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BulletSim: make density display and return value consistant with how 

the simulator expects it (scaled to 100kg/m^3).
TeleportWork
Robert Adams 2013-07-24 10:52:54 -07:00
parent 1416c90932
commit 5a7784a0e6
3 changed files with 22 additions and 8 deletions
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2
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -75,7 +75,7 @@ public sealed class BSCharacter : BSPhysObject
RawVelocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
Friction = BSParam.AvatarStandingFriction;
Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor;
Density = BSParam.AvatarDensity;
// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
// replace with the default values.

13
OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
View File

@ -463,7 +463,7 @@ public static class BSParam
// Density is passed around as 100kg/m3. This scales that to 1kg/m3.
// Reduce by power of 100 because Bullet doesn't seem to handle objects with large mass very well
new ParameterDefn<float>("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)",
0.0001f ),
0.01f ),
new ParameterDefn<float>("PID_D", "Derivitive factor for motion smoothing",
2200f ),
@ -474,8 +474,9 @@ public static class BSParam
0.2f,
(s) => { return DefaultFriction; },
(s,v) => { DefaultFriction = v; s.UnmanagedParams[0].defaultFriction = v; } ),
// For historical reasons, the viewer and simulator multiply the density by 100
new ParameterDefn<float>("DefaultDensity", "Density for new objects" ,
10.000006836f, // Aluminum g/cm3
1000.0006836f, // Aluminum g/cm3 * 100
(s) => { return DefaultDensity; },
(s,v) => { DefaultDensity = v; s.UnmanagedParams[0].defaultDensity = v; } ),
new ParameterDefn<float>("DefaultRestitution", "Bouncyness of an object" ,
@ -555,8 +556,9 @@ public static class BSParam
0.95f ),
new ParameterDefn<float>("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run",
1.3f ),
new ParameterDefn<float>("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
3.5f) ,
// For historical reasons, density is reported * 100
new ParameterDefn<float>("AvatarDensity", "Density of an avatar. Changed on avatar recreation. Scaled times 100.",
3500f) , // 3.5 * 100
new ParameterDefn<float>("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
0f ),
new ParameterDefn<float>("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
@ -608,9 +610,8 @@ public static class BSParam
0.0f ),
new ParameterDefn<float>("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
0.0f ),
// Turn off fudge with DensityScaleFactor = 0.0001. Value used to be 0.2f;
new ParameterDefn<float>("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
1.0f ),
0.2f ),
new ParameterDefn<float>("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.",
60.0f ),
new ParameterDefn<bool>("VehicleEnableLinearDeflection", "Turn on/off vehicle linear deflection effect",

15
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
View File

@ -187,10 +187,23 @@ public abstract class BSPhysObject : PhysicsActor
MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
Friction = matAttrib.friction;
Restitution = matAttrib.restitution;
Density = matAttrib.density / BSParam.DensityScaleFactor;
Density = matAttrib.density;
// DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density);
}
public override float Density
{
get
{
return base.Density;
}
set
{
DetailLog("{0},BSPhysObject.Density,set,den={1}", LocalID, value);
base.Density = value;
}
}
// Stop all physical motion.
public abstract void ZeroMotion(bool inTaintTime);
public abstract void ZeroAngularMotion(bool inTaintTime);