BulletSim: allow changing position and rotation of a child of a linkset
without rebuilding the whole compound shape. Should make vehicles move smoother.user_profiles
Robert Adams
parent
95c53ecae7
commit
471c477863
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@ -899,7 +899,7 @@ public sealed class BSCharacter : BSPhysObject
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CurrentEntityProperties = entprop;
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// Tell the linkset about value changes
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Linkset.UpdateProperties(this, true);
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Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
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// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
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// base.RequestPhysicsterseUpdate();
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@ -252,7 +252,7 @@ public abstract class BSLinkset
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// of the linkset is received.
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// Passed flag is update came from physics engine (true) or the user (false).
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// Called at taint-time!!
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public abstract void UpdateProperties(BSPhysObject physObject, bool physicalUpdate);
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public abstract void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject physObject);
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// Routine used when rebuilding the body of the root of the linkset
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// Destroy all the constraints have have been made to root.
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@ -51,6 +51,21 @@ sealed class BSLinksetCompoundInfo : BSLinksetInfo
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OffsetFromCenterOfMass = p;
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OffsetRot = r;
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}
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// 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape)
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public BSLinksetCompoundInfo(int indx, BSPhysObject root, BSPhysObject child, OMV.Vector3 centerDisplacement)
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{
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// Each child position and rotation is given relative to the center-of-mass.
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OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation);
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OMV.Vector3 displacementFromRoot = (child.RawPosition - root.RawPosition) * invRootOrientation;
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OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement;
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OMV.Quaternion displacementRot = child.RawOrientation * invRootOrientation;
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// Save relative position for recomputing child's world position after moving linkset.
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Index = indx;
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OffsetFromRoot = displacementFromRoot;
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OffsetFromCenterOfMass = displacementFromCOM;
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OffsetRot = displacementRot;
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}
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public override void Clear()
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{
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Index = 0;
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@ -182,24 +197,71 @@ public sealed class BSLinksetCompound : BSLinkset
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// 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then.
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// Called at taint-time.
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public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate)
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public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject updated)
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{
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// The user moving a child around requires the rebuilding of the linkset compound shape
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// One problem is this happens when a border is crossed -- the simulator implementation
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// is to store the position into the group which causes the move of the object
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// stores the position into the group which causes the move of the object
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// but it also means all the child positions get updated.
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// What would cause an unnecessary rebuild so we make sure the linkset is in a
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// region before bothering to do a rebuild.
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if (!IsRoot(updated)
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&& !physicalUpdate
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&& PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
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if (!IsRoot(updated) && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
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{
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// TODO: replace this with are calculation of the child prim's orientation and pos.
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// TODO: for the moment, don't rebuild the compound shape.
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// This is often just the car turning its wheels. When we can just reorient the one
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// member shape of the compound shape, the overhead of rebuilding won't be a problem.
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// updated.LinksetInfo = null;
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// ScheduleRebuild(updated);
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// If a child of the linkset is updating only the position or rotation, that can be done
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// without rebuilding the linkset.
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// If a handle for the child can be fetch, we update the child here. If a rebuild was
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// scheduled by someone else, the rebuild will just replace this setting.
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bool updatedChild = false;
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// Anything other than updating position or orientation usually means a physical update
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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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{
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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 (LinksetRoot.PhysShape.HasPhysicalShape && lsi != null)
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{
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if (PhysicsScene.PE.IsCompound(LinksetRoot.PhysShape))
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{
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BulletShape linksetChildShape = PhysicsScene.PE.GetChildShapeFromCompoundShapeIndex(LinksetRoot.PhysShape, lsi.Index);
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if (linksetChildShape.HasPhysicalShape)
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{
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// Compute the offset from the center-of-gravity
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BSLinksetCompoundInfo newLsi = new BSLinksetCompoundInfo(lsi.Index, LinksetRoot, updated, LinksetRoot.PositionDisplacement);
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PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, lsi.Index,
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newLsi.OffsetFromCenterOfMass,
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newLsi.OffsetRot,
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true /* shouldRecalculateLocalAabb */);
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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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updated.LinksetInfo = newLsi;
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updatedChild = true;
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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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else // DEBUG DEBUG
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{ // DEBUG DEBUG
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DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild,notCompound", updated.LocalID);
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} // DEBUG DEBUG
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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,rootPhysShape={1},lsi={2}",
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updated.LocalID, LinksetRoot.PhysShape, lsi == null ? "NULL" : lsi.ToString());
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} // DEBUG DEBUG
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if (!updatedChild)
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{
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// If couldn't do the individual child, the linkset needs a rebuild to incorporate the new child info.
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DetailLog("{0},BSLinksetCompound.UpdateProperties,couldNotUpdateChild.schedulingRebuild,whichUpdated={1}",
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updated.LocalID, whichUpdated);
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updated.LinksetInfo = null; // setting to 'null' causes relative position to be recomputed.
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ScheduleRebuild(updated);
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}
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}
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}
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}
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@ -372,15 +434,7 @@ public sealed class BSLinksetCompound : BSLinkset
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BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo;
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if (lci == null)
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{
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// Each child position and rotation is given relative to the center-of-mass.
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OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
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OMV.Vector3 displacementFromRoot = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
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OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement;
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OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
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// Save relative position for recomputing child's world position after moving linkset.
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lci = new BSLinksetCompoundInfo(memberIndex, displacementFromCOM, displacementRot);
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lci.OffsetFromRoot = displacementFromRoot;
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lci = new BSLinksetCompoundInfo(memberIndex, LinksetRoot, cPrim, centerDisplacement);
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cPrim.LinksetInfo = lci;
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DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci);
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}
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@ -83,7 +83,7 @@ public sealed class BSLinksetConstraints : BSLinkset
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}
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// Called at taint-time!!
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public override void UpdateProperties(BSPhysObject updated, bool inTaintTime)
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public override void UpdateProperties(UpdatedProperties whichUpdated, BSPhysObject pObj)
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{
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// Nothing to do for constraints on property updates
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}
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@ -55,6 +55,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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* BS.ApplyCentralForce BS.ApplyTorque
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*/
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// Flags used to denote which properties updates when making UpdateProperties calls to linksets, etc.
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public enum UpdatedProperties : uint
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{
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Position = 1 << 0,
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Orientation = 1 << 1,
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Velocity = 1 << 2,
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Acceleration = 1 << 3,
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RotationalVelocity = 1 << 4,
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EntPropUpdates = Position | Orientation | Velocity | Acceleration | RotationalVelocity,
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}
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public abstract class BSPhysObject : PhysicsActor
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{
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protected BSPhysObject()
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@ -311,13 +311,14 @@ public sealed class BSPrim : BSPhysObject
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_position = value;
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PositionSanityCheck(false);
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// A linkset might need to know if a component information changed.
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Linkset.UpdateProperties(this, false);
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PhysicsScene.TaintedObject("BSPrim.setPosition", delegate()
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{
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DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
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ForcePosition = _position;
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// A linkset might need to know if a component information changed.
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Linkset.UpdateProperties(UpdatedProperties.Position, this);
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});
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}
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}
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@ -682,12 +683,13 @@ public sealed class BSPrim : BSPhysObject
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return;
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_orientation = value;
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// A linkset might need to know if a component information changed.
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Linkset.UpdateProperties(this, false);
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PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate()
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{
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ForceOrientation = _orientation;
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// A linkset might need to know if a component information changed.
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Linkset.UpdateProperties(UpdatedProperties.Orientation, this);
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});
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}
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}
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@ -1686,7 +1688,7 @@ public sealed class BSPrim : BSPhysObject
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*/
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// The linkset implimentation might want to know about this.
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Linkset.UpdateProperties(this, true);
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Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this);
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}
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}
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}
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@ -846,8 +846,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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#endregion // Taints
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#region INI and command line parameter processing
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#region IPhysicsParameters
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// Get the list of parameters this physics engine supports
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public PhysParameterEntry[] GetParameterList()
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@ -944,8 +942,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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#endregion IPhysicsParameters
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#endregion Runtime settable parameters
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// Invoke the detailed logger and output something if it's enabled.
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public void DetailLog(string msg, params Object[] args)
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{
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@ -1,25 +1,20 @@
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CURRENT PRIORITIES
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=================================================
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Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040
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Msg Kayaker on OSGrid when working
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Child movement in linkset (don't rebuild linkset)
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Vehicle angular vertical attraction
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vehicle angular banking
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Center-of-gravity
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Vehicle angular deflection
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Preferred orientation angular correction fix
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when should angular and linear motor targets be zeroed? when selected?
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Need a vehicle.clear()? Or an 'else' in prestep if not physical.
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Teravus llMoveToTarget script debug
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Mixing of hover, buoyancy/gravity, moveToTarget, into one force
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Boats floating at proper level
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Nebadon vehicles turning funny in arena
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limitMotorUp calibration (more down?)
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llRotLookAt
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llLookAt
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Vehicle angular vertical attraction
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Vehicle angular deflection
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Preferred orientation angular correction fix
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vehicle angular banking
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Avatars walking up stairs (HALF DONE)
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Radius of the capsule affects ability to climb edges.
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Vehicle movement on terrain smoothness
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When is force introduced by SetForce removed? The prestep action could go forever.
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Boats float low in the water (DONE)
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Avatar movement
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flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
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walking up stairs is not calibrated correctly (stairs out of Kepler cabin)
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@ -75,6 +70,7 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
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GENERAL TODO LIST:
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=================================================
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llMoveToTarget objects are not effected by gravity until target is removed.
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Implement llSetPhysicalMaterial.
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extend it with Center-of-mass, rolling friction, density
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Implement llSetForceAndTorque.
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@ -315,4 +311,12 @@ Remove HeightmapInfo from terrain specification (DONE)
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Since C++ code does not need terrain height, this structure et al are not needed.
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Surfboard go wonky when turning (DONE)
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Angular motor direction is global coordinates rather than local coordinates?
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(Resolution: made angular motor direction correct coordinate system)
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(Resolution: made angular motor direction correct coordinate system)
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Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 (DONE)
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Msg Kayaker on OSGrid when working
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(Resolution: LINEAR_DIRECTION is in vehicle coords. Test script does the
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same in SL as in OS/BulletSim)
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Boats float low in the water (DONE)
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Boats floating at proper level (DONE)
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When is force introduced by SetForce removed? The prestep action could go forever. (DONE)
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(Resolution: setForce registers a prestep action which keeps applying the force)
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