BulletSim: convert BSDynamic to a BSActor and change BSPrim to set
up the vehicle actor.user_profiles
Robert Adams
parent
2c581cae2a
commit
747ece59d2
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@ -40,13 +40,14 @@ using OpenSim.Region.Physics.Manager;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public sealed class BSDynamics
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public sealed class BSDynamics : BSActor
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{
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private static string LogHeader = "[BULLETSIM VEHICLE]";
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private BSScene PhysicsScene { get; set; }
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// the prim this dynamic controller belongs to
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private BSPrim Prim { get; set; }
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private BSPrim ControllingPrim { get; set; }
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private bool m_haveRegisteredForSceneEvents;
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// mass of the vehicle fetched each time we're calles
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private float m_vehicleMass;
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@ -129,11 +130,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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public bool enableAngularDeflection;
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public bool enableAngularBanking;
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public BSDynamics(BSScene myScene, BSPrim myPrim)
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public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName)
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: base(myScene, myPrim, actorName)
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{
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PhysicsScene = myScene;
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Prim = myPrim;
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ControllingPrim = myPrim;
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Type = Vehicle.TYPE_NONE;
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m_haveRegisteredForSceneEvents = false;
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SetupVehicleDebugging();
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}
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@ -155,7 +157,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// Return 'true' if this vehicle is doing vehicle things
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public bool IsActive
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{
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get { return (Type != Vehicle.TYPE_NONE && Prim.IsPhysicallyActive); }
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get { return (Type != Vehicle.TYPE_NONE && ControllingPrim.IsPhysicallyActive); }
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}
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// Return 'true' if this a vehicle that should be sitting on the ground
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@ -167,7 +169,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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#region Vehicle parameter setting
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public void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
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{
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VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
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VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue);
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switch (pParam)
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{
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case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
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@ -195,7 +197,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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break;
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case Vehicle.BUOYANCY:
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m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f);
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m_VehicleGravity = Prim.ComputeGravity(m_VehicleBuoyancy);
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m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy);
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break;
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case Vehicle.HOVER_EFFICIENCY:
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m_VhoverEfficiency = ClampInRange(0f, pValue, 1f);
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@ -258,7 +260,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
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{
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VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
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VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue);
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switch (pParam)
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{
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case Vehicle.ANGULAR_FRICTION_TIMESCALE:
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@ -294,7 +296,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
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{
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VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
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VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue);
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switch (pParam)
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{
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case Vehicle.REFERENCE_FRAME:
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@ -308,7 +310,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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internal void ProcessVehicleFlags(int pParam, bool remove)
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{
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VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove);
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VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", ControllingPrim.LocalID, pParam, remove);
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VehicleFlag parm = (VehicleFlag)pParam;
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if (pParam == -1)
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m_flags = (VehicleFlag)0;
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@ -323,7 +325,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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public void ProcessTypeChange(Vehicle pType)
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{
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VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType);
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VDetailLog("{0},ProcessTypeChange,type={1}", ControllingPrim.LocalID, pType);
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// Set Defaults For Type
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Type = pType;
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switch (pType)
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@ -578,13 +580,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f);
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m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
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*/
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if (this.Type == Vehicle.TYPE_NONE)
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{
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UnregisterForSceneEvents();
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}
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else
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{
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RegisterForSceneEvents();
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}
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}
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#endregion // Vehicle parameter setting
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public void Refresh()
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// BSActor.Refresh()
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public override void Refresh()
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{
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// If asking for a refresh, reset the physical parameters before the next simulation step.
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PhysicsScene.PostTaintObject("BSDynamics.Refresh", Prim.LocalID, delegate()
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PhysicsScene.PostTaintObject("BSDynamics.Refresh", ControllingPrim.LocalID, delegate()
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{
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SetPhysicalParameters();
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});
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@ -597,49 +609,90 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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if (IsActive)
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{
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// Remember the mass so we don't have to fetch it every step
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m_vehicleMass = Prim.TotalMass;
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m_vehicleMass = ControllingPrim.TotalMass;
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// Friction affects are handled by this vehicle code
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PhysicsScene.PE.SetFriction(Prim.PhysBody, BSParam.VehicleFriction);
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PhysicsScene.PE.SetRestitution(Prim.PhysBody, BSParam.VehicleRestitution);
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PhysicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction);
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PhysicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution);
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// Moderate angular movement introduced by Bullet.
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// TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
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// Maybe compute linear and angular factor and damping from params.
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PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, BSParam.VehicleAngularDamping);
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PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, BSParam.VehicleLinearFactor);
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PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, BSParam.VehicleAngularFactor);
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PhysicsScene.PE.SetAngularDamping(ControllingPrim.PhysBody, BSParam.VehicleAngularDamping);
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PhysicsScene.PE.SetLinearFactor(ControllingPrim.PhysBody, BSParam.VehicleLinearFactor);
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PhysicsScene.PE.SetAngularFactorV(ControllingPrim.PhysBody, BSParam.VehicleAngularFactor);
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// Vehicles report collision events so we know when it's on the ground
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PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
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PhysicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
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Prim.Inertia = PhysicsScene.PE.CalculateLocalInertia(Prim.PhysShape, m_vehicleMass);
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PhysicsScene.PE.SetMassProps(Prim.PhysBody, m_vehicleMass, Prim.Inertia);
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PhysicsScene.PE.UpdateInertiaTensor(Prim.PhysBody);
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ControllingPrim.Inertia = PhysicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape, m_vehicleMass);
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PhysicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia);
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PhysicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody);
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// Set the gravity for the vehicle depending on the buoyancy
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// TODO: what should be done if prim and vehicle buoyancy differ?
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m_VehicleGravity = Prim.ComputeGravity(m_VehicleBuoyancy);
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m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy);
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// The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
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PhysicsScene.PE.SetGravity(Prim.PhysBody, Vector3.Zero);
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PhysicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero);
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VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
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Prim.LocalID, m_vehicleMass, Prim.Inertia, m_VehicleGravity,
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ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity,
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BSParam.VehicleAngularDamping, BSParam.VehicleFriction, BSParam.VehicleRestitution,
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BSParam.VehicleLinearFactor, BSParam.VehicleAngularFactor
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);
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}
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else
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{
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if (Prim.PhysBody.HasPhysicalBody)
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PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
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if (ControllingPrim.PhysBody.HasPhysicalBody)
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PhysicsScene.PE.RemoveFromCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
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}
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}
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public bool RemoveBodyDependencies(BSPhysObject prim)
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// BSActor.RemoveBodyDependencies
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public override void RemoveBodyDependencies()
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{
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Refresh();
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return IsActive;
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}
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// BSActor.Release()
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public override void Dispose()
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{
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UnregisterForSceneEvents();
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Type = Vehicle.TYPE_NONE;
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Enabled = false;
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return;
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}
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private void RegisterForSceneEvents()
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{
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if (!m_haveRegisteredForSceneEvents)
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{
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PhysicsScene.BeforeStep += this.Step;
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PhysicsScene.AfterStep += this.PostStep;
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ControllingPrim.OnPreUpdateProperty += this.PreUpdateProperty;
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m_haveRegisteredForSceneEvents = true;
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}
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}
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private void UnregisterForSceneEvents()
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{
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if (m_haveRegisteredForSceneEvents)
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{
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PhysicsScene.BeforeStep -= this.Step;
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PhysicsScene.AfterStep -= this.PostStep;
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ControllingPrim.OnPreUpdateProperty -= this.PreUpdateProperty;
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m_haveRegisteredForSceneEvents = false;
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}
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}
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private void PreUpdateProperty(ref EntityProperties entprop)
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{
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// A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
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// TODO: handle physics introduced by Bullet with computed vehicle physics.
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if (IsActive)
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{
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entprop.RotationalVelocity = Vector3.Zero;
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}
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}
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#region Known vehicle value functions
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@ -686,14 +739,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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if (m_knownChanged != 0)
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{
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if ((m_knownChanged & m_knownChangedPosition) != 0)
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Prim.ForcePosition = m_knownPosition;
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ControllingPrim.ForcePosition = m_knownPosition;
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if ((m_knownChanged & m_knownChangedOrientation) != 0)
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Prim.ForceOrientation = m_knownOrientation;
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ControllingPrim.ForceOrientation = m_knownOrientation;
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if ((m_knownChanged & m_knownChangedVelocity) != 0)
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{
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Prim.ForceVelocity = m_knownVelocity;
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ControllingPrim.ForceVelocity = m_knownVelocity;
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// Fake out Bullet by making it think the velocity is the same as last time.
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// Bullet does a bunch of smoothing for changing parameters.
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// Since the vehicle is demanding this setting, we override Bullet's smoothing
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@ -702,28 +755,28 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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}
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if ((m_knownChanged & m_knownChangedForce) != 0)
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Prim.AddForce((Vector3)m_knownForce, false /*pushForce*/, true /*inTaintTime*/);
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ControllingPrim.AddForce((Vector3)m_knownForce, false /*pushForce*/, true /*inTaintTime*/);
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if ((m_knownChanged & m_knownChangedForceImpulse) != 0)
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Prim.AddForceImpulse((Vector3)m_knownForceImpulse, false /*pushforce*/, true /*inTaintTime*/);
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ControllingPrim.AddForceImpulse((Vector3)m_knownForceImpulse, false /*pushforce*/, true /*inTaintTime*/);
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if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0)
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{
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Prim.ForceRotationalVelocity = m_knownRotationalVelocity;
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ControllingPrim.ForceRotationalVelocity = m_knownRotationalVelocity;
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// PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
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}
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if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0)
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Prim.ApplyTorqueImpulse((Vector3)m_knownRotationalImpulse, true /*inTaintTime*/);
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ControllingPrim.ApplyTorqueImpulse((Vector3)m_knownRotationalImpulse, true /*inTaintTime*/);
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if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
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{
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Prim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/);
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ControllingPrim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/);
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}
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// If we set one of the values (ie, the physics engine didn't do it) we must force
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// an UpdateProperties event to send the changes up to the simulator.
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PhysicsScene.PE.PushUpdate(Prim.PhysBody);
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PhysicsScene.PE.PushUpdate(ControllingPrim.PhysBody);
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}
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m_knownChanged = 0;
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}
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@ -736,7 +789,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos)
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{
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lastRememberedHeightPos = pos;
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m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
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m_knownTerrainHeight = ControllingPrim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
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m_knownHas |= m_knownChangedTerrainHeight;
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}
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return m_knownTerrainHeight;
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@ -748,7 +801,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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{
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if ((m_knownHas & m_knownChangedWaterLevel) == 0)
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{
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m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos);
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m_knownWaterLevel = ControllingPrim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos);
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m_knownHas |= m_knownChangedWaterLevel;
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}
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return (float)m_knownWaterLevel;
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@ -760,7 +813,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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{
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if ((m_knownHas & m_knownChangedPosition) == 0)
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{
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m_knownPosition = Prim.ForcePosition;
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m_knownPosition = ControllingPrim.ForcePosition;
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m_knownHas |= m_knownChangedPosition;
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}
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return m_knownPosition;
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@ -779,7 +832,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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{
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if ((m_knownHas & m_knownChangedOrientation) == 0)
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{
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m_knownOrientation = Prim.ForceOrientation;
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m_knownOrientation = ControllingPrim.ForceOrientation;
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m_knownHas |= m_knownChangedOrientation;
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}
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return m_knownOrientation;
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@ -798,7 +851,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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{
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if ((m_knownHas & m_knownChangedVelocity) == 0)
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{
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m_knownVelocity = Prim.ForceVelocity;
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m_knownVelocity = ControllingPrim.ForceVelocity;
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m_knownHas |= m_knownChangedVelocity;
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}
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return m_knownVelocity;
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@ -839,7 +892,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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{
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if ((m_knownHas & m_knownChangedRotationalVelocity) == 0)
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{
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m_knownRotationalVelocity = Prim.ForceRotationalVelocity;
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m_knownRotationalVelocity = ControllingPrim.ForceRotationalVelocity;
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m_knownHas |= m_knownChangedRotationalVelocity;
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}
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return (Vector3)m_knownRotationalVelocity;
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@ -915,10 +968,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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PushKnownChanged();
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if (PhysicsScene.VehiclePhysicalLoggingEnabled)
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PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
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PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, ControllingPrim.PhysBody);
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VDetailLog("{0},BSDynamics.Step,done,pos={1}, force={2},velocity={3},angvel={4}",
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Prim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity);
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ControllingPrim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity);
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}
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// Called after the simulation step
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@ -927,7 +980,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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if (!IsActive) return;
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if (PhysicsScene.VehiclePhysicalLoggingEnabled)
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PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
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PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, ControllingPrim.PhysBody);
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}
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// Apply the effect of the linear motor and other linear motions (like hover and float).
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@ -967,12 +1020,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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VehicleVelocity /= VehicleVelocity.Length();
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VehicleVelocity *= BSParam.VehicleMaxLinearVelocity;
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VDetailLog("{0}, MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}",
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Prim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity);
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ControllingPrim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity);
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}
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else if (newVelocityLengthSq < 0.001f)
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VehicleVelocity = Vector3.Zero;
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VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", Prim.LocalID, Prim.IsColliding, VehicleVelocity );
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VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.IsColliding, VehicleVelocity );
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} // end MoveLinear()
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@ -997,7 +1050,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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VehicleVelocity += linearMotorVelocityW;
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VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5}",
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Prim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity);
|
||||
ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity);
|
||||
}
|
||||
|
||||
public void ComputeLinearTerrainHeightCorrection(float pTimestep)
|
||||
|
|
@ -1011,7 +1064,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f;
|
||||
VehiclePosition = newPosition;
|
||||
VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}",
|
||||
Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition);
|
||||
ControllingPrim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1050,7 +1103,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
pos.Z = m_VhoverTargetHeight;
|
||||
VehiclePosition = pos;
|
||||
|
||||
VDetailLog("{0}, MoveLinear,hover,pos={1},lockHoverHeight", Prim.LocalID, pos);
|
||||
VDetailLog("{0}, MoveLinear,hover,pos={1},lockHoverHeight", ControllingPrim.LocalID, pos);
|
||||
}
|
||||
}
|
||||
else
|
||||
|
|
@ -1079,7 +1132,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
*/
|
||||
|
||||
VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corr={7}",
|
||||
Prim.LocalID, VehiclePosition, m_VhoverEfficiency,
|
||||
ControllingPrim.LocalID, VehiclePosition, m_VhoverEfficiency,
|
||||
m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight,
|
||||
verticalError, verticalCorrection);
|
||||
}
|
||||
|
|
@ -1124,7 +1177,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
{
|
||||
VehiclePosition = pos;
|
||||
VDetailLog("{0}, MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
|
||||
Prim.LocalID, m_BlockingEndPoint, posChange, pos);
|
||||
ControllingPrim.LocalID, m_BlockingEndPoint, posChange, pos);
|
||||
}
|
||||
}
|
||||
return changed;
|
||||
|
|
@ -1164,7 +1217,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
|
||||
// Another approach is to measure if we're going up. If going up and not colliding,
|
||||
// the vehicle is in the air. Fix that by pushing down.
|
||||
if (!Prim.IsColliding && VehicleVelocity.Z > 0.1)
|
||||
if (!ControllingPrim.IsColliding && VehicleVelocity.Z > 0.1)
|
||||
{
|
||||
// Get rid of any of the velocity vector that is pushing us up.
|
||||
float upVelocity = VehicleVelocity.Z;
|
||||
|
|
@ -1186,7 +1239,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
}
|
||||
*/
|
||||
VDetailLog("{0}, MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}",
|
||||
Prim.LocalID, Prim.IsColliding, upVelocity, VehicleVelocity);
|
||||
ControllingPrim.LocalID, ControllingPrim.IsColliding, upVelocity, VehicleVelocity);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
@ -1196,14 +1249,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass;
|
||||
|
||||
// Hack to reduce downward force if the vehicle is probably sitting on the ground
|
||||
if (Prim.IsColliding && IsGroundVehicle)
|
||||
if (ControllingPrim.IsColliding && IsGroundVehicle)
|
||||
appliedGravity *= BSParam.VehicleGroundGravityFudge;
|
||||
|
||||
VehicleAddForce(appliedGravity);
|
||||
|
||||
VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},collid={2},fudge={3},mass={4},appliedForce={3}",
|
||||
Prim.LocalID, m_VehicleGravity,
|
||||
Prim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity);
|
||||
ControllingPrim.LocalID, m_VehicleGravity,
|
||||
ControllingPrim.IsColliding, BSParam.VehicleGroundGravityFudge, m_vehicleMass, appliedGravity);
|
||||
}
|
||||
|
||||
// =======================================================================
|
||||
|
|
@ -1227,11 +1280,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
{
|
||||
// The vehicle is not adding anything angular wise.
|
||||
VehicleRotationalVelocity = Vector3.Zero;
|
||||
VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID);
|
||||
VDetailLog("{0}, MoveAngular,done,zero", ControllingPrim.LocalID);
|
||||
}
|
||||
else
|
||||
{
|
||||
VDetailLog("{0}, MoveAngular,done,nonZero,angVel={1}", Prim.LocalID, VehicleRotationalVelocity);
|
||||
VDetailLog("{0}, MoveAngular,done,nonZero,angVel={1}", ControllingPrim.LocalID, VehicleRotationalVelocity);
|
||||
}
|
||||
|
||||
// ==================================================================
|
||||
|
|
@ -1262,7 +1315,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
torqueFromOffset.Z = 0;
|
||||
|
||||
VehicleAddAngularForce(torqueFromOffset * m_vehicleMass);
|
||||
VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset);
|
||||
VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", ControllingPrim.LocalID, torqueFromOffset);
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -1288,7 +1341,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
// }
|
||||
|
||||
VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation;
|
||||
VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContributionV);
|
||||
VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", ControllingPrim.LocalID, angularMotorContributionV);
|
||||
}
|
||||
|
||||
// From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
|
||||
|
|
@ -1334,7 +1387,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
VehicleRotationalVelocity += vertContributionV;
|
||||
|
||||
VDetailLog("{0}, MoveAngular,verticalAttraction,diffAxis={1},diffAng={2},corrRot={3},contrib={4}",
|
||||
Prim.LocalID,
|
||||
ControllingPrim.LocalID,
|
||||
differenceAxis,
|
||||
differenceAngle,
|
||||
correctionRotation,
|
||||
|
|
@ -1433,9 +1486,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
VehicleRotationalVelocity += deflectContributionV * VehicleOrientation;
|
||||
|
||||
VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
|
||||
Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV);
|
||||
ControllingPrim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV);
|
||||
VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}",
|
||||
Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale);
|
||||
ControllingPrim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1501,7 +1554,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
|
||||
|
||||
VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}",
|
||||
Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV);
|
||||
ControllingPrim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -1540,7 +1593,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
if (rotq != m_rot)
|
||||
{
|
||||
VehicleOrientation = m_rot;
|
||||
VDetailLog("{0}, LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
|
||||
VDetailLog("{0}, LimitRotation,done,orig={1},new={2}", ControllingPrim.LocalID, rotq, m_rot);
|
||||
}
|
||||
|
||||
}
|
||||
|
|
@ -1554,8 +1607,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
// Invoke the detailed logger and output something if it's enabled.
|
||||
private void VDetailLog(string msg, params Object[] args)
|
||||
{
|
||||
if (Prim.PhysicsScene.VehicleLoggingEnabled)
|
||||
Prim.PhysicsScene.DetailLog(msg, args);
|
||||
if (ControllingPrim.PhysicsScene.VehicleLoggingEnabled)
|
||||
ControllingPrim.PhysicsScene.DetailLog(msg, args);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -187,7 +187,7 @@ public abstract class BSPhysObject : PhysicsActor
|
|||
Friction = matAttrib.friction;
|
||||
Restitution = matAttrib.restitution;
|
||||
Density = matAttrib.density / BSParam.DensityScaleFactor;
|
||||
DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density);
|
||||
// DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density);
|
||||
}
|
||||
|
||||
// Stop all physical motion.
|
||||
|
|
|
|||
|
|
@ -72,7 +72,8 @@ public class BSPrim : BSPhysObject
|
|||
|
||||
private int CrossingFailures { get; set; }
|
||||
|
||||
public BSDynamics VehicleController { get; private set; }
|
||||
public BSDynamics VehicleActor;
|
||||
public string VehicleActorName = "BasicVehicle";
|
||||
|
||||
private BSVMotor _targetMotor;
|
||||
private OMV.Vector3 _PIDTarget;
|
||||
|
|
@ -100,11 +101,12 @@ public class BSPrim : BSPhysObject
|
|||
_isPhysical = pisPhysical;
|
||||
_isVolumeDetect = false;
|
||||
|
||||
VehicleController = new BSDynamics(PhysicsScene, this); // add vehicleness
|
||||
VehicleActor = new BSDynamics(PhysicsScene, this, VehicleActorName);
|
||||
PhysicalActors.Add(VehicleActorName, VehicleActor);
|
||||
|
||||
_mass = CalculateMass();
|
||||
|
||||
DetailLog("{0},BSPrim.constructor,call", LocalID);
|
||||
// DetailLog("{0},BSPrim.constructor,call", LocalID);
|
||||
// do the actual object creation at taint time
|
||||
PhysicsScene.TaintedObject("BSPrim.create", delegate()
|
||||
{
|
||||
|
|
@ -272,6 +274,7 @@ public class BSPrim : BSPhysObject
|
|||
{
|
||||
PhysicsScene.TaintedObject("BSPrim.LockAngularMotion", delegate()
|
||||
{
|
||||
DetailLog("{0},BSPrim.LockAngularMotion,taint,registeringLockAxisActor", LocalID);
|
||||
// If there is not already an axis locker, make one
|
||||
if (!PhysicalActors.HasActor(LockedAxisActorName))
|
||||
{
|
||||
|
|
@ -537,7 +540,7 @@ public class BSPrim : BSPhysObject
|
|||
|
||||
public override int VehicleType {
|
||||
get {
|
||||
return (int)VehicleController.Type; // if we are a vehicle, return that type
|
||||
return (int)VehicleActor.Type; // if we are a vehicle, return that type
|
||||
}
|
||||
set {
|
||||
Vehicle type = (Vehicle)value;
|
||||
|
|
@ -546,20 +549,8 @@ public class BSPrim : BSPhysObject
|
|||
{
|
||||
// Done at taint time so we're sure the physics engine is not using the variables
|
||||
// Vehicle code changes the parameters for this vehicle type.
|
||||
VehicleController.ProcessTypeChange(type);
|
||||
VehicleActor.ProcessTypeChange(type);
|
||||
ActivateIfPhysical(false);
|
||||
|
||||
// If an active vehicle, register the vehicle code to be called before each step
|
||||
if (VehicleController.Type == Vehicle.TYPE_NONE)
|
||||
{
|
||||
UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
|
||||
UnRegisterPostStepAction("BSPrim.Vehicle", LocalID);
|
||||
}
|
||||
else
|
||||
{
|
||||
RegisterPreStepAction("BSPrim.Vehicle", LocalID, VehicleController.Step);
|
||||
RegisterPostStepAction("BSPrim.Vehicle", LocalID, VehicleController.PostStep);
|
||||
}
|
||||
});
|
||||
}
|
||||
}
|
||||
|
|
@ -567,7 +558,7 @@ public class BSPrim : BSPhysObject
|
|||
{
|
||||
PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
|
||||
{
|
||||
VehicleController.ProcessFloatVehicleParam((Vehicle)param, value);
|
||||
VehicleActor.ProcessFloatVehicleParam((Vehicle)param, value);
|
||||
ActivateIfPhysical(false);
|
||||
});
|
||||
}
|
||||
|
|
@ -575,7 +566,7 @@ public class BSPrim : BSPhysObject
|
|||
{
|
||||
PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
|
||||
{
|
||||
VehicleController.ProcessVectorVehicleParam((Vehicle)param, value);
|
||||
VehicleActor.ProcessVectorVehicleParam((Vehicle)param, value);
|
||||
ActivateIfPhysical(false);
|
||||
});
|
||||
}
|
||||
|
|
@ -583,7 +574,7 @@ public class BSPrim : BSPhysObject
|
|||
{
|
||||
PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
|
||||
{
|
||||
VehicleController.ProcessRotationVehicleParam((Vehicle)param, rotation);
|
||||
VehicleActor.ProcessRotationVehicleParam((Vehicle)param, rotation);
|
||||
ActivateIfPhysical(false);
|
||||
});
|
||||
}
|
||||
|
|
@ -591,7 +582,7 @@ public class BSPrim : BSPhysObject
|
|||
{
|
||||
PhysicsScene.TaintedObject("BSPrim.VehicleFlags", delegate()
|
||||
{
|
||||
VehicleController.ProcessVehicleFlags(param, remove);
|
||||
VehicleActor.ProcessVehicleFlags(param, remove);
|
||||
});
|
||||
}
|
||||
|
||||
|
|
@ -848,7 +839,7 @@ public class BSPrim : BSPhysObject
|
|||
MakeDynamic(IsStatic);
|
||||
|
||||
// Update vehicle specific parameters (after MakeDynamic() so can change physical parameters)
|
||||
VehicleController.Refresh();
|
||||
VehicleActor.Refresh();
|
||||
PhysicalActors.Refresh();
|
||||
|
||||
// Arrange for collision events if the simulator wants them
|
||||
|
|
@ -1655,9 +1646,9 @@ public class BSPrim : BSPhysObject
|
|||
volume *= (profileEnd - profileBegin);
|
||||
|
||||
returnMass = Density * BSParam.DensityScaleFactor * volume;
|
||||
DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass);
|
||||
|
||||
returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
|
||||
// DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass);
|
||||
|
||||
return returnMass;
|
||||
}// end CalculateMass
|
||||
|
|
@ -1686,7 +1677,7 @@ public class BSPrim : BSPhysObject
|
|||
|
||||
protected virtual void RemoveBodyDependencies()
|
||||
{
|
||||
VehicleController.RemoveBodyDependencies(this);
|
||||
VehicleActor.RemoveBodyDependencies();
|
||||
PhysicalActors.RemoveBodyDependencies();
|
||||
}
|
||||
|
||||
|
|
@ -1696,13 +1687,6 @@ public class BSPrim : BSPhysObject
|
|||
{
|
||||
TriggerPreUpdatePropertyAction(ref entprop);
|
||||
|
||||
// A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
|
||||
// TODO: handle physics introduced by Bullet with computed vehicle physics.
|
||||
if (VehicleController.IsActive)
|
||||
{
|
||||
entprop.RotationalVelocity = OMV.Vector3.Zero;
|
||||
}
|
||||
|
||||
// DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG
|
||||
|
||||
// Assign directly to the local variables so the normal set actions do not happen
|
||||
|
|
|
|||
|
|
@ -463,7 +463,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
|
|||
|
||||
if (!m_initialized) return null;
|
||||
|
||||
DetailLog("{0},BSScene.AddPrimShape,call", localID);
|
||||
// DetailLog("{0},BSScene.AddPrimShape,call", localID);
|
||||
|
||||
BSPhysObject prim = new BSPrimLinkable(localID, primName, this, position, size, rotation, pbs, isPhysical);
|
||||
lock (PhysObjects) PhysObjects.Add(localID, prim);
|
||||
|
|
|
|||
|
|
@ -114,9 +114,9 @@ public class BasicVehicles : OpenSimTestCase
|
|||
// Instead the appropriate values are set and calls are made just the parts of the
|
||||
// controller we want to exercise. Stepping the physics engine then applies
|
||||
// the actions of that one feature.
|
||||
TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency);
|
||||
TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale);
|
||||
TestVehicle.VehicleController.enableAngularVerticalAttraction = true;
|
||||
TestVehicle.VehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency);
|
||||
TestVehicle.VehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale);
|
||||
TestVehicle.VehicleActor.enableAngularVerticalAttraction = true;
|
||||
|
||||
TestVehicle.IsPhysical = true;
|
||||
PhysicsScene.ProcessTaints();
|
||||
|
|
@ -124,9 +124,9 @@ public class BasicVehicles : OpenSimTestCase
|
|||
// Step the simulator a bunch of times and vertical attraction should orient the vehicle up
|
||||
for (int ii = 0; ii < simSteps; ii++)
|
||||
{
|
||||
TestVehicle.VehicleController.ForgetKnownVehicleProperties();
|
||||
TestVehicle.VehicleController.ComputeAngularVerticalAttraction();
|
||||
TestVehicle.VehicleController.PushKnownChanged();
|
||||
TestVehicle.VehicleActor.ForgetKnownVehicleProperties();
|
||||
TestVehicle.VehicleActor.ComputeAngularVerticalAttraction();
|
||||
TestVehicle.VehicleActor.PushKnownChanged();
|
||||
|
||||
PhysicsScene.Simulate(simulationTimeStep);
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue