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BulletSim: fixing problems with llMoveToTarget. Not all fixed yet.

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Robert Adams 2013-04-09 17:53:18 -07:00
parent b53713cdda
commit 5f2cbfc0fd
3 changed files with 18 additions and 6 deletions
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2
OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
View File

@ -50,7 +50,7 @@ public class BSActorHover : BSActor
// BSActor.isActive
public override bool isActive
{
get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
get { return Enabled; }
}
// Release any connections and resources used by the actor.

16
OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
View File

@ -50,7 +50,7 @@ public class BSActorMoveToTarget : BSActor
// BSActor.isActive
public override bool isActive
{
get { return Enabled && m_controllingPrim.IsPhysicallyActive; }
get { return Enabled; }
}
// Release any connections and resources used by the actor.
@ -65,7 +65,9 @@ public class BSActorMoveToTarget : BSActor
// BSActor.Refresh()
public override void Refresh()
{
m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh", m_controllingPrim.LocalID);
m_physicsScene.DetailLog("{0},BSActorMoveToTarget,refresh,enabled={1},active={2},target={3},tau={4}",
m_controllingPrim.LocalID, Enabled, m_controllingPrim.MoveToTargetActive,
m_controllingPrim.MoveToTargetTarget, m_controllingPrim.MoveToTargetTau );
// If not active any more...
if (!m_controllingPrim.MoveToTargetActive)
@ -100,7 +102,7 @@ public class BSActorMoveToTarget : BSActor
// We're taking over after this.
m_controllingPrim.ZeroMotion(true);
m_targetMotor = new BSVMotor("BSPrim.PIDTarget",
m_targetMotor = new BSVMotor("BSActorMoveToTargget.Activate",
m_controllingPrim.MoveToTargetTau, // timeScale
BSMotor.Infinite, // decay time scale
BSMotor.InfiniteVector, // friction timescale
@ -138,15 +140,19 @@ public class BSActorMoveToTarget : BSActor
// If we are very close to our target, turn off the movement motor.
if (m_targetMotor.ErrorIsZero())
{
m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,zeroMovement,movePos={1},pos={2},mass={3}",
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,zeroMovement,movePos={1},pos={2},mass={3}",
m_controllingPrim.LocalID, movePosition, m_controllingPrim.RawPosition, m_controllingPrim.Mass);
m_controllingPrim.ForcePosition = m_targetMotor.TargetValue;
// Setting the position does not cause the physics engine to generate a property update. Force it.
m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
}
else
{
m_controllingPrim.ForcePosition = movePosition;
// Setting the position does not cause the physics engine to generate a property update. Force it.
m_physicsScene.PE.PushUpdate(m_controllingPrim.PhysBody);
}
m_physicsScene.DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", m_controllingPrim.LocalID, origPosition, movePosition);
m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover,move,fromPos={1},movePos={2}", m_controllingPrim.LocalID, origPosition, movePosition);
}
}
}

6
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
View File

@ -295,6 +295,7 @@ public abstract class BSPhysObject : PhysicsActor
if (PhysicalActors.TryGetActor(actorName, out theActor))
{
// The actor already exists so just turn it on or off
DetailLog("{0},BSPhysObject.EnableActor,enablingExistingActor,name={1},enable={2}", LocalID, actorName, enableActor);
theActor.Enabled = enableActor;
}
else
@ -302,10 +303,15 @@ public abstract class BSPhysObject : PhysicsActor
// The actor does not exist. If it should, create it.
if (enableActor)
{
DetailLog("{0},BSPhysObject.EnableActor,creatingActor,name={1}", LocalID, actorName);
theActor = creator();
PhysicalActors.Add(actorName, theActor);
theActor.Enabled = true;
}
else
{
DetailLog("{0},BSPhysObject.EnableActor,notCreatingActorSinceNotEnabled,name={1}", LocalID, actorName);
}
}
}
}