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BulletSim: fix problem of not zeroing motion when stationary (drift problem from 

Mantis 7813). Redo Z computations for movement. Clean up code to simplify
tests. Add function to suppress stationary tests unless velocity drops.
LSLKeyTest
Robert Adams 2016-01-18 10:48:10 -08:00
parent 35d4298be6
commit 5ed90b3921
1 changed files with 40 additions and 66 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

106
OpenSim/Region/PhysicsModules/BulletS/BSActorAvatarMove.cs
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@ -47,10 +47,9 @@ public class BSActorAvatarMove : BSActor
// The amount the step up is applying. Used to smooth stair walking. // The amount the step up is applying. Used to smooth stair walking.
float m_lastStepUp; float m_lastStepUp;
// Jumping happens over several frames. If use applies up force while colliding, start the // There are times the velocity is set but we don't want to inforce stationary until the
// jump and allow the jump to continue for this number of frames. // real velocity drops.
int m_jumpFrames = 0; bool m_waitingForLowVelocityForStationary = false;
float m_jumpVelocity = 0f;
public BSActorAvatarMove(BSScene physicsScene, BSPhysObject pObj, string actorName) public BSActorAvatarMove(BSScene physicsScene, BSPhysObject pObj, string actorName)
: base(physicsScene, pObj, actorName) : base(physicsScene, pObj, actorName)
@ -117,12 +116,18 @@ public class BSActorAvatarMove : BSActor
m_velocityMotor.SetTarget(targ); m_velocityMotor.SetTarget(targ);
m_velocityMotor.SetCurrent(vel); m_velocityMotor.SetCurrent(vel);
m_velocityMotor.Enabled = true; m_velocityMotor.Enabled = true;
m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,SetVelocityAndTarget,vel={1}, targ={2}, inTaintTime={3}", m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,SetVelocityAndTarget,vel={1}, targ={2}",
m_controllingPrim.LocalID, vel, targ, inTaintTime); m_controllingPrim.LocalID, vel, targ);
m_waitingForLowVelocityForStationary = false;
} }
}); });
} }
public void SuppressStationayCheckUntilLowVelocity()
{
m_waitingForLowVelocityForStationary = true;
}
// If a movement motor has not been created, create one and start the hovering. // If a movement motor has not been created, create one and start the hovering.
private void ActivateAvatarMove() private void ActivateAvatarMove()
{ {
@ -135,13 +140,14 @@ public class BSActorAvatarMove : BSActor
1f // efficiency 1f // efficiency
); );
m_velocityMotor.ErrorZeroThreshold = BSParam.AvatarStopZeroThreshold; m_velocityMotor.ErrorZeroThreshold = BSParam.AvatarStopZeroThreshold;
// m_velocityMotor.PhysicsScene = m_controllingPrim.PhysScene; // DEBUG DEBUG so motor will output detail log messages. m_velocityMotor.PhysicsScene = m_controllingPrim.PhysScene; // DEBUG DEBUG so motor will output detail log messages.
SetVelocityAndTarget(m_controllingPrim.RawVelocity, m_controllingPrim.TargetVelocity, true /* inTaintTime */); SetVelocityAndTarget(m_controllingPrim.RawVelocity, m_controllingPrim.TargetVelocity, true /* inTaintTime */);
m_physicsScene.BeforeStep += Mover; m_physicsScene.BeforeStep += Mover;
m_controllingPrim.OnPreUpdateProperty += Process_OnPreUpdateProperty; m_controllingPrim.OnPreUpdateProperty += Process_OnPreUpdateProperty;
m_walkingUpStairs = 0; m_walkingUpStairs = 0;
m_waitingForLowVelocityForStationary = false;
} }
} }
@ -192,29 +198,25 @@ public class BSActorAvatarMove : BSActor
// if colliding with something stationary and we're not doing volume detect . // if colliding with something stationary and we're not doing volume detect .
if (!m_controllingPrim.ColliderIsMoving && !m_controllingPrim.ColliderIsVolumeDetect) if (!m_controllingPrim.ColliderIsMoving && !m_controllingPrim.ColliderIsVolumeDetect)
{ {
m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", m_controllingPrim.LocalID); if (m_waitingForLowVelocityForStationary)
m_controllingPrim.IsStationary = true; {
m_controllingPrim.ZeroMotion(true /* inTaintTime */); // if waiting for velocity to drop and it has finally dropped, we can be stationary
if (m_controllingPrim.RawVelocity.LengthSquared() < BSParam.AvatarStopZeroThresholdSquared)
/* 20160118 Attempt to not be stationary if some velocity applied. Caused drifting since still can't tell who applied velocity. {
* Solution is to make clearer what is causing the added velocity (push or environment) when deciding if stationary. m_waitingForLowVelocityForStationary = false;
m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,totalForce={1}, vel={2}", }
m_controllingPrim.LocalID, m_physicsScene.PE.GetTotalForce(m_controllingPrim.PhysBody), m_controllingPrim.Velocity); }
// If velocity is very small, assume it is movement creep and suppress it. if (!m_waitingForLowVelocityForStationary)
// Applying push forces (Character.AddForce) should move the avatar and that is only seen here as velocity.
if ( (m_controllingPrim.Velocity.LengthSquared() < BSParam.AvatarStopZeroThresholdSquared)
&& (m_physicsScene.PE.GetTotalForce(m_controllingPrim.PhysBody).LengthSquared() < BSParam.AvatarStopZeroThresholdSquared) )
{ {
m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", m_controllingPrim.LocalID); m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", m_controllingPrim.LocalID);
m_controllingPrim.IsStationary = true; m_controllingPrim.IsStationary = true;
m_controllingPrim.ZeroMotion(true); m_controllingPrim.ZeroMotion(true /* inTaintTime */);
} }
else else
{ {
m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,not zeroing because velocity={1}", m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,waitingForLowVel,rawvel={1}",
m_controllingPrim.LocalID, m_controllingPrim.Velocity); m_controllingPrim.LocalID, m_controllingPrim.RawVelocity.Length());
} }
*/
} }
// Standing has more friction on the ground // Standing has more friction on the ground
@ -259,50 +261,24 @@ public class BSActorAvatarMove : BSActor
m_physicsScene.PE.SetFriction(m_controllingPrim.PhysBody, m_controllingPrim.Friction); m_physicsScene.PE.SetFriction(m_controllingPrim.PhysBody, m_controllingPrim.Friction);
} }
// If not flying and not colliding, assume falling and keep the downward motion component. // 'm_velocityMotor is used for walking, flying, and jumping and will thus have the correct values
// This check is done here for the next jump test. // for Z. But in come cases it must be over-ridden. Like when falling or jumping.
if (!m_controllingPrim.Flying && !m_controllingPrim.IsColliding)
{
stepVelocity.Z = m_controllingPrim.RawVelocity.Z;
}
// Colliding and not flying with an upward force. The avatar must be trying to jump. float realVelocityZ = m_controllingPrim.RawVelocity.Z;
if (!m_controllingPrim.Flying && m_controllingPrim.IsColliding && stepVelocity.Z > 0)
{
// We allow the upward force to happen for this many frames.
m_jumpFrames = BSParam.AvatarJumpFrames;
m_jumpVelocity = stepVelocity.Z;
}
// The case where the avatar is not colliding and is not flying is special. // If not flying and falling, we over-ride the stepping motor so we can fall to the ground
// The avatar is either falling or jumping and the user can be applying force to the avatar if (!m_controllingPrim.Flying && realVelocityZ < 0)
// (force in some direction or force up or down).
// If the avatar has negative Z velocity and is not colliding, presume we're falling and keep the velocity.
// If the user is trying to apply upward force but we're not colliding, assume the avatar
// is trying to jump and don't apply the upward force if not touching the ground any more.
if (!m_controllingPrim.Flying && !m_controllingPrim.IsColliding)
{ {
// If upward velocity is being applied, this must be a jump and only allow that to go on so long // Can't fall faster than this
if (m_jumpFrames > 0) if (realVelocityZ < BSParam.AvatarTerminalVelocity)
{ {
// Since not touching the ground, only apply upward force for so long. realVelocityZ = BSParam.AvatarTerminalVelocity;
m_jumpFrames--;
stepVelocity.Z = m_jumpVelocity;
} }
else
{ stepVelocity.Z = realVelocityZ;
// Since we're not affected by anything, the avatar must be falling and we do not want that to be too fast.
if (m_controllingPrim.RawVelocity.Z < BSParam.AvatarTerminalVelocity)
{
stepVelocity.Z = BSParam.AvatarTerminalVelocity;
}
else
{
stepVelocity.Z = m_controllingPrim.RawVelocity.Z;
}
}
// DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
} }
// m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,DEBUG,motorCurrent={1},realZ={2},flying={3},collid={4},jFrames={5}",
// m_controllingPrim.LocalID, m_velocityMotor.CurrentValue, realVelocityZ, m_controllingPrim.Flying, m_controllingPrim.IsColliding, m_jumpFrames);
//Alicia: Maintain minimum height when flying. //Alicia: Maintain minimum height when flying.
// SL has a flying effect that keeps the avatar flying above the ground by some margin // SL has a flying effect that keeps the avatar flying above the ground by some margin
@ -313,6 +289,8 @@ public class BSActorAvatarMove : BSActor
if( m_controllingPrim.Position.Z < hover_height) if( m_controllingPrim.Position.Z < hover_height)
{ {
m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,addingUpforceForGroundMargin,height={1},hoverHeight={2}",
m_controllingPrim.LocalID, m_controllingPrim.Position.Z, hover_height);
stepVelocity.Z += BSParam.AvatarFlyingGroundUpForce; stepVelocity.Z += BSParam.AvatarFlyingGroundUpForce;
} }
} }
@ -337,11 +315,7 @@ public class BSActorAvatarMove : BSActor
if (m_controllingPrim.IsStationary) if (m_controllingPrim.IsStationary)
{ {
entprop.Position = m_controllingPrim.RawPosition; entprop.Position = m_controllingPrim.RawPosition;
// Suppress small movement velocity entprop.Velocity = OMV.Vector3.Zero;
if (entprop.Velocity.LengthSquared() < BSParam.AvatarStopZeroThresholdSquared) {
m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,OnPreUpdate,zeroing velocity={1}", m_controllingPrim.LocalID, entprop.Velocity);
entprop.Velocity = OMV.Vector3.Zero;
}
m_physicsScene.PE.SetTranslation(m_controllingPrim.PhysBody, entprop.Position, entprop.Rotation); m_physicsScene.PE.SetTranslation(m_controllingPrim.PhysBody, entprop.Position, entprop.Rotation);
} }