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BulletSim: comments and parameter changes in dynamics engine.

integration
Robert Adams 2012-08-17 09:37:02 -07:00
parent e31e23d68d
commit 8eda290262
2 changed files with 30 additions and 26 deletions
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50
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
View File

@ -57,6 +57,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private int frcount = 0; // Used to limit dynamics debug output to private int frcount = 0; // Used to limit dynamics debug output to
// every 100th frame // every 100th frame
private BSScene m_physicsScene;
private BSPrim m_prim; // the prim this dynamic controller belongs to private BSPrim m_prim; // the prim this dynamic controller belongs to
// Vehicle properties // Vehicle properties
@ -123,15 +124,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private float m_verticalAttractionEfficiency = 1.0f; // damped private float m_verticalAttractionEfficiency = 1.0f; // damped
private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor. private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
public BSDynamics(BSPrim myPrim) public BSDynamics(BSScene myScene, BSPrim myPrim)
{ {
m_physicsScene = myScene;
m_prim = myPrim; m_prim = myPrim;
m_type = Vehicle.TYPE_NONE; m_type = Vehicle.TYPE_NONE;
} }
internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue, float timestep) internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue, float timestep)
{ {
DetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
switch (pParam) switch (pParam)
{ {
case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
@ -230,7 +232,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue, float timestep) internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue, float timestep)
{ {
DetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
switch (pParam) switch (pParam)
{ {
case Vehicle.ANGULAR_FRICTION_TIMESCALE: case Vehicle.ANGULAR_FRICTION_TIMESCALE:
@ -265,7 +267,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
{ {
DetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue); VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
switch (pParam) switch (pParam)
{ {
case Vehicle.REFERENCE_FRAME: case Vehicle.REFERENCE_FRAME:
@ -279,7 +281,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
internal void ProcessVehicleFlags(int pParam, bool remove) internal void ProcessVehicleFlags(int pParam, bool remove)
{ {
DetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove); VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove);
VehicleFlag parm = (VehicleFlag)pParam; VehicleFlag parm = (VehicleFlag)pParam;
if (remove) if (remove)
{ {
@ -297,9 +299,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
} }
}//end ProcessVehicleFlags }//end ProcessVehicleFlags
internal void ProcessTypeChange(Vehicle pType) internal void ProcessTypeChange(Vehicle pType, float stepSize)
{ {
DetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType); VDetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType);
// Set Defaults For Type // Set Defaults For Type
m_type = pType; m_type = pType;
switch (pType) switch (pType)
@ -475,7 +477,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
MoveAngular(pTimestep); MoveAngular(pTimestep);
LimitRotation(pTimestep); LimitRotation(pTimestep);
DetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity);
}// end Step }// end Step
@ -519,7 +521,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
*/ */
DetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}", VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}",
m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector); m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector);
} }
else else
@ -531,7 +533,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_lastLinearVelocityVector = Vector3.Zero; m_lastLinearVelocityVector = Vector3.Zero;
} }
// convert requested object velocity to world-referenced vector // convert requested object velocity to object relative vector
Quaternion rotq = m_prim.Orientation; Quaternion rotq = m_prim.Orientation;
m_dir = m_lastLinearVelocityVector * rotq; m_dir = m_lastLinearVelocityVector * rotq;
@ -584,7 +586,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
if (changed) if (changed)
{ {
m_prim.Position = pos; m_prim.Position = pos;
DetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
m_prim.LocalID, m_BlockingEndPoint, posChange, pos); m_prim.LocalID, m_BlockingEndPoint, posChange, pos);
} }
} }
@ -594,7 +596,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{ {
pos.Z = m_prim.Scene.GetTerrainHeightAtXYZ(pos) + 2; pos.Z = m_prim.Scene.GetTerrainHeightAtXYZ(pos) + 2;
m_prim.Position = pos; m_prim.Position = pos;
DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); VDetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos);
} }
// Check if hovering // Check if hovering
@ -641,7 +643,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
} }
} }
DetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_dir, m_VhoverHeight, m_VhoverTargetHeight); VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_dir, m_VhoverHeight, m_VhoverTargetHeight);
// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped // m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
// m_VhoverTimescale = 0f; // time to acheive height // m_VhoverTimescale = 0f; // time to acheive height
@ -677,7 +679,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{ {
grav.Z = (float)(grav.Z * 1.037125); grav.Z = (float)(grav.Z * 1.037125);
} }
DetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav); VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav);
//End Experimental Values //End Experimental Values
} }
if ((m_flags & (VehicleFlag.NO_X)) != 0) if ((m_flags & (VehicleFlag.NO_X)) != 0)
@ -706,7 +708,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
DetailLog("{0},MoveLinear,done,pos={1},vel={2},force={3},decay={4}", VDetailLog("{0},MoveLinear,done,pos={1},vel={2},force={3},decay={4}",
m_prim.LocalID, m_lastPositionVector, m_dir, grav, decayamount); m_prim.LocalID, m_lastPositionVector, m_dir, grav, decayamount);
} // end MoveLinear() } // end MoveLinear()
@ -732,13 +734,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// There are m_angularMotorApply steps. // There are m_angularMotorApply steps.
Vector3 origAngularVelocity = m_angularMotorVelocity; Vector3 origAngularVelocity = m_angularMotorVelocity;
// ramp up to new value // ramp up to new value
// current velocity += error / (time to get there / step interval) // current velocity += error / (time to get there / step interval)
// requested speed - last motor speed // requested speed - last motor speed
m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep); m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep);
m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep);
m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep);
DetailLog("{0},MoveAngular,angularMotorApply,apply={1},origvel={2},dir={3},vel={4}", VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},origvel={2},dir={3},vel={4}",
m_prim.LocalID,m_angularMotorApply,origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); m_prim.LocalID,m_angularMotorApply,origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity);
m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected
@ -749,6 +751,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// No motor recently applied, keep the body velocity // No motor recently applied, keep the body velocity
// and decay the velocity // and decay the velocity
m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep); m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep);
if (m_angularMotorVelocity.LengthSquared() < 0.00001)
m_angularMotorVelocity = Vector3.Zero;
} // end motor section } // end motor section
// Vertical attractor section // Vertical attractor section
@ -786,7 +790,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
vertattr.X += bounce * angularVelocity.X; vertattr.X += bounce * angularVelocity.X;
vertattr.Y += bounce * angularVelocity.Y; vertattr.Y += bounce * angularVelocity.Y;
DetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", VDetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}",
m_prim.LocalID, verterr, bounce, vertattr); m_prim.LocalID, verterr, bounce, vertattr);
} // else vertical attractor is off } // else vertical attractor is off
@ -804,13 +808,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{ {
m_lastAngularVelocity.X = 0; m_lastAngularVelocity.X = 0;
m_lastAngularVelocity.Y = 0; m_lastAngularVelocity.Y = 0;
DetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity);
} }
if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
{ {
m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
DetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity); VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity);
} }
// apply friction // apply friction
@ -820,7 +824,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Apply to the body // Apply to the body
m_prim.RotationalVelocity = m_lastAngularVelocity; m_prim.RotationalVelocity = m_lastAngularVelocity;
DetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity); VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity);
} //end MoveAngular } //end MoveAngular
internal void LimitRotation(float timestep) internal void LimitRotation(float timestep)
@ -867,11 +871,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
if (changed) if (changed)
m_prim.Orientation = m_rot; m_prim.Orientation = m_rot;
DetailLog("{0},LimitRotation,done,changed={1},orig={2},new={3}", m_prim.LocalID, changed, rotq, m_rot); VDetailLog("{0},LimitRotation,done,changed={1},orig={2},new={3}", m_prim.LocalID, changed, rotq, m_rot);
} }
// Invoke the detailed logger and output something if it's enabled. // Invoke the detailed logger and output something if it's enabled.
private void DetailLog(string msg, params Object[] args) private void VDetailLog(string msg, params Object[] args)
{ {
if (m_prim.Scene.VehicleLoggingEnabled) if (m_prim.Scene.VehicleLoggingEnabled)
m_prim.Scene.PhysicsLogging.Write(msg, args); m_prim.Scene.PhysicsLogging.Write(msg, args);

6
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -141,8 +141,8 @@ public sealed class BSPrim : PhysicsActor
_friction = _scene.Params.defaultFriction; // TODO: compute based on object material _friction = _scene.Params.defaultFriction; // TODO: compute based on object material
_density = _scene.Params.defaultDensity; // TODO: compute based on object material _density = _scene.Params.defaultDensity; // TODO: compute based on object material
_restitution = _scene.Params.defaultRestitution; _restitution = _scene.Params.defaultRestitution;
_linkset = new BSLinkset(_scene, this); // a linkset of one _linkset = new BSLinkset(Scene, this); // a linkset of one
_vehicle = new BSDynamics(this); // add vehicleness _vehicle = new BSDynamics(Scene, this); // add vehicleness
_mass = CalculateMass(); _mass = CalculateMass();
// do the actual object creation at taint time // do the actual object creation at taint time
DetailLog("{0},BSPrim.constructor,call", LocalID); DetailLog("{0},BSPrim.constructor,call", LocalID);
@ -354,7 +354,7 @@ public sealed class BSPrim : PhysicsActor
{ {
// Done at taint time so we're sure the physics engine is not using the variables // 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. // Vehicle code changes the parameters for this vehicle type.
_vehicle.ProcessTypeChange(type); _vehicle.ProcessTypeChange(type, Scene.LastSimulatedTimestep);
// Tell the scene about the vehicle so it will get processing each frame. // Tell the scene about the vehicle so it will get processing each frame.
_scene.VehicleInSceneTypeChanged(this, type); _scene.VehicleInSceneTypeChanged(this, type);
}); });