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BulletSim: improvements to LinksetCompound and PrimDisplaced. Not all working yet.

user_profiles
Robert Adams 2013-04-30 11:42:11 -07:00
parent d322625f90
commit 7cdb07b386
5 changed files with 50 additions and 17 deletions
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35
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
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@ -395,7 +395,8 @@ public sealed class BSLinksetCompound : BSLinkset
// Constraint linksets are rebuilt every time.
// Note that this works for rebuilding just the root after a linkset is taken apart.
// Called at taint time!!
private bool disableCOM = true; // DEBUG DEBUG: disable until we get this debugged
private bool UseBulletSimRootOffsetHack = false;
private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting
private void RecomputeLinksetCompound()
{
if (!LinksetRoot.IsPhysicallyActive)
@ -428,11 +429,19 @@ public sealed class BSLinksetCompound : BSLinkset
// 'centerDisplacement' is the value to subtract from children to give physical offset position
OMV.Vector3 centerDisplacement = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation;
LinksetRoot.SetEffectiveCenterOfMassW(centerDisplacement);
if (UseBulletSimRootOffsetHack || disableCOM)
{
centerDisplacement = OMV.Vector3.Zero;
LinksetRoot.ClearDisplacement();
}
else
{
LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacement);
}
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}",
LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacement);
// TODO: add phantom root shape to be the center-of-mass
// Add a shape for each of the other children in the linkset
// Add the shapes of all the components of the linkset
int memberIndex = 1;
ForEachMember(delegate(BSPrimLinkable cPrim)
{
@ -449,8 +458,8 @@ public sealed class BSLinksetCompound : BSLinkset
OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
m_physicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}",
LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1}cShape={2},offPos={3},offRot={4}",
LinksetRoot.LocalID, memberIndex, cPrim.PhysShape, offsetPos, offsetRot);
memberIndex++;
@ -463,21 +472,29 @@ public sealed class BSLinksetCompound : BSLinkset
m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody);
m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo);
m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody);
DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}",
LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetShape);
// With all of the linkset packed into the root prim, it has the mass of everyone.
LinksetMass = ComputeLinksetMass();
LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
// Enable the physical position updator to return the position and rotation of the root shape
if (UseBulletSimRootOffsetHack)
{
// Enable the physical position updator to return the position and rotation of the root shape.
// This enables a feature in the C++ code to return the world coordinates of the first shape in the
// compound shape. This eleviates the need to offset the returned physical position by the
// center-of-mass offset.
m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE);
}
}
finally
{
Rebuilding = false;
}
// See that the Aabb surrounds the new shape
m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo);
m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetShape.physShapeInfo);
}
}
}

3
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
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@ -259,7 +259,8 @@ public abstract class BSPhysObject : PhysicsActor
// The user can optionally set the center of mass. The user's setting will override any
// computed center-of-mass (like in linksets).
public OMV.Vector3? UserSetCenterOfMass { get; set; }
// Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass.
public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; }
public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free.
public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free

22
OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
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@ -78,14 +78,16 @@ public class BSPrimDisplaced : BSPrim
// Set this sets and computes the displacement from the passed prim to the center-of-mass.
// A user set value for center-of-mass overrides whatever might be passed in here.
// The displacement is in local coordinates (relative to root prim in linkset oriented coordinates).
public virtual void SetEffectiveCenterOfMassW(Vector3 centerOfMassDisplacement)
public virtual void SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement)
{
Vector3 comDisp;
if (UserSetCenterOfMass.HasValue)
comDisp = (OMV.Vector3)UserSetCenterOfMass;
if (UserSetCenterOfMassDisplacement.HasValue)
comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement;
else
comDisp = centerOfMassDisplacement;
DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}",
LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp);
if (comDisp == Vector3.Zero)
{
// If there is no diplacement. Things get reset.
@ -107,17 +109,24 @@ public class BSPrimDisplaced : BSPrim
set
{
if (PositionDisplacement != OMV.Vector3.Zero)
base.ForcePosition = value - (PositionDisplacement * RawOrientation);
{
OMV.Vector3 displacedPos = value - (PositionDisplacement * RawOrientation);
DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos);
base.ForcePosition = displacedPos;
}
else
{
base.ForcePosition = value;
}
}
}
public override Quaternion ForceOrientation
{
get { return base.ForceOrientation; }
set
{
// TODO:
base.ForceOrientation = value;
}
}
@ -143,7 +152,10 @@ public class BSPrimDisplaced : BSPrim
{
// Correct for any rotation around the center-of-mass
// TODO!!!
entprop.Position = entprop.Position + (PositionDisplacement * entprop.Rotation);
OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation);
DetailLog("{0},BSPrimDisplaced.ForcePosition,physPos={1},disp={2},newPos={3}", LocalID, entprop.Position, PositionDisplacement, displacedPos);
entprop.Position = displacedPos;
// entprop.Rotation = something;
}

2
OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
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@ -117,7 +117,7 @@ public abstract class BSShape
StringBuilder buff = new StringBuilder();
buff.Append("<t=");
buff.Append(ShapeType.ToString());
buff.Append("<p=");
buff.Append(",p=");
buff.Append(AddrString);
buff.Append(",c=");
buff.Append(referenceCount.ToString());

3
OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
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@ -52,6 +52,9 @@ One sided meshes? Should terrain be built into a closed shape?
VEHICLES TODO LIST:
=================================================
LINEAR_MOTOR_DIRECTION values should be clamped to reasonable numbers.
What are the limits in SL?
Same for other velocity settings.
UBit improvements to remove rubber-banding of avatars sitting on vehicle child prims:
https://github.com/UbitUmarov/Ubit-opensim
Border crossing with linked vehicle causes crash