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BulletSim: fix problem of avatars appearing to walk through walls 

by moving the movement motor to a pre-step action and out of its
questionable previous home in UpdateProperties.
0.7.5-pf-bulletsim
Robert Adams 2012-12-28 11:56:07 -08:00
parent 1f6aaad0b5
commit 70e0a86601
1 changed files with 55 additions and 51 deletions
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106
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -91,17 +91,7 @@ public sealed class BSCharacter : BSPhysObject
if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
// A motor to control the acceleration and deceleration of the avatar movement.
// _velocityMotor = new BSVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
// _velocityMotor = new BSPIDVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
// Infinite decay and timescale values so motor only changes current to target values.
_velocityMotor = new BSVMotor("BSCharacter.Velocity",
0.2f, // time scale
BSMotor.Infinite, // decay time scale
BSMotor.InfiniteVector, // friction timescale
1f // efficiency
);
_velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
SetupMovementMotor();
_flying = isFlying;
_orientation = OMV.Quaternion.Identity;
@ -152,13 +142,12 @@ public sealed class BSCharacter : BSPhysObject
ZeroMotion(true);
ForcePosition = _position;
// Set the velocity and compute the proper friction
ForceVelocity = _velocity;
// Setting the current and target in the motor will cause it to start computing any deceleration.
_velocityMotor.Reset();
_velocityMotor.SetCurrent(_velocity);
_velocityMotor.SetTarget(_velocity);
_velocityMotor.Enabled = false;
_velocityMotor.SetCurrent(_velocity);
ForceVelocity = _velocity;
// This will enable or disable the flying buoyancy of the avatar.
// Needs to be reset especially when an avatar is recreated after crossing a region boundry.
@ -192,6 +181,48 @@ public sealed class BSCharacter : BSPhysObject
PhysBody.ApplyCollisionMask();
}
// The avatar's movement is controlled by this motor that speeds up and slows down
// the avatar seeking to reach the motor's target speed.
// This motor runs as a prestep action for the avatar so it will keep the avatar
// standing as well as moving. Destruction of the avatar will destroy the pre-step action.
private void SetupMovementMotor()
{
// Someday, use a PID motor for asymmetric speed up and slow down
// _velocityMotor = new BSPIDVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
// Infinite decay and timescale values so motor only changes current to target values.
_velocityMotor = new BSVMotor("BSCharacter.Velocity",
0.2f, // time scale
BSMotor.Infinite, // decay time scale
BSMotor.InfiniteVector, // friction timescale
1f // efficiency
);
// _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
RegisterPreStepAction("BSCharactor.Movement", LocalID, delegate(float timeStep)
{
// TODO: Decide if the step parameters should be changed depending on the avatar's
// state (flying, colliding, ...). There is code in ODE to do this.
OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep);
// If falling, we keep the world's downward vector no matter what the other axis specify.
if (!Flying && !IsColliding)
{
stepVelocity.Z = _velocity.Z;
DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}",
LocalID, stepVelocity);
}
// 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force.
OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass / PhysicsScene.LastTimeStep;
DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}",
LocalID, stepVelocity, _velocity, Mass, moveForce);
AddForce(moveForce, false, true);
});
}
public override void RequestPhysicsterseUpdate()
{
base.RequestPhysicsterseUpdate();
@ -668,7 +699,13 @@ public sealed class BSCharacter : BSPhysObject
public override float APIDStrength { set { return; } }
public override float APIDDamping { set { return; } }
public override void AddForce(OMV.Vector3 force, bool pushforce) {
public override void AddForce(OMV.Vector3 force, bool pushforce)
{
// Since this force is being applied in only one step, make this a force per second.
OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
AddForce(addForce, pushforce, false);
}
private void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
if (force.IsFinite())
{
float magnitude = force.Length();
@ -678,10 +715,10 @@ public sealed class BSCharacter : BSPhysObject
force = force / magnitude * BSParam.MaxAddForceMagnitude;
}
OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
OMV.Vector3 addForce = force;
DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce);
PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.AddForce", delegate()
{
// Bullet adds this central force to the total force for this tick
DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce);
@ -750,39 +787,6 @@ public sealed class BSCharacter : BSPhysObject
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
PositionSanityCheck(true);
if (_velocityMotor.Enabled)
{
// TODO: Decide if the step parameters should be changed depending on the avatar's
// state (flying, colliding, ...).
OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep);
// Check for cases to turn off the motor.
if (
// If the walking motor is all done, turn it off
(_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero) )
{
ZeroMotion(true);
stepVelocity = OMV.Vector3.Zero;
_velocityMotor.Enabled = false;
DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);
}
else
{
// If the motor is not being turned off...
// If falling, we keep the world's downward vector no matter what the other axis specify.
if (!Flying && !IsColliding)
{
stepVelocity.Z = entprop.Velocity.Z;
DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
}
}
_velocity = stepVelocity;
entprop.Velocity = _velocity;
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
}
// remember the current and last set values
LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop;