BulletSim: improvements to LinksetCompound and PrimDisplaced. Not all working yet.
parent
d322625f90
commit
7cdb07b386
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@ -395,7 +395,8 @@ public sealed class BSLinksetCompound : BSLinkset
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// Constraint linksets are rebuilt every time.
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// Note that this works for rebuilding just the root after a linkset is taken apart.
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// Called at taint time!!
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private bool disableCOM = true; // DEBUG DEBUG: disable until we get this debugged
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private bool UseBulletSimRootOffsetHack = false;
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private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting
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private void RecomputeLinksetCompound()
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{
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if (!LinksetRoot.IsPhysicallyActive)
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@ -428,11 +429,19 @@ public sealed class BSLinksetCompound : BSLinkset
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// 'centerDisplacement' is the value to subtract from children to give physical offset position
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OMV.Vector3 centerDisplacement = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation;
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LinksetRoot.SetEffectiveCenterOfMassW(centerDisplacement);
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if (UseBulletSimRootOffsetHack || disableCOM)
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{
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centerDisplacement = OMV.Vector3.Zero;
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LinksetRoot.ClearDisplacement();
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}
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else
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{
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LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacement);
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}
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DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}",
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LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacement);
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// TODO: add phantom root shape to be the center-of-mass
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// Add a shape for each of the other children in the linkset
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// Add the shapes of all the components of the linkset
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int memberIndex = 1;
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ForEachMember(delegate(BSPrimLinkable cPrim)
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{
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@ -449,8 +458,8 @@ public sealed class BSLinksetCompound : BSLinkset
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OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
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OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
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m_physicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot);
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DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}",
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LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot);
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DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1}cShape={2},offPos={3},offRot={4}",
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LinksetRoot.LocalID, memberIndex, cPrim.PhysShape, offsetPos, offsetRot);
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memberIndex++;
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@ -463,13 +472,21 @@ public sealed class BSLinksetCompound : BSLinkset
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m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody);
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m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo);
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m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody);
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DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}",
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LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetShape);
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// With all of the linkset packed into the root prim, it has the mass of everyone.
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LinksetMass = ComputeLinksetMass();
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LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
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// Enable the physical position updator to return the position and rotation of the root shape
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m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE);
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if (UseBulletSimRootOffsetHack)
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{
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// Enable the physical position updator to return the position and rotation of the root shape.
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// This enables a feature in the C++ code to return the world coordinates of the first shape in the
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// compound shape. This eleviates the need to offset the returned physical position by the
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// center-of-mass offset.
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m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE);
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}
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}
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finally
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{
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@ -477,7 +494,7 @@ public sealed class BSLinksetCompound : BSLinkset
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}
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// See that the Aabb surrounds the new shape
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m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo);
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m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetShape.physShapeInfo);
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}
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}
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}
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@ -259,7 +259,8 @@ public abstract class BSPhysObject : PhysicsActor
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// The user can optionally set the center of mass. The user's setting will override any
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// computed center-of-mass (like in linksets).
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public OMV.Vector3? UserSetCenterOfMass { get; set; }
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// Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass.
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public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; }
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public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free.
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public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free
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@ -78,14 +78,16 @@ public class BSPrimDisplaced : BSPrim
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// Set this sets and computes the displacement from the passed prim to the center-of-mass.
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// A user set value for center-of-mass overrides whatever might be passed in here.
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// The displacement is in local coordinates (relative to root prim in linkset oriented coordinates).
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public virtual void SetEffectiveCenterOfMassW(Vector3 centerOfMassDisplacement)
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public virtual void SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement)
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{
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Vector3 comDisp;
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if (UserSetCenterOfMass.HasValue)
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comDisp = (OMV.Vector3)UserSetCenterOfMass;
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if (UserSetCenterOfMassDisplacement.HasValue)
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comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement;
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else
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comDisp = centerOfMassDisplacement;
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DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}",
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LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp);
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if (comDisp == Vector3.Zero)
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{
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// If there is no diplacement. Things get reset.
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@ -107,9 +109,15 @@ public class BSPrimDisplaced : BSPrim
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set
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{
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if (PositionDisplacement != OMV.Vector3.Zero)
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base.ForcePosition = value - (PositionDisplacement * RawOrientation);
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{
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OMV.Vector3 displacedPos = value - (PositionDisplacement * RawOrientation);
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DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos);
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base.ForcePosition = displacedPos;
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}
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else
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{
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base.ForcePosition = value;
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}
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}
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}
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@ -118,6 +126,7 @@ public class BSPrimDisplaced : BSPrim
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get { return base.ForceOrientation; }
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set
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{
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// TODO:
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base.ForceOrientation = value;
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}
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}
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@ -143,7 +152,10 @@ public class BSPrimDisplaced : BSPrim
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{
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// Correct for any rotation around the center-of-mass
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// TODO!!!
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entprop.Position = entprop.Position + (PositionDisplacement * entprop.Rotation);
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OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation);
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DetailLog("{0},BSPrimDisplaced.ForcePosition,physPos={1},disp={2},newPos={3}", LocalID, entprop.Position, PositionDisplacement, displacedPos);
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entprop.Position = displacedPos;
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// entprop.Rotation = something;
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}
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@ -117,7 +117,7 @@ public abstract class BSShape
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StringBuilder buff = new StringBuilder();
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buff.Append("<t=");
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buff.Append(ShapeType.ToString());
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buff.Append("<p=");
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buff.Append(",p=");
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buff.Append(AddrString);
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buff.Append(",c=");
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buff.Append(referenceCount.ToString());
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@ -52,6 +52,9 @@ One sided meshes? Should terrain be built into a closed shape?
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VEHICLES TODO LIST:
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=================================================
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LINEAR_MOTOR_DIRECTION values should be clamped to reasonable numbers.
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What are the limits in SL?
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Same for other velocity settings.
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UBit improvements to remove rubber-banding of avatars sitting on vehicle child prims:
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https://github.com/UbitUmarov/Ubit-opensim
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Border crossing with linked vehicle causes crash
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