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BulletSim: non-functional updates. Comments and formatting. 

Update TODO list.
cpu-performance
Robert Adams 2013-07-04 12:16:33 -07:00
parent c358d5d168
commit 5f97c6f8f0
4 changed files with 67 additions and 43 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

14
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -774,7 +774,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Since the computation of terrain height can be a little involved, this routine
// is used to fetch the height only once for each vehicle simulation step.
Vector3 lastRememberedHeightPos;
Vector3 lastRememberedHeightPos = new Vector3(-1, -1, -1);
private float GetTerrainHeight(Vector3 pos)
{
if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos)
@ -788,14 +788,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Since the computation of water level can be a little involved, this routine
// is used ot fetch the level only once for each vehicle simulation step.
Vector3 lastRememberedWaterHeightPos = new Vector3(-1, -1, -1);
private float GetWaterLevel(Vector3 pos)
{
if ((m_knownHas & m_knownChangedWaterLevel) == 0)
if ((m_knownHas & m_knownChangedWaterLevel) == 0 || pos != lastRememberedWaterHeightPos)
{
lastRememberedWaterHeightPos = pos;
m_knownWaterLevel = ControllingPrim.PhysScene.TerrainManager.GetWaterLevelAtXYZ(pos);
m_knownHas |= m_knownChangedWaterLevel;
}
return (float)m_knownWaterLevel;
return m_knownWaterLevel;
}
private Vector3 VehiclePosition
@ -991,11 +993,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
Vector3 vel = VehicleVelocity;
if ((m_flags & (VehicleFlag.NO_X)) != 0)
{
vel.X = 0;
}
if ((m_flags & (VehicleFlag.NO_Y)) != 0)
{
vel.Y = 0;
}
if ((m_flags & (VehicleFlag.NO_Z)) != 0)
{
vel.Z = 0;
}
VehicleVelocity = vel;
}

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

@ -188,6 +188,8 @@ public class BSVMotor : BSMotor
CurrentValue = current;
return Step(timeStep);
}
// Given and error, computer a correction for this step.
// Simple scaling of the error by the timestep.
public virtual Vector3 StepError(float timeStep, Vector3 error)
{
if (!Enabled) return Vector3.Zero;
@ -221,7 +223,7 @@ public class BSVMotor : BSMotor
CurrentValue, TargetValue);
LastError = BSMotor.InfiniteVector;
while (maxOutput-- > 0 && !LastError.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
while (maxOutput-- > 0 && !ErrorIsZero())
{
Vector3 lastStep = Step(timeStep);
MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}",
@ -375,7 +377,6 @@ public class BSPIDVMotor : BSVMotor
// The factors are vectors for the three dimensions. This is the proportional of each
// that is applied. This could be multiplied through the actual factors but it
// is sometimes easier to manipulate the factors and their mix separately.
// to
public Vector3 FactorMix;
// Arbritrary factor range.
@ -413,14 +414,14 @@ public class BSPIDVMotor : BSVMotor
// If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot.
// If efficiency is low (0f), use a factor value that overcorrects.
// TODO: might want to vary contribution of different factor depending on efficiency.
float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f;
// float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow;
// float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f;
float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow;
proportionFactor = new Vector3(factor, factor, factor);
integralFactor = new Vector3(factor, factor, factor);
derivFactor = new Vector3(factor, factor, factor);
MDetailLog("{0},BSPIDVMotor.setEfficiency,eff={1},factor={2}", BSScene.DetailLogZero, Efficiency, factor);
MDetailLog("{0}, BSPIDVMotor.setEfficiency,eff={1},factor={2}", BSScene.DetailLogZero, Efficiency, factor);
}
}
@ -441,8 +442,8 @@ public class BSPIDVMotor : BSVMotor
+ derivitive / TimeScale * derivFactor * FactorMix.Z
;
MDetailLog("{0}, BSPIDVMotor.step,ts={1},err={2},runnInt={3},deriv={4},ret={5}",
BSScene.DetailLogZero, timeStep, error, RunningIntegration, derivitive, ret);
MDetailLog("{0}, BSPIDVMotor.step,ts={1},err={2},lerr={3},runnInt={4},deriv={5},ret={6}",
BSScene.DetailLogZero, timeStep, error, LastError, RunningIntegration, derivitive, ret);
return ret;
}

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

@ -1125,7 +1125,9 @@ public class BSPrim : BSPhysObject
OMV.Vector3 addForce = force;
PhysScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
{
// Bullet adds this central force to the total force for this tick
// Bullet adds this central force to the total force for this tick.
// Deep down in Bullet:
// linearVelocity += totalForce / mass * timeStep;
DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
if (PhysBody.HasPhysicalBody)
{
@ -1493,6 +1495,8 @@ public class BSPrim : BSPhysObject
returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
// DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass);
DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3},pathB={4},pathE={5},profB={6},profE={7},siz={8}",
LocalID, Density, volume, returnMass, pathBegin, pathEnd, profileBegin, profileEnd, _size);
return returnMass;
}// end CalculateMass

75
OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
View File

@ -3,25 +3,21 @@ CURRENT PROBLEMS TO FIX AND/OR LOOK AT
Vehicle buoyancy. Computed correctly? Possibly creating very large effective mass.
Interaction of llSetBuoyancy and vehicle buoyancy. Should be additive?
Negative buoyancy computed correctly
Center-of-gravity
Computation of mesh mass. How done? How should it be done?
Script changing rotation of child prim while vehicle moving (eg turning wheel) causes
the wheel to appear to jump back. Looks like sending position from previous update.
Enable vehicle border crossings (at least as poorly as ODE)
Terrain skirts
Avatar created in previous region and not new region when crossing border
Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
User settable terrain mesh
Allow specifying as convex or concave and use different getHeight functions depending
Boats, when turning nose down into the water
Acts like rotation around Z is also effecting rotation around X and Y
Deleting a linkset while standing on the root will leave the physical shape of the root behind.
Not sure if it is because standing on it. Done with large prim linksets.
Linkset child rotations.
Nebadon spiral tube has middle sections which are rotated wrong.
Select linked spiral tube. Delink and note where the middle section ends up.
Refarb compound linkset creation to create a pseudo-root for center-of-mass
Let children change their shape to physical indendently and just add shapes to compound
Vehicle angular vertical attraction
vehicle angular banking
Center-of-gravity
Vehicle angular deflection
Preferred orientation angular correction fix
Teravus llMoveToTarget script debug
Mixing of hover, buoyancy/gravity, moveToTarget, into one force
Setting hover height to zero disables hover even if hover flags are on (from SL wiki)
@ -33,10 +29,16 @@ Vehicle script tuning/debugging
Avanti speed script
Weapon shooter script
Move material definitions (friction, ...) into simulator.
osGetPhysicsEngineVerion() and create a version code for the C++ DLL
One sided meshes? Should terrain be built into a closed shape?
When meshes get partially wedged into the terrain, they cannot push themselves out.
It is possible that Bullet processes collisions whether entering or leaving a mesh.
Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869
Small physical objects do not interact correctly
Create chain of .5x.5x.1 torui and make all but top physical so to hang.
The chain will fall apart and pairs will dance around on ground
Chains of 1x1x.2 will stay connected but will dance.
Chains above 2x2x.4 are more stable and get stablier as torui get larger.
VEHICLES TODO LIST:
=================================================
@ -45,14 +47,12 @@ LINEAR_MOTOR_DIRECTION values should be clamped to reasonable numbers.
Same for other velocity settings.
UBit improvements to remove rubber-banding of avatars sitting on vehicle child prims:
https://github.com/UbitUmarov/Ubit-opensim
Vehicles (Move smoothly)
Some vehicles should not be able to turn if no speed or off ground.
Cannot edit/move a vehicle being ridden: it jumps back to the origional position.
Neb car jiggling left and right
Happens on terrain and any other mesh object. Flat cubes are much smoother.
This has been reduced but not eliminated.
Implement referenceFrame for all the motion routines.
For limitMotorUp, use raycast down to find if vehicle is in the air.
Verify llGetVel() is returning a smooth and good value for vehicle movement.
llGetVel() should return the root's velocity if requested in a child prim.
Implement function efficiency for lineaar and angular motion.
@ -93,29 +93,15 @@ Revisit CollisionMargin. Builders notice the 0.04 spacing between prims.
Duplicating a physical prim causes old prim to jump away
Dup a phys prim and the original become unselected and thus interacts w/ selected prim.
Scenes with hundred of thousands of static objects take a lot of physics CPU time.
BSPrim.Force should set a continious force on the prim. The force should be
applied each tick. Some limits?
Gun sending shooter flying.
Collision margin (gap between physical objects lying on each other)
Boundry checking (crashes related to crossing boundry)
Add check for border edge position for avatars and objects.
Verify the events are created for border crossings.
Avatar rotation (check out changes to ScenePresence for physical rotation)
Avatar running (what does phys engine need to do?)
Small physical objects do not interact correctly
Create chain of .5x.5x.1 torui and make all but top physical so to hang.
The chain will fall apart and pairs will dance around on ground
Chains of 1x1x.2 will stay connected but will dance.
Chains above 2x2x.4 are more stable and get stablier as torui get larger.
Add PID motor for avatar movement (slow to stop, ...)
setForce should set a constant force. Different than AddImpulse.
Implement raycast.
Implement ShapeCollection.Dispose()
Implement water as a plain so raycasting and collisions can happen with same.
Implement water as a plain or mesh so raycasting and collisions can happen with same.
Add collision penetration return
Add field passed back by BulletSim.dll and fill with info in ManifoldConstact.GetDistance()
Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE
Also osGetPhysicsEngineVerion() maybe.
Linkset.Position and Linkset.Orientation requre rewrite to properly return
child position. LinksetConstraint acts like it's at taint time!!
Implement LockAngularMotion -- implements llSetStatus(ROTATE_AXIS_*, T/F)
@ -127,9 +113,6 @@ Selecting and deselecting physical objects causes CPU processing time to jump
Re-implement buoyancy as a separate force on the object rather than diddling gravity.
Register a pre-step event to add the force.
More efficient memory usage when passing hull information from BSPrim to BulletSim
Avatar movement motor check for zero or small movement. Somehow suppress small movements
when avatar has stopped and is just standing. Simple test for near zero has
the problem of preventing starting up (increase from zero) especially when falling.
Physical and phantom will drop through the terrain
@ -172,7 +155,6 @@ Do we need to do convex hulls all the time? Can complex meshes be left meshes?
There is some problem with meshes and collisions
Hulls are not as detailed as meshes. Hulled vehicles insides are different shape.
Debounce avatar contact so legs don't keep folding up when standing.
Implement LSL physics controls. Like STATUS_ROTATE_X.
Add border extensions to terrain to help region crossings and objects leaving region.
Use a different capsule shape for avatar when sitting
LL uses a pyrimidal shape scaled by the avatar's bounding box
@ -205,8 +187,6 @@ Keep avatar scaling correct. http://pennycow.blogspot.fr/2011/07/matter-of-scale
INTERNAL IMPROVEMENT/CLEANUP
=================================================
Can the 'inTaintTime' flag be cleaned up and used? For instance, a call to
BSScene.TaintedObject() could immediately execute the callback if already in taint time.
Create the physical wrapper classes (BulletBody, BulletShape) by methods on
BSAPITemplate and make their actual implementation Bullet engine specific.
For the short term, just call the existing functions in ShapeCollection.
@ -365,4 +345,35 @@ After getting off a vehicle, the root prim is phantom (can be walked through)
Explore btGImpactMeshShape as alternative to convex hulls for simplified physical objects.
Regular triangle meshes don't do physical collisions.
(DONE: discovered GImpact is VERY CPU intensive)
Script changing rotation of child prim while vehicle moving (eg turning wheel) causes
the wheel to appear to jump back. Looks like sending position from previous update.
(DONE: redo of compound linksets fixed problem)
Refarb compound linkset creation to create a pseudo-root for center-of-mass
Let children change their shape to physical indendently and just add shapes to compound
(DONE: redo of compound linkset fixed problem)
Vehicle angular vertical attraction (DONE: vegaslon code)
vehicle angular banking (DONE: vegaslon code)
Vehicle angular deflection (DONE: vegaslon code)
Preferred orientation angular correction fix
Vehicles (Move smoothly)
For limitMotorUp, use raycast down to find if vehicle is in the air.
(WILL NOT BE DONE: gravity does the job well enough)
BSPrim.Force should set a continious force on the prim. The force should be
applied each tick. Some limits?
(DONE: added physical actors. Implemented SetForce, SetTorque, ...)
Implement LSL physics controls. Like STATUS_ROTATE_X. (DONE)
Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE
Avatar rotation (check out changes to ScenePresence for physical rotation) (DONE)
Avatar running (what does phys engine need to do?) (DONE: multiplies run factor by walking force)
setForce should set a constant force. Different than AddImpulse. (DONE)
Add PID motor for avatar movement (slow to stop, ...) (WNBD: current works ok)
Avatar movement motor check for zero or small movement. Somehow suppress small movements
when avatar has stopped and is just standing. Simple test for near zero has
the problem of preventing starting up (increase from zero) especially when falling.
(DONE: avatar movement actor knows if standing on stationary object and zeros motion)
Can the 'inTaintTime' flag be cleaned up and used? For instance, a call to
BSScene.TaintedObject() could immediately execute the callback if already in taint time.
(DONE)