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BulletSim: add avatar code to keep avatars from ending up trapped under the terrain

integration
Robert Adams 2012-08-08 13:48:49 -07:00
parent 19417fca41
commit 5ab151c2d6
5 changed files with 47 additions and 54 deletions
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56
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -205,6 +205,8 @@ public class BSCharacter : PhysicsActor
}
set {
_position = value;
PositionSanityCheck();
_scene.TaintedObject(delegate()
{
DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
@ -212,6 +214,28 @@ public class BSCharacter : PhysicsActor
});
}
}
// Check that the current position is sane and, if not, modify the position to make it so.
// Check for being below terrain and being out of bounds.
// Returns 'true' of the position was made sane by some action.
private bool PositionSanityCheck()
{
bool ret = false;
// If below the ground, move the avatar up
float terrainHeight = Scene.GetTerrainHeightAtXYZ(_position);
if (_position.Z < terrainHeight)
{
DetailLog("{0},PositionAdjustUnderGround,call,pos={1},orient={2}", LocalID, _position, _orientation);
_position.Z = terrainHeight + 2.0f;
ret = true;
}
// TODO: check for out of bounds
return ret;
}
public override float Mass {
get {
return _mass;
@ -456,42 +480,12 @@ public class BSCharacter : PhysicsActor
// the world that things have changed.
public void UpdateProperties(EntityProperties entprop)
{
/*
bool changed = false;
// we assign to the local variables so the normal set action does not happen
if (_position != entprop.Position) {
_position = entprop.Position;
changed = true;
}
if (_orientation != entprop.Rotation) {
_orientation = entprop.Rotation;
changed = true;
}
if (_velocity != entprop.Velocity) {
_velocity = entprop.Velocity;
changed = true;
}
if (_acceleration != entprop.Acceleration) {
_acceleration = entprop.Acceleration;
changed = true;
}
if (_rotationalVelocity != entprop.RotationalVelocity) {
_rotationalVelocity = entprop.RotationalVelocity;
changed = true;
}
if (changed) {
// m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
// Avatar movement is not done by generating this event. There is code in the heartbeat
// loop that updates avatars.
// base.RequestPhysicsterseUpdate();
}
*/
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Avatars don't report theirr changes the usual way. Changes are checked for in the heartbeat loop.
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();
}

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

@ -296,13 +296,13 @@ public class BSLinkset
DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID);
BSConstraint constrain = m_scene.Constraints.CreateConstraint(
m_scene.World, m_linksetRoot.Body, childPrim.Body,
// childRelativePosition,
// childRelativeRotation,
childRelativePosition,
childRelativeRotation,
OMV.Vector3.Zero,
OMV.Quaternion.Identity,
OMV.Vector3.Zero,
OMV.Quaternion.Identity
-childRelativeRotation
);
// zero linear and angular limits makes the objects unable to move in relation to each other
constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
@ -339,7 +339,8 @@ public class BSLinkset
// Invoke the detailed logger and output something if it's enabled.
private void DebugLog(string msg, params Object[] args)
{
m_scene.Logger.DebugFormat(msg, args);
if (m_scene.ShouldDebugLog)
m_scene.Logger.DebugFormat(msg, args);
}
// Invoke the detailed logger and output something if it's enabled.

4
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -42,7 +42,7 @@ public sealed class BSPrim : PhysicsActor
private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType);
private static readonly string LogHeader = "[BULLETS PRIM]";
private void DebugLog(string mm, params Object[] xx) { if (_scene.shouldDebugLog) m_log.DebugFormat(mm, xx); }
private void DebugLog(string mm, params Object[] xx) { if (_scene.ShouldDebugLog) m_log.DebugFormat(mm, xx); }
private IMesh _mesh;
private PrimitiveBaseShape _pbs;
@ -1338,7 +1338,6 @@ public sealed class BSPrim : PhysicsActor
base.RequestPhysicsterseUpdate();
}
/*
else
{
// For debugging, we also report the movement of children
@ -1346,7 +1345,6 @@ public sealed class BSPrim : PhysicsActor
LocalID, entprop.Position, entprop.Rotation, entprop.Velocity,
entprop.Acceleration, entprop.RotationalVelocity);
}
*/
}
// I've collided with something

26
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@ -73,7 +73,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType);
private static readonly string LogHeader = "[BULLETS SCENE]";
public void DebugLog(string mm, params Object[] xx) { if (shouldDebugLog) m_log.DebugFormat(mm, xx); }
public void DebugLog(string mm, params Object[] xx) { if (ShouldDebugLog) m_log.DebugFormat(mm, xx); }
public string BulletSimVersion = "?";
@ -169,7 +169,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
ConfigurationParameters[] m_params;
GCHandle m_paramsHandle;
public bool shouldDebugLog { get; private set; }
public bool ShouldDebugLog { get; private set; }
private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle;
@ -812,12 +812,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
private struct ParameterDefn
{
public string name;
public string desc;
public float defaultValue;
public ParamUser userParam;
public ParamGet getter;
public ParamSet setter;
public string name; // string name of the parameter
public string desc; // a short description of what the parameter means
public float defaultValue; // default value if not specified anywhere else
public ParamUser userParam; // get the value from the configuration file
public ParamGet getter; // return the current value stored for this parameter
public ParamSet setter; // set the current value for this parameter
public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
{
name = n;
@ -834,7 +834,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
// To add a new externally referencable/settable parameter, add the paramter storage
// location somewhere in the program and make an entry in this table with the
// getters and setters.
// To add a new variable, it is easiest to find an existing definition and copy it.
// It is easiest to find an existing definition and copy it.
// Parameter values are floats. Booleans are converted to a floating value.
//
// A ParameterDefn() takes the following parameters:
@ -870,7 +870,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
(s) => { return (float)s.m_meshLOD; },
(s,p,l,v) => { s.m_meshLOD = (int)v; } ),
new ParameterDefn("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
32,
32f,
(s,cf,p,v) => { s.m_sculptLOD = cf.GetInt(p, (int)v); },
(s) => { return (float)s.m_sculptLOD; },
(s,p,l,v) => { s.m_sculptLOD = (int)v; } ),
@ -1106,9 +1106,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
(s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ),
new ParameterDefn("ShouldDebugLog", "Enables detailed DEBUG log statements",
ConfigurationParameters.numericFalse,
(s,cf,p,v) => { s.shouldDebugLog = cf.GetBoolean(p, s.BoolNumeric(v)); },
(s) => { return s.NumericBool(s.shouldDebugLog); },
(s,p,l,v) => { s.shouldDebugLog = s.BoolNumeric(v); } ),
(s,cf,p,v) => { s.ShouldDebugLog = cf.GetBoolean(p, s.BoolNumeric(v)); },
(s) => { return s.NumericBool(s.ShouldDebugLog); },
(s,p,l,v) => { s.ShouldDebugLog = s.BoolNumeric(v); } ),
};

2
bin/OpenSimDefaults.ini
View File

@ -939,7 +939,7 @@
FixedTimeStep = .01667
MaxCollisionsPerFrame = 2048
MaxUpdatesPerFrame = 2048
MaxUpdatesPerFrame = 8192
[RemoteAdmin]
enabled = false