BulletSim: add ini file and command line parameters to control
dumping of physical vehicle parameters (out of Bullet) on each simulation step and to optionally scale vehicle angular velocity by the time step. The latter looks to be part of a difference between angular parameters for ODE and BulletSim. SL docs say angular velocity is measured in radians/timeScale. Not sure if this is different than what ODE does.0.7.5-pf-bulletsim
Robert Adams
parent
ebf30e7ba6
commit
8b861e880a
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@ -570,8 +570,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
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BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr);
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VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}",
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Prim.LocalID, friction, localInertia, angularDamping);
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VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}",
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Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping);
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}
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else
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{
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@ -1057,7 +1057,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// TODO: Should this be applied as an angular force (torque)?
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if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f))
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{
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Vector3 scaledCorrection = m_lastAngularCorrection * pTimestep;
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// DEBUG DEBUG DEBUG: optionally scale the angular velocity. Debugging SL vs ODE turning functions.
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Vector3 scaledCorrection = m_lastAngularCorrection;
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if (PhysicsScene.VehicleScaleAngularVelocityByTimestep)
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scaledCorrection *= pTimestep;
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VehicleRotationalVelocity = scaledCorrection;
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VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}",
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@ -188,6 +188,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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private bool m_physicsLoggingDoFlush;
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// 'true' of the vehicle code is to log lots of details
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public bool VehicleLoggingEnabled { get; private set; }
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public bool VehiclePhysicalLoggingEnabled { get; private set; }
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public bool VehicleScaleAngularVelocityByTimestep { get; private set; }
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#region Construction and Initialization
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public BSScene(string identifier)
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@ -297,6 +299,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
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// Very detailed logging for vehicle debugging
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VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
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VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
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// Do any replacements in the parameters
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m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
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@ -501,7 +504,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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try
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{
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// if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG
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if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG
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if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
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numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
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@ -510,7 +513,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
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DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}",
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DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
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// if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG
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if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG
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}
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catch (Exception e)
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{
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@ -1226,6 +1229,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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(s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); },
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(s) => { return s.m_params[0].vehicleAngularDamping; },
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(s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ),
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new ParameterDefn("VehicleScaleAngularVelocityByTimestep", "If true, scale angular turning by timestep",
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ConfigurationParameters.numericFalse,
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(s,cf,p,v) => { s.VehicleScaleAngularVelocityByTimestep = cf.GetBoolean(p, s.BoolNumeric(v)); },
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(s) => { return s.NumericBool(s.VehicleScaleAngularVelocityByTimestep); },
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(s,p,l,v) => { s.VehicleScaleAngularVelocityByTimestep = s.BoolNumeric(v); } ),
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new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
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0f,
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@ -793,7 +793,7 @@ public sealed class BSShapeCollection : IDisposable
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BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL);
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newShape.shapeKey = newHullKey;
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return newShape; // 'true' means a new shape has been added to this prim
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return newShape;
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}
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// Callback from convex hull creater with a newly created hull.
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@ -38,7 +38,8 @@ Disable activity of passive linkset children.
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Scenes with hundred of thousands of static objects take a lot of physics CPU time.
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BSPrim.Force should set a continious force on the prim. The force should be
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applied each tick. Some limits?
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Single prim vehicles don't seem to properly vehiclize.
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Linksets should allow collisions to individual children
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Add LocalID to children shapes in LinksetCompound and create events for individuals
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Gun sending shooter flying.
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Collision margin (gap between physical objects lying on each other)
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Boundry checking (crashes related to crossing boundry)
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@ -145,4 +146,6 @@ Linkset implementation using compound shapes. (Resolution: implemented LinksetCo
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Light cycle falling over when driving (Resolution: implemented VerticalAttractor)
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Light cycle not banking (Resolution: It doesn't. Banking is roll adding yaw.)
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Package Bullet source mods for Bullet internal stats output
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(Resolution: move code into WorldData.h rather than relying on patches)
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(Resolution: move code into WorldData.h rather than relying on patches)
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Single prim vehicles don't seem to properly vehiclize.
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(Resolution: mass was not getting set properly for single prim linksets)
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