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BulletSim: fix compile errors from last commit. Clean up passing of physics scene into vehicle dynamics code.

0.7.4.1
Robert Adams 2012-07-18 08:49:01 -07:00
parent cda67a68de
commit 7451bb1613
2 changed files with 14 additions and 15 deletions
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23
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
View File

@ -57,7 +57,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private int frcount = 0; // Used to limit dynamics debug output to private int frcount = 0; // Used to limit dynamics debug output to
// every 100th frame // every 100th frame
// private BSScene m_parentScene = null;
private BSPrim m_prim; // the prim this dynamic controller belongs to private BSPrim m_prim; // the prim this dynamic controller belongs to
// Vehicle properties // Vehicle properties
@ -602,7 +601,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
} }
}//end SetDefaultsForType }//end SetDefaultsForType
internal void Step(float pTimestep, BSScene pParentScene) internal void Step(float pTimestep)
{ {
if (m_type == Vehicle.TYPE_NONE) return; if (m_type == Vehicle.TYPE_NONE) return;
@ -610,14 +609,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
if (frcount > 100) if (frcount > 100)
frcount = 0; frcount = 0;
MoveLinear(pTimestep, pParentScene); MoveLinear(pTimestep);
MoveAngular(pTimestep); MoveAngular(pTimestep);
LimitRotation(pTimestep); LimitRotation(pTimestep);
DetailLog("{0},step,pos={1},force={2},velocity={3},angvel={4}",
DetailLog("{0},step,done,pos={1},force={2},velocity={3},angvel={4}",
m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity);
}// end Step }// end Step
private void MoveLinear(float pTimestep, BSScene _pParentScene) private void MoveLinear(float pTimestep)
{ {
if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
{ {
@ -664,7 +664,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Vector3 grav = Vector3.Zero; Vector3 grav = Vector3.Zero;
// There is some gravity, make a gravity force vector that is applied after object velocity. // There is some gravity, make a gravity force vector that is applied after object velocity.
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
grav.Z = _pParentScene.DefaultGravity.Z * m_prim.Mass * (1f - m_VehicleBuoyancy); grav.Z = m_prim.Scene.DefaultGravity.Z * m_prim.Mass * (1f - m_VehicleBuoyancy);
// Preserve the current Z velocity // Preserve the current Z velocity
Vector3 vel_now = m_prim.Velocity; Vector3 vel_now = m_prim.Velocity;
m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
@ -708,9 +708,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_prim.LocalID, m_BlockingEndPoint, posChange, pos); m_prim.LocalID, m_BlockingEndPoint, posChange, pos);
} }
} }
if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y)) if (pos.Z < m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y))
{ {
pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2; pos.Z = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2;
m_prim.Position = pos; m_prim.Position = pos;
DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos);
} }
@ -721,11 +721,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// We should hover, get the target height // We should hover, get the target height
if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0) if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0)
{ {
m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight; m_VhoverTargetHeight = m_prim.Scene.GetWaterLevel() + m_VhoverHeight;
} }
if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
{ {
m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; m_VhoverTargetHeight = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
} }
if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
{ {
@ -789,7 +789,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{ {
grav.Z = (float)(grav.Z * 1.125); grav.Z = (float)(grav.Z * 1.125);
} }
float terraintemp = _pParentScene.GetTerrainHeightAtXYZ(pos); float terraintemp = m_prim.Scene.GetTerrainHeightAtXYZ(pos);
float postemp = (pos.Z - terraintemp); float postemp = (pos.Z - terraintemp);
if (postemp > 2.5f) if (postemp > 2.5f)
{ {
@ -940,7 +940,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
DetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity); DetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity);
} //end MoveAngular } //end MoveAngular
} //end MoveAngular
internal void LimitRotation(float timestep) internal void LimitRotation(float timestep)
{ {
Quaternion rotq = m_prim.Orientation; Quaternion rotq = m_prim.Orientation;

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

@ -149,7 +149,7 @@ public sealed class BSPrim : PhysicsActor
{ {
// m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
// Undo any vehicle properties // Undo any vehicle properties
_vehicle.ProcessTypeChange(Vehicle.TYPE_NONE, 1f); _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE);
_scene.RemoveVehiclePrim(this); // just to make sure _scene.RemoveVehiclePrim(this); // just to make sure
// undo any dependance with/on other objects // undo any dependance with/on other objects
@ -354,7 +354,7 @@ public sealed class BSPrim : PhysicsActor
} }
set { set {
Vehicle type = (Vehicle)value; Vehicle type = (Vehicle)value;
_vehicle.ProcessTypeChange(type, _scene.LastSimulatedTimestep); _vehicle.ProcessTypeChange(type);
_scene.TaintedObject(delegate() _scene.TaintedObject(delegate()
{ {
if (type == Vehicle.TYPE_NONE) if (type == Vehicle.TYPE_NONE)
@ -389,7 +389,7 @@ public sealed class BSPrim : PhysicsActor
// Called each simulation step to advance vehicle characteristics // Called each simulation step to advance vehicle characteristics
public void StepVehicle(float timeStep) public void StepVehicle(float timeStep)
{ {
_vehicle.Step(timeStep, _scene); _vehicle.Step(timeStep);
} }
// Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more