'false' says to move onto the next child in the list
|
||||||
|
@ -509,12 +498,16 @@ public sealed class BSLinksetCompound : BSLinkset
|
||||||
// With all of the linkset packed into the root prim, it has the mass of everyone.
|
// With all of the linkset packed into the root prim, it has the mass of everyone.
|
||||||
LinksetMass = ComputeLinksetMass();
|
LinksetMass = ComputeLinksetMass();
|
||||||
LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
|
LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
|
||||||
|
|
||||||
|
// Enable the physical position updator to return the position and rotation of the root shape
|
||||||
|
PhysicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE);
|
||||||
}
|
}
|
||||||
finally
|
finally
|
||||||
{
|
{
|
||||||
Rebuilding = false;
|
Rebuilding = false;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// See that the Aabb surrounds the new shape
|
||||||
PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape);
|
PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
|
@ -49,6 +49,7 @@ public static class BSParam
|
||||||
public static float MaxLinearVelocity { get; private set; }
|
public static float MaxLinearVelocity { get; private set; }
|
||||||
public static float MaxAngularVelocity { get; private set; }
|
public static float MaxAngularVelocity { get; private set; }
|
||||||
public static float MaxAddForceMagnitude { get; private set; }
|
public static float MaxAddForceMagnitude { get; private set; }
|
||||||
|
public static float DensityScaleFactor { get; private set; }
|
||||||
|
|
||||||
public static float LinearDamping { get; private set; }
|
public static float LinearDamping { get; private set; }
|
||||||
public static float AngularDamping { get; private set; }
|
public static float AngularDamping { get; private set; }
|
||||||
|
@ -281,29 +282,35 @@ public static class BSParam
|
||||||
new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)",
|
new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)",
|
||||||
0.0001f,
|
0.0001f,
|
||||||
(s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); },
|
(s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); },
|
||||||
(s) => { return (float)MinimumObjectMass; },
|
(s) => { return MinimumObjectMass; },
|
||||||
(s,p,l,v) => { MinimumObjectMass = v; } ),
|
(s,p,l,v) => { MinimumObjectMass = v; } ),
|
||||||
new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
|
new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
|
||||||
10000.01f,
|
10000.01f,
|
||||||
(s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); },
|
(s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); },
|
||||||
(s) => { return (float)MaximumObjectMass; },
|
(s) => { return MaximumObjectMass; },
|
||||||
(s,p,l,v) => { MaximumObjectMass = v; } ),
|
(s,p,l,v) => { MaximumObjectMass = v; } ),
|
||||||
new ParameterDefn("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object",
|
new ParameterDefn("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object",
|
||||||
1000.0f,
|
1000.0f,
|
||||||
(s,cf,p,v) => { MaxLinearVelocity = cf.GetFloat(p, v); },
|
(s,cf,p,v) => { MaxLinearVelocity = cf.GetFloat(p, v); },
|
||||||
(s) => { return (float)MaxLinearVelocity; },
|
(s) => { return MaxLinearVelocity; },
|
||||||
(s,p,l,v) => { MaxLinearVelocity = v; } ),
|
(s,p,l,v) => { MaxLinearVelocity = v; } ),
|
||||||
new ParameterDefn("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object",
|
new ParameterDefn("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object",
|
||||||
1000.0f,
|
1000.0f,
|
||||||
(s,cf,p,v) => { MaxAngularVelocity = cf.GetFloat(p, v); },
|
(s,cf,p,v) => { MaxAngularVelocity = cf.GetFloat(p, v); },
|
||||||
(s) => { return (float)MaxAngularVelocity; },
|
(s) => { return MaxAngularVelocity; },
|
||||||
(s,p,l,v) => { MaxAngularVelocity = v; } ),
|
(s,p,l,v) => { MaxAngularVelocity = v; } ),
|
||||||
// LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject
|
// LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject
|
||||||
new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)",
|
new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)",
|
||||||
20000.0f,
|
20000.0f,
|
||||||
(s,cf,p,v) => { MaxAddForceMagnitude = cf.GetFloat(p, v); },
|
(s,cf,p,v) => { MaxAddForceMagnitude = cf.GetFloat(p, v); },
|
||||||
(s) => { return (float)MaxAddForceMagnitude; },
|
(s) => { return MaxAddForceMagnitude; },
|
||||||
(s,p,l,v) => { MaxAddForceMagnitude = v; } ),
|
(s,p,l,v) => { MaxAddForceMagnitude = v; } ),
|
||||||
|
// Density is passed around as 100kg/m3. This scales that to 1kg/m3.
|
||||||
|
new ParameterDefn("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)",
|
||||||
|
0.01f,
|
||||||
|
(s,cf,p,v) => { DensityScaleFactor = cf.GetFloat(p, v); },
|
||||||
|
(s) => { return DensityScaleFactor; },
|
||||||
|
(s,p,l,v) => { DensityScaleFactor = v; } ),
|
||||||
|
|
||||||
new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
|
new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
|
||||||
2200f,
|
2200f,
|
||||||
|
|
|
@ -99,6 +99,9 @@ public abstract class BSPhysObject : PhysicsActor
|
||||||
CollisionAccumulation = 0;
|
CollisionAccumulation = 0;
|
||||||
ColliderIsMoving = false;
|
ColliderIsMoving = false;
|
||||||
CollisionScore = 0;
|
CollisionScore = 0;
|
||||||
|
|
||||||
|
// All axis free.
|
||||||
|
LockedAxis = LockedAxisFree;
|
||||||
}
|
}
|
||||||
|
|
||||||
// Tell the object to clean up.
|
// Tell the object to clean up.
|
||||||
|
@ -136,6 +139,7 @@ public abstract class BSPhysObject : PhysicsActor
|
||||||
|
|
||||||
// The objects base shape information. Null if not a prim type shape.
|
// The objects base shape information. Null if not a prim type shape.
|
||||||
public PrimitiveBaseShape BaseShape { get; protected set; }
|
public PrimitiveBaseShape BaseShape { get; protected set; }
|
||||||
|
|
||||||
// Some types of objects have preferred physical representations.
|
// Some types of objects have preferred physical representations.
|
||||||
// Returns SHAPE_UNKNOWN if there is no preference.
|
// Returns SHAPE_UNKNOWN if there is no preference.
|
||||||
public virtual BSPhysicsShapeType PreferredPhysicalShape
|
public virtual BSPhysicsShapeType PreferredPhysicalShape
|
||||||
|
@ -150,15 +154,17 @@ public abstract class BSPhysObject : PhysicsActor
|
||||||
public EntityProperties LastEntityProperties { get; set; }
|
public EntityProperties LastEntityProperties { get; set; }
|
||||||
|
|
||||||
public virtual OMV.Vector3 Scale { get; set; }
|
public virtual OMV.Vector3 Scale { get; set; }
|
||||||
public abstract bool IsSolid { get; }
|
|
||||||
public abstract bool IsStatic { get; }
|
|
||||||
public abstract bool IsSelected { get; }
|
|
||||||
|
|
||||||
// It can be confusing for an actor to know if it should move or update an object
|
// It can be confusing for an actor to know if it should move or update an object
|
||||||
// depeneding on the setting of 'selected', 'physical, ...
|
// depeneding on the setting of 'selected', 'physical, ...
|
||||||
// This flag is the true test -- if true, the object is being acted on in the physical world
|
// This flag is the true test -- if true, the object is being acted on in the physical world
|
||||||
public abstract bool IsPhysicallyActive { get; }
|
public abstract bool IsPhysicallyActive { get; }
|
||||||
|
|
||||||
|
// Detailed state of the object.
|
||||||
|
public abstract bool IsSolid { get; }
|
||||||
|
public abstract bool IsStatic { get; }
|
||||||
|
public abstract bool IsSelected { get; }
|
||||||
|
|
||||||
// Materialness
|
// Materialness
|
||||||
public MaterialAttributes.Material Material { get; private set; }
|
public MaterialAttributes.Material Material { get; private set; }
|
||||||
public override void SetMaterial(int material)
|
public override void SetMaterial(int material)
|
||||||
|
@ -169,7 +175,8 @@ public abstract class BSPhysObject : PhysicsActor
|
||||||
MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
|
MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
|
||||||
Friction = matAttrib.friction;
|
Friction = matAttrib.friction;
|
||||||
Restitution = matAttrib.restitution;
|
Restitution = matAttrib.restitution;
|
||||||
Density = matAttrib.density;
|
Density = matAttrib.density / BSParam.DensityScaleFactor;
|
||||||
|
DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Stop all physical motion.
|
// Stop all physical motion.
|
||||||
|
@ -185,14 +192,6 @@ public abstract class BSPhysObject : PhysicsActor
|
||||||
public abstract OMV.Quaternion RawOrientation { get; set; }
|
public abstract OMV.Quaternion RawOrientation { get; set; }
|
||||||
public abstract OMV.Quaternion ForceOrientation { get; set; }
|
public abstract OMV.Quaternion ForceOrientation { get; set; }
|
||||||
|
|
||||||
public virtual float TargetSpeed
|
|
||||||
{
|
|
||||||
get
|
|
||||||
{
|
|
||||||
OMV.Vector3 characterOrientedVelocity = TargetVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation));
|
|
||||||
return characterOrientedVelocity.X;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
public abstract OMV.Vector3 RawVelocity { get; set; }
|
public abstract OMV.Vector3 RawVelocity { get; set; }
|
||||||
public abstract OMV.Vector3 ForceVelocity { get; set; }
|
public abstract OMV.Vector3 ForceVelocity { get; set; }
|
||||||
|
|
||||||
|
@ -202,6 +201,7 @@ public abstract class BSPhysObject : PhysicsActor
|
||||||
|
|
||||||
public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
|
public virtual bool ForceBodyShapeRebuild(bool inTaintTime) { return false; }
|
||||||
|
|
||||||
|
// The current velocity forward
|
||||||
public virtual float ForwardSpeed
|
public virtual float ForwardSpeed
|
||||||
{
|
{
|
||||||
get
|
get
|
||||||
|
@ -210,6 +210,22 @@ public abstract class BSPhysObject : PhysicsActor
|
||||||
return characterOrientedVelocity.X;
|
return characterOrientedVelocity.X;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
// The forward speed we are trying to achieve (TargetVelocity)
|
||||||
|
public virtual float TargetVelocitySpeed
|
||||||
|
{
|
||||||
|
get
|
||||||
|
{
|
||||||
|
OMV.Vector3 characterOrientedVelocity = TargetVelocity * OMV.Quaternion.Inverse(OMV.Quaternion.Normalize(RawOrientation));
|
||||||
|
return characterOrientedVelocity.X;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
// The user can optionally set the center of mass. The user's setting will override any
|
||||||
|
// computed center-of-mass (like in linksets).
|
||||||
|
public OMV.Vector3? UserSetCenterOfMass { get; set; }
|
||||||
|
|
||||||
|
public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free.
|
||||||
|
public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free
|
||||||
|
|
||||||
#region Collisions
|
#region Collisions
|
||||||
|
|
||||||
|
@ -407,9 +423,7 @@ public abstract class BSPhysObject : PhysicsActor
|
||||||
{
|
{
|
||||||
// Clean out any existing action
|
// Clean out any existing action
|
||||||
UnRegisterPreStepAction(op, id);
|
UnRegisterPreStepAction(op, id);
|
||||||
|
|
||||||
RegisteredPrestepActions[identifier] = actn;
|
RegisteredPrestepActions[identifier] = actn;
|
||||||
|
|
||||||
PhysicsScene.BeforeStep += actn;
|
PhysicsScene.BeforeStep += actn;
|
||||||
}
|
}
|
||||||
DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
|
DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
|
||||||
|
@ -455,9 +469,7 @@ public abstract class BSPhysObject : PhysicsActor
|
||||||
{
|
{
|
||||||
// Clean out any existing action
|
// Clean out any existing action
|
||||||
UnRegisterPostStepAction(op, id);
|
UnRegisterPostStepAction(op, id);
|
||||||
|
|
||||||
RegisteredPoststepActions[identifier] = actn;
|
RegisteredPoststepActions[identifier] = actn;
|
||||||
|
|
||||||
PhysicsScene.AfterStep += actn;
|
PhysicsScene.AfterStep += actn;
|
||||||
}
|
}
|
||||||
DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier);
|
DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier);
|
||||||
|
@ -495,6 +507,57 @@ public abstract class BSPhysObject : PhysicsActor
|
||||||
DetailLog("{0},BSPhysObject.UnRegisterAllPostStepActions,", LocalID);
|
DetailLog("{0},BSPhysObject.UnRegisterAllPostStepActions,", LocalID);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// When an update to the physical properties happens, this event is fired to let
|
||||||
|
// different actors to modify the update before it is passed around
|
||||||
|
public delegate void PreUpdatePropertyAction(ref EntityProperties entprop);
|
||||||
|
public event PreUpdatePropertyAction OnPreUpdateProperty;
|
||||||
|
protected void TriggerPreUpdatePropertyAction(ref EntityProperties entprop)
|
||||||
|
{
|
||||||
|
PreUpdatePropertyAction actions = OnPreUpdateProperty;
|
||||||
|
if (actions != null)
|
||||||
|
actions(ref entprop);
|
||||||
|
}
|
||||||
|
|
||||||
|
private Dictionary<string, PreUpdatePropertyAction> RegisteredPreUpdatePropertyActions = new Dictionary<string, PreUpdatePropertyAction>();
|
||||||
|
public void RegisterPreUpdatePropertyAction(string identifier, PreUpdatePropertyAction actn)
|
||||||
|
{
|
||||||
|
lock (RegisteredPreUpdatePropertyActions)
|
||||||
|
{
|
||||||
|
// Clean out any existing action
|
||||||
|
UnRegisterPreUpdatePropertyAction(identifier);
|
||||||
|
RegisteredPreUpdatePropertyActions[identifier] = actn;
|
||||||
|
OnPreUpdateProperty += actn;
|
||||||
|
}
|
||||||
|
DetailLog("{0},BSPhysObject.RegisterPreUpdatePropertyAction,id={1}", LocalID, identifier);
|
||||||
|
}
|
||||||
|
public bool UnRegisterPreUpdatePropertyAction(string identifier)
|
||||||
|
{
|
||||||
|
bool removed = false;
|
||||||
|
lock (RegisteredPreUpdatePropertyActions)
|
||||||
|
{
|
||||||
|
if (RegisteredPreUpdatePropertyActions.ContainsKey(identifier))
|
||||||
|
{
|
||||||
|
OnPreUpdateProperty -= RegisteredPreUpdatePropertyActions[identifier];
|
||||||
|
RegisteredPreUpdatePropertyActions.Remove(identifier);
|
||||||
|
removed = true;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
DetailLog("{0},BSPhysObject.UnRegisterPreUpdatePropertyAction,id={1},removed={2}", LocalID, identifier, removed);
|
||||||
|
return removed;
|
||||||
|
}
|
||||||
|
public void UnRegisterAllPreUpdatePropertyActions()
|
||||||
|
{
|
||||||
|
lock (RegisteredPreUpdatePropertyActions)
|
||||||
|
{
|
||||||
|
foreach (KeyValuePair<string, PreUpdatePropertyAction> kvp in RegisteredPreUpdatePropertyActions)
|
||||||
|
{
|
||||||
|
OnPreUpdateProperty -= kvp.Value;
|
||||||
|
}
|
||||||
|
RegisteredPreUpdatePropertyActions.Clear();
|
||||||
|
}
|
||||||
|
DetailLog("{0},BSPhysObject.UnRegisterAllPreUpdatePropertyAction,", LocalID);
|
||||||
|
}
|
||||||
|
|
||||||
#endregion // Per Simulation Step actions
|
#endregion // Per Simulation Step actions
|
||||||
|
|
||||||
// High performance detailed logging routine used by the physical objects.
|
// High performance detailed logging routine used by the physical objects.
|
||||||
|
|
|
@ -242,6 +242,45 @@ public class BSPrim : BSPhysObject
|
||||||
public override void LockAngularMotion(OMV.Vector3 axis)
|
public override void LockAngularMotion(OMV.Vector3 axis)
|
||||||
{
|
{
|
||||||
DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
|
DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
|
||||||
|
|
||||||
|
OMV.Vector3 locking = new OMV.Vector3(1f, 1f, 1f);
|
||||||
|
if (axis.X != 1) locking.X = 0f;
|
||||||
|
if (axis.Y != 1) locking.Y = 0f;
|
||||||
|
if (axis.Z != 1) locking.Z = 0f;
|
||||||
|
LockedAxis = locking;
|
||||||
|
|
||||||
|
/* Not implemented yet
|
||||||
|
if (LockedAxis != LockedAxisFree)
|
||||||
|
{
|
||||||
|
// Something is locked so start the thingy that keeps that axis from changing
|
||||||
|
RegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion", delegate(ref EntityProperties entprop)
|
||||||
|
{
|
||||||
|
if (LockedAxis != LockedAxisFree)
|
||||||
|
{
|
||||||
|
if (IsPhysicallyActive)
|
||||||
|
{
|
||||||
|
// Bullet can lock axis but it only works for global axis.
|
||||||
|
// Check if this prim is aligned on global axis and use Bullet's
|
||||||
|
// system if so.
|
||||||
|
|
||||||
|
ForceOrientation = entprop.Rotation;
|
||||||
|
ForceRotationalVelocity = entprop.RotationalVelocity;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion");
|
||||||
|
}
|
||||||
|
|
||||||
|
});
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
// Everything seems unlocked
|
||||||
|
UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion");
|
||||||
|
}
|
||||||
|
*/
|
||||||
|
|
||||||
return;
|
return;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -311,7 +350,8 @@ public class BSPrim : BSPhysObject
|
||||||
|
|
||||||
float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
|
float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
|
||||||
OMV.Vector3 upForce = OMV.Vector3.Zero;
|
OMV.Vector3 upForce = OMV.Vector3.Zero;
|
||||||
if (RawPosition.Z < terrainHeight)
|
float approxSize = Math.Max(Size.X, Math.Max(Size.Y, Size.Z));
|
||||||
|
if ((RawPosition.Z + approxSize / 2f) < terrainHeight)
|
||||||
{
|
{
|
||||||
DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
|
DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
|
||||||
float targetHeight = terrainHeight + (Size.Z / 2f);
|
float targetHeight = terrainHeight + (Size.Z / 2f);
|
||||||
|
@ -442,7 +482,7 @@ public class BSPrim : BSPhysObject
|
||||||
RegisterPreStepAction("BSPrim.setForce", LocalID,
|
RegisterPreStepAction("BSPrim.setForce", LocalID,
|
||||||
delegate(float timeStep)
|
delegate(float timeStep)
|
||||||
{
|
{
|
||||||
if (!IsPhysicallyActive)
|
if (!IsPhysicallyActive || _force == OMV.Vector3.Zero)
|
||||||
{
|
{
|
||||||
UnRegisterPreStepAction("BSPrim.setForce", LocalID);
|
UnRegisterPreStepAction("BSPrim.setForce", LocalID);
|
||||||
return;
|
return;
|
||||||
|
@ -576,6 +616,8 @@ public class BSPrim : BSPhysObject
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
// The simulator/viewer keep density as 100kg/m3.
|
||||||
|
// Remember to use BSParam.DensityScaleFactor to create the physical density.
|
||||||
public override float Density
|
public override float Density
|
||||||
{
|
{
|
||||||
get { return base.Density; }
|
get { return base.Density; }
|
||||||
|
@ -647,7 +689,7 @@ public class BSPrim : BSPhysObject
|
||||||
RegisterPreStepAction("BSPrim.setTorque", LocalID,
|
RegisterPreStepAction("BSPrim.setTorque", LocalID,
|
||||||
delegate(float timeStep)
|
delegate(float timeStep)
|
||||||
{
|
{
|
||||||
if (!IsPhysicallyActive)
|
if (!IsPhysicallyActive || _torque == OMV.Vector3.Zero)
|
||||||
{
|
{
|
||||||
UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
|
UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
|
||||||
return;
|
return;
|
||||||
|
@ -1569,7 +1611,8 @@ public class BSPrim : BSPhysObject
|
||||||
profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
|
profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
|
||||||
volume *= (profileEnd - profileBegin);
|
volume *= (profileEnd - profileBegin);
|
||||||
|
|
||||||
returnMass = Density * volume;
|
returnMass = Density * BSParam.DensityScaleFactor * volume;
|
||||||
|
DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass);
|
||||||
|
|
||||||
returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
|
returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
|
||||||
|
|
||||||
|
@ -1607,6 +1650,8 @@ public class BSPrim : BSPhysObject
|
||||||
// the world that things have changed.
|
// the world that things have changed.
|
||||||
public override void UpdateProperties(EntityProperties entprop)
|
public override void UpdateProperties(EntityProperties entprop)
|
||||||
{
|
{
|
||||||
|
TriggerPreUpdatePropertyAction(ref entprop);
|
||||||
|
|
||||||
// A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
|
// A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
|
||||||
// TODO: handle physics introduced by Bullet with computed vehicle physics.
|
// TODO: handle physics introduced by Bullet with computed vehicle physics.
|
||||||
if (VehicleController.IsActive)
|
if (VehicleController.IsActive)
|
||||||
|
@ -1619,7 +1664,11 @@ public class BSPrim : BSPhysObject
|
||||||
// Assign directly to the local variables so the normal set actions do not happen
|
// Assign directly to the local variables so the normal set actions do not happen
|
||||||
_position = entprop.Position;
|
_position = entprop.Position;
|
||||||
_orientation = entprop.Rotation;
|
_orientation = entprop.Rotation;
|
||||||
_velocity = entprop.Velocity;
|
// _velocity = entprop.Velocity;
|
||||||
|
// DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be
|
||||||
|
// very sensitive to velocity changes.
|
||||||
|
if (!entprop.Velocity.ApproxEquals(_velocity, 0.1f))
|
||||||
|
_velocity = entprop.Velocity;
|
||||||
_acceleration = entprop.Acceleration;
|
_acceleration = entprop.Acceleration;
|
||||||
_rotationalVelocity = entprop.RotationalVelocity;
|
_rotationalVelocity = entprop.RotationalVelocity;
|
||||||
|
|
||||||
|
|
|
@ -44,72 +44,107 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
||||||
{
|
{
|
||||||
public class BSPrimDisplaced : BSPrim
|
public class BSPrimDisplaced : BSPrim
|
||||||
{
|
{
|
||||||
// 'Position' and 'Orientation' is what the simulator thinks the positions of the prim is.
|
// The purpose of this module is to do any mapping between what the simulator thinks
|
||||||
// Because Bullet needs the zero coordinate to be the center of mass of the linkset,
|
// the prim position and orientation is and what the physical position/orientation.
|
||||||
// sometimes it is necessary to displace the position the physics engine thinks
|
// This difference happens because Bullet assumes the center-of-mass is the <0,0,0>
|
||||||
// the position is. PositionDisplacement must be added and removed from the
|
// of the prim/linkset. The simulator tracks the location of the prim/linkset by
|
||||||
// position as the simulator position is stored and fetched from the physics
|
// the location of the root prim. So, if center-of-mass is anywhere but the origin
|
||||||
// engine. Similar to OrientationDisplacement.
|
// of the root prim, the physical origin is displaced from the simulator origin.
|
||||||
|
//
|
||||||
|
// This routine works by capturing the Force* setting of position/orientation/... and
|
||||||
|
// adjusting the simulator values (being set) into the physical values.
|
||||||
|
// The conversion is also done in the opposite direction (physical origin -> simulator origin).
|
||||||
|
//
|
||||||
|
// The updateParameter call is also captured and the values from the physics engine
|
||||||
|
// are converted into simulator origin values before being passed to the base
|
||||||
|
// class.
|
||||||
|
|
||||||
public virtual OMV.Vector3 PositionDisplacement { get; set; }
|
public virtual OMV.Vector3 PositionDisplacement { get; set; }
|
||||||
public virtual OMV.Quaternion OrientationDisplacement { get; set; }
|
public virtual OMV.Quaternion OrientationDisplacement { get; set; }
|
||||||
public virtual OMV.Vector3 CenterOfMassLocation { get; set; }
|
|
||||||
public virtual OMV.Vector3 GeometricCenterLocation { get; set; }
|
|
||||||
|
|
||||||
public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
|
public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
|
||||||
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
|
OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical)
|
||||||
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
|
: base(localID, primName, parent_scene, pos, size, rotation, pbs, pisPhysical)
|
||||||
{
|
{
|
||||||
CenterOfMassLocation = RawPosition;
|
ClearDisplacement();
|
||||||
GeometricCenterLocation = RawPosition;
|
}
|
||||||
|
|
||||||
|
public void ClearDisplacement()
|
||||||
|
{
|
||||||
|
PositionDisplacement = OMV.Vector3.Zero;
|
||||||
|
OrientationDisplacement = OMV.Quaternion.Identity;
|
||||||
|
}
|
||||||
|
|
||||||
|
// Set this sets and computes the displacement from the passed prim to the center-of-mass.
|
||||||
|
// A user set value for center-of-mass overrides whatever might be passed in here.
|
||||||
|
// The displacement is in local coordinates (relative to root prim in linkset oriented coordinates).
|
||||||
|
public virtual void SetEffectiveCenterOfMassW(Vector3 centerOfMassDisplacement)
|
||||||
|
{
|
||||||
|
Vector3 comDisp;
|
||||||
|
if (UserSetCenterOfMass.HasValue)
|
||||||
|
comDisp = (OMV.Vector3)UserSetCenterOfMass;
|
||||||
|
else
|
||||||
|
comDisp = centerOfMassDisplacement;
|
||||||
|
|
||||||
|
if (comDisp == Vector3.Zero)
|
||||||
|
{
|
||||||
|
// If there is no diplacement. Things get reset.
|
||||||
|
PositionDisplacement = OMV.Vector3.Zero;
|
||||||
|
OrientationDisplacement = OMV.Quaternion.Identity;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
// Remember the displacement from root as well as the origional rotation of the
|
||||||
|
// new center-of-mass.
|
||||||
|
PositionDisplacement = comDisp;
|
||||||
|
OrientationDisplacement = OMV.Quaternion.Identity;
|
||||||
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
public override Vector3 ForcePosition
|
public override Vector3 ForcePosition
|
||||||
{
|
{
|
||||||
get
|
get { return base.ForcePosition; }
|
||||||
{
|
|
||||||
return base.ForcePosition;
|
|
||||||
}
|
|
||||||
set
|
set
|
||||||
{
|
{
|
||||||
base.ForcePosition = value;
|
if (PositionDisplacement != OMV.Vector3.Zero)
|
||||||
CenterOfMassLocation = RawPosition;
|
base.ForcePosition = value - (PositionDisplacement * RawOrientation);
|
||||||
GeometricCenterLocation = RawPosition;
|
else
|
||||||
|
base.ForcePosition = value;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
public override Quaternion ForceOrientation
|
public override Quaternion ForceOrientation
|
||||||
{
|
{
|
||||||
get
|
get { return base.ForceOrientation; }
|
||||||
{
|
|
||||||
return base.ForceOrientation;
|
|
||||||
}
|
|
||||||
set
|
set
|
||||||
{
|
{
|
||||||
base.ForceOrientation = value;
|
base.ForceOrientation = value;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// TODO: decide if this is the right place for these variables.
|
||||||
|
// Somehow incorporate the optional settability by the user.
|
||||||
// Is this used?
|
// Is this used?
|
||||||
public override OMV.Vector3 CenterOfMass
|
public override OMV.Vector3 CenterOfMass
|
||||||
{
|
{
|
||||||
get { return CenterOfMassLocation; }
|
get { return RawPosition; }
|
||||||
}
|
}
|
||||||
|
|
||||||
// Is this used?
|
// Is this used?
|
||||||
public override OMV.Vector3 GeometricCenter
|
public override OMV.Vector3 GeometricCenter
|
||||||
{
|
{
|
||||||
get { return GeometricCenterLocation; }
|
get { return RawPosition; }
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
public override void UpdateProperties(EntityProperties entprop)
|
public override void UpdateProperties(EntityProperties entprop)
|
||||||
{
|
{
|
||||||
// Undo any center-of-mass displacement that might have been done.
|
// Undo any center-of-mass displacement that might have been done.
|
||||||
if (PositionDisplacement != OMV.Vector3.Zero)
|
if (PositionDisplacement != OMV.Vector3.Zero || OrientationDisplacement != OMV.Quaternion.Identity)
|
||||||
{
|
{
|
||||||
// Correct for any rotation around the center-of-mass
|
// Correct for any rotation around the center-of-mass
|
||||||
// TODO!!!
|
// TODO!!!
|
||||||
entprop.Position -= PositionDisplacement;
|
entprop.Position = entprop.Position + (PositionDisplacement * entprop.Rotation);
|
||||||
|
// entprop.Rotation = something;
|
||||||
}
|
}
|
||||||
|
|
||||||
base.UpdateProperties(entprop);
|
base.UpdateProperties(entprop);
|
||||||
|
|
|
@ -38,6 +38,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
||||||
public class BSPrimLinkable : BSPrimDisplaced
|
public class BSPrimLinkable : BSPrimDisplaced
|
||||||
{
|
{
|
||||||
public BSLinkset Linkset { get; set; }
|
public BSLinkset Linkset { get; set; }
|
||||||
|
// The index of this child prim.
|
||||||
|
public int LinksetChildIndex { get; set; }
|
||||||
|
|
||||||
public BSLinksetInfo LinksetInfo { get; set; }
|
public BSLinksetInfo LinksetInfo { get; set; }
|
||||||
|
|
||||||
public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
|
public BSPrimLinkable(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
|
||||||
|
@ -90,7 +93,6 @@ public class BSPrimLinkable : BSPrimDisplaced
|
||||||
DetailLog("{0},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
|
DetailLog("{0},BSPrimLinkset.delink,parentBefore={1},childrenBefore={2},parentAfter={3},childrenAfter={4}, ",
|
||||||
LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
|
LocalID, parentBefore.LocalID, childrenBefore, Linkset.LinksetRoot.LocalID, Linkset.NumberOfChildren);
|
||||||
return;
|
return;
|
||||||
base.delink();
|
|
||||||
}
|
}
|
||||||
|
|
||||||
// When simulator changes position, this might be moving a child of the linkset.
|
// When simulator changes position, this might be moving a child of the linkset.
|
||||||
|
@ -133,7 +135,8 @@ public class BSPrimLinkable : BSPrimDisplaced
|
||||||
// When going from non-physical to physical, this re-enables the constraints that
|
// When going from non-physical to physical, this re-enables the constraints that
|
||||||
// had been automatically disabled when the mass was set to zero.
|
// had been automatically disabled when the mass was set to zero.
|
||||||
// For compound based linksets, this enables and disables interactions of the children.
|
// For compound based linksets, this enables and disables interactions of the children.
|
||||||
Linkset.Refresh(this);
|
if (Linkset != null) // null can happen during initialization
|
||||||
|
Linkset.Refresh(this);
|
||||||
}
|
}
|
||||||
|
|
||||||
protected override void MakeDynamic(bool makeStatic)
|
protected override void MakeDynamic(bool makeStatic)
|
||||||
|
|
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Loading…
Reference in New Issue