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Merge branch 'master' into careminster 

Conflicts:
	OpenSim/Region/Framework/Scenes/ScenePresence.cs
avinationmerge
Melanie 2012-12-30 03:43:51 +00:00
parent 3ab1bd0403 28a8949b9f
commit 7e98dfd70b
7 changed files with 154 additions and 102 deletions
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4
OpenSim/Region/Framework/Scenes/ScenePresence.cs
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@ -588,18 +588,18 @@ namespace OpenSim.Region.Framework.Scenes
set
{
m_bodyRot = value;
// m_log.DebugFormat("[SCENE PRESENCE]: Body rot for {0} set to {1}", Name, m_bodyRot);
if (PhysicsActor != null)
{
try
{
PhysicsActor.Orientation = value;
PhysicsActor.Orientation = m_bodyRot;
}
catch (Exception e)
{
m_log.Error("[SCENE PRESENCE]: Orientation " + e.Message);
}
}
// m_log.DebugFormat("[SCENE PRESENCE]: Body rot for {0} set to {1}", Name, m_bodyRot);
}
}

221
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -66,7 +66,6 @@ public sealed class BSCharacter : BSPhysObject
private float _buoyancy;
// The friction and velocity of the avatar is modified depending on whether walking or not.
private OMV.Vector3 _appliedVelocity; // the last velocity applied to the avatar
private float _currentFriction; // the friction currently being used (changed by setVelocity).
private BSVMotor _velocityMotor;
@ -85,37 +84,27 @@ public sealed class BSCharacter : BSPhysObject
_physicsActorType = (int)ActorTypes.Agent;
_position = pos;
_flying = isFlying;
_orientation = OMV.Quaternion.Identity;
_velocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
_currentFriction = BSParam.AvatarStandingFriction;
_avatarDensity = BSParam.AvatarDensity;
// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
// replace with the default values.
_size = size;
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.
_flying = isFlying;
_orientation = OMV.Quaternion.Identity;
_velocity = OMV.Vector3.Zero;
_appliedVelocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
_currentFriction = BSParam.AvatarStandingFriction;
_avatarDensity = BSParam.AvatarDensity;
// The dimensions of the avatar capsule are kept in the scale.
// The dimensions of the physical capsule are kept in the scale.
// Physics creates a unit capsule which is scaled by the physics engine.
ComputeAvatarScale(_size);
Scale = ComputeAvatarScale(_size);
// set _avatarVolume and _mass based on capsule size, _density and Scale
ComputeAvatarVolumeAndMass();
SetupMovementMotor();
DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
@ -152,13 +141,12 @@ 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 +180,63 @@ 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;
/*
// If moveForce is very small, zero things so we don't keep sending microscopic updates to the user
float moveForceMagnitudeSquared = moveForce.LengthSquared();
if (moveForceMagnitudeSquared < 0.0001)
{
DetailLog("{0},BSCharacter.MoveMotor,zeroMovement,stepVel={1},vel={2},mass={3},magSq={4},moveForce={5}",
LocalID, stepVelocity, _velocity, Mass, moveForceMagnitudeSquared, moveForce);
ForceVelocity = OMV.Vector3.Zero;
}
else
{
AddForce(moveForce, false, true);
}
*/
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();
@ -207,14 +252,13 @@ public sealed class BSCharacter : BSPhysObject
}
set {
// When an avatar's size is set, only the height is changed.
_size = value;
// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
// replace with the default values.
if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
ComputeAvatarScale(_size);
Scale = ComputeAvatarScale(_size);
ComputeAvatarVolumeAndMass();
DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}",
LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass);
@ -433,15 +477,15 @@ public sealed class BSCharacter : BSPhysObject
{
DetailLog("{0},BSCharacter.setTargetVelocity,call,vel={1}", LocalID, value);
OMV.Vector3 targetVel = value;
if (_setAlwaysRun)
targetVel *= BSParam.AvatarAlwaysRunFactor;
PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
{
_velocityMotor.Reset();
_velocityMotor.SetTarget(targetVel);
_velocityMotor.SetCurrent(_velocity);
_velocityMotor.Enabled = true;
// Make sure a property update happens next step so the motor gets incorporated.
BulletSimAPI.PushUpdate2(PhysBody.ptr);
});
}
}
@ -490,8 +534,6 @@ public sealed class BSCharacter : BSPhysObject
BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
}
}
// Remember the set velocity so we can suppress the reduction by friction, ...
_appliedVelocity = value;
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
BulletSimAPI.Activate2(PhysBody.ptr, true);
@ -519,16 +561,16 @@ public sealed class BSCharacter : BSPhysObject
public override OMV.Quaternion Orientation {
get { return _orientation; }
set {
_orientation = value;
// m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
// Orientation is set zillions of times when an avatar is walking. It's like
// the viewer doesn't trust us.
if (_orientation != value)
{
if (PhysBody.HasPhysicalBody)
_orientation = value;
PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
{
// _position = BulletSimAPI.GetPosition2(BSBody.ptr);
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
}
});
ForceOrientation = _orientation;
});
}
}
}
// Go directly to Bullet to get/set the value.
@ -542,7 +584,11 @@ public sealed class BSCharacter : BSPhysObject
set
{
_orientation = value;
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
if (PhysBody.HasPhysicalBody)
{
// _position = BulletSimAPI.GetPosition2(BSBody.ptr);
BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation);
}
}
}
public override int PhysicsActorType {
@ -668,7 +714,13 @@ 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 +730,10 @@ public sealed class BSCharacter : BSPhysObject
force = force / magnitude * BSParam.MaxAddForceMagnitude;
}
OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce);
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);
@ -703,21 +755,31 @@ public sealed class BSCharacter : BSPhysObject
public override void SetMomentum(OMV.Vector3 momentum) {
}
private void ComputeAvatarScale(OMV.Vector3 size)
private OMV.Vector3 ComputeAvatarScale(OMV.Vector3 size)
{
OMV.Vector3 newScale = size;
// newScale.X = PhysicsScene.Params.avatarCapsuleWidth;
// newScale.Y = PhysicsScene.Params.avatarCapsuleDepth;
OMV.Vector3 newScale;
// Bullet's capsule total height is the "passed height + radius * 2";
// The base capsule is 1 diameter and 2 height (passed radius=0.5, passed height = 1)
// The number we pass in for 'scaling' is the multiplier to get that base
// shape to be the size desired.
// So, when creating the scale for the avatar height, we take the passed height
// (size.Z) and remove the caps.
// Another oddity of the Bullet capsule implementation is that it presumes the Y
// dimension is the radius of the capsule. Even though some of the code allows
// for a asymmetrical capsule, other parts of the code presume it is cylindrical.
// From the total height, remove the capsule half spheres that are at each end
// The 1.15f came from ODE. Not sure what this factors in.
// newScale.Z = (size.Z * 1.15f) - (newScale.X + newScale.Y);
// Scale is multiplier of radius with one of "0.5"
newScale.X = size.X / 2f;
newScale.Y = size.Y / 2f;
// The total scale height is the central cylindar plus the caps on the two ends.
newScale.Z = size.Z + (Math.Min(size.X, size.Y) * 2f);
newScale.Z = (size.Z + (Math.Min(size.X, size.Y) * 2)) / 2f;
// If smaller than the endcaps, just fake like we're almost that small
if (newScale.Z < 0)
newScale.Z = 0.1f;
// Convert diameters to radii and height to half height -- the way Bullet expects it.
Scale = newScale / 2f;
return newScale;
}
// set _avatarVolume and _mass based on capsule size, _density and Scale
@ -725,14 +787,14 @@ public sealed class BSCharacter : BSPhysObject
{
_avatarVolume = (float)(
Math.PI
* Scale.X
* Scale.Y // the area of capsule cylinder
* Scale.Z // times height of capsule cylinder
* Size.X / 2f
* Size.Y / 2f // the area of capsule cylinder
* Size.Z // times height of capsule cylinder
+ 1.33333333f
* Math.PI
* Scale.X
* Math.Min(Scale.X, Scale.Y)
* Scale.Y // plus the volume of the capsule end caps
* Size.X / 2f
* Math.Min(Size.X, Size.Y) / 2
* Size.Y / 2f // plus the volume of the capsule end caps
);
_mass = _avatarDensity * _avatarVolume;
}
@ -750,39 +812,6 @@ 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;

6
OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
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@ -68,6 +68,7 @@ public static class BSParam
// Avatar parameters
public static float AvatarFriction { get; private set; }
public static float AvatarStandingFriction { get; private set; }
public static float AvatarAlwaysRunFactor { get; private set; }
public static float AvatarDensity { get; private set; }
public static float AvatarRestitution { get; private set; }
public static float AvatarCapsuleWidth { get; private set; }
@ -367,6 +368,11 @@ public static class BSParam
(s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); },
(s) => { return AvatarStandingFriction; },
(s,p,l,v) => { AvatarStandingFriction = v; } ),
new ParameterDefn("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run",
1.3f,
(s,cf,p,v) => { AvatarAlwaysRunFactor = cf.GetFloat(p, v); },
(s) => { return AvatarAlwaysRunFactor; },
(s,p,l,v) => { AvatarAlwaysRunFactor = v; } ),
new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
3.5f,
(s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); },

6
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
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@ -420,8 +420,7 @@ public sealed class BSShapeCollection : IDisposable
if (!haveShape && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_CAPSULE)
{
// an avatar capsule is close to a native shape (it is not shared)
GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE,
FixedShapeKey.KEY_CAPSULE, shapeCallback);
GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_CAPSULE, FixedShapeKey.KEY_CAPSULE, shapeCallback);
if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,avatarCapsule,shape={1}", prim.LocalID, prim.PhysShape);
ret = true;
haveShape = true;
@ -573,6 +572,9 @@ public sealed class BSShapeCollection : IDisposable
{
// The proper scale has been calculated in the prim.
newShape = new BulletShape(
// Bullet's capsule total height is the passed "height + (radius * 2)" so, the base
// capsule is radius of 0.5f (1 diameter) and height of two (1.0f + 0.5f * 2)".
// This must be taken into account when computing the scaling of the capsule.
BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, prim.Scale)
, shapeType);
if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);

13
OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs
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@ -205,4 +205,17 @@ public class BSShapeCompound : BSShape
}
public override void Dereference(BSScene physicsScene) { }
}
public class BSShapeAvatar : BSShape
{
private static string LogHeader = "[BULLETSIM SHAPE AVATAR]";
public BSShapeAvatar() : base()
{
}
public static BSShape GetReference(BSPhysObject prim)
{
return new BSShapeNull();
}
public override void Dereference(BSScene physicsScene) { }
}
}

2
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
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@ -69,6 +69,7 @@ public enum BSPhysicsShapeType
SHAPE_TERRAIN = 21,
SHAPE_COMPOUND = 22,
SHAPE_HEIGHTMAP = 23,
SHAPE_AVATAR = 24,
};
// The native shapes have predefined shape hash keys
@ -80,6 +81,7 @@ public enum FixedShapeKey : ulong
KEY_CONE = 3,
KEY_CYLINDER = 4,
KEY_CAPSULE = 5,
KEY_AVATAR = 6,
}
[StructLayout(LayoutKind.Sequential)]

4
bin/OpenSimDefaults.ini
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@ -915,9 +915,9 @@
TerrainCollisionMargin = 0.04
AvatarFriction = 0.2
AvatarStandingFriction = 0.99
AvatarStandingFriction = 10.0
AvatarRestitution = 0.0
AvatarDensity = 60.0
AvatarDensity = 3.5
AvatarCapsuleWidth = 0.6
AvatarCapsuleDepth = 0.45
AvatarCapsuleHeight = 1.5