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BulletSim: Add activations after vehicle properties change. Problem was the vehicle was going to sleep while waiting for commands. Make AddAngularForce work the same way as AddForce -- accumulates values and pushes them once into Bullet.

integration
Robert Adams 2012-10-26 13:49:57 -07:00
parent b83449ae9a
commit 8fa83cf430
1 changed files with 62 additions and 12 deletions
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74
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -242,8 +242,8 @@ public sealed class BSPrim : BSPhysObject
_acceleration = OMV.Vector3.Zero; _acceleration = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero;
// Zero some other properties directly into the physics engine // Zero some other properties in the physics engine
BulletSimAPI.ClearForces2(BSBody.ptr); BulletSimAPI.ClearAllForces2(BSBody.ptr);
} }
public override void LockAngularMotion(OMV.Vector3 axis) public override void LockAngularMotion(OMV.Vector3 axis)
@ -275,6 +275,7 @@ public sealed class BSPrim : BSPhysObject
{ {
// DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
ActivateIfPhysical(false);
}); });
} }
} }
@ -287,6 +288,7 @@ public sealed class BSPrim : BSPhysObject
_position = value; _position = value;
PositionSanityCheck(); PositionSanityCheck();
BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
ActivateIfPhysical(false);
} }
} }
@ -401,6 +403,7 @@ public sealed class BSPrim : BSPhysObject
// 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);
ActivateIfPhysical(false);
}); });
} }
} }
@ -409,6 +412,7 @@ public sealed class BSPrim : BSPhysObject
PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate() PhysicsScene.TaintedObject("BSPrim.VehicleFloatParam", delegate()
{ {
_vehicle.ProcessFloatVehicleParam((Vehicle)param, value); _vehicle.ProcessFloatVehicleParam((Vehicle)param, value);
ActivateIfPhysical(false);
}); });
} }
public override void VehicleVectorParam(int param, OMV.Vector3 value) public override void VehicleVectorParam(int param, OMV.Vector3 value)
@ -416,6 +420,7 @@ public sealed class BSPrim : BSPhysObject
PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate() PhysicsScene.TaintedObject("BSPrim.VehicleVectorParam", delegate()
{ {
_vehicle.ProcessVectorVehicleParam((Vehicle)param, value); _vehicle.ProcessVectorVehicleParam((Vehicle)param, value);
ActivateIfPhysical(false);
}); });
} }
public override void VehicleRotationParam(int param, OMV.Quaternion rotation) public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
@ -423,6 +428,7 @@ public sealed class BSPrim : BSPhysObject
PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate() PhysicsScene.TaintedObject("BSPrim.VehicleRotationParam", delegate()
{ {
_vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation); _vehicle.ProcessRotationVehicleParam((Vehicle)param, rotation);
ActivateIfPhysical(false);
}); });
} }
public override void VehicleFlags(int param, bool remove) public override void VehicleFlags(int param, bool remove)
@ -540,6 +546,8 @@ public sealed class BSPrim : BSPhysObject
{ {
// DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
SetObjectDynamic(true); SetObjectDynamic(true);
// whether phys-to-static or static-to-phys, the object is not moving.
ZeroMotion();
}); });
} }
} }
@ -623,7 +631,7 @@ public sealed class BSPrim : BSPhysObject
// Become a Bullet 'static' object type // Become a Bullet 'static' object type
CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT); CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
// Stop all movement // Stop all movement
BulletSimAPI.ClearAllForces2(BSBody.ptr); ZeroMotion();
// Center of mass is at the center of the object // Center of mass is at the center of the object
BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation); BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation);
// Mass is zero which disables a bunch of physics stuff in Bullet // Mass is zero which disables a bunch of physics stuff in Bullet
@ -634,7 +642,7 @@ public sealed class BSPrim : BSPhysObject
if (PhysicsScene.Params.ccdMotionThreshold > 0f) if (PhysicsScene.Params.ccdMotionThreshold > 0f)
{ {
BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
} }
// There can be special things needed for implementing linksets // There can be special things needed for implementing linksets
Linkset.MakeStatic(this); Linkset.MakeStatic(this);
@ -656,14 +664,14 @@ public sealed class BSPrim : BSPhysObject
BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution); BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.defaultRestitution);
// per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
BulletSimAPI.ClearAllForces2(BSBody.ptr); // Since this can be called multiple times, only zero forces when becoming physical
// BulletSimAPI.ClearAllForces2(BSBody.ptr);
// For good measure, make sure the transform is set through to the motion state // For good measure, make sure the transform is set through to the motion state
BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
// A dynamic object has mass // A dynamic object has mass
IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr); OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, Mass);
OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass);
BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
@ -671,7 +679,7 @@ public sealed class BSPrim : BSPhysObject
if (PhysicsScene.Params.ccdMotionThreshold > 0f) if (PhysicsScene.Params.ccdMotionThreshold > 0f)
{ {
BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
} }
// Various values for simulation limits // Various values for simulation limits
@ -721,6 +729,15 @@ public sealed class BSPrim : BSPhysObject
} }
} }
// Enable physical actions. Bullet will keep sleeping non-moving physical objects so
// they need waking up when parameters are changed.
// Called in taint-time!!
private void ActivateIfPhysical(bool forceIt)
{
if (IsPhysical)
BulletSimAPI.Activate2(BSBody.ptr, forceIt);
}
// Turn on or off the flag controlling whether collision events are returned to the simulator. // Turn on or off the flag controlling whether collision events are returned to the simulator.
private void EnableCollisions(bool wantsCollisionEvents) private void EnableCollisions(bool wantsCollisionEvents)
{ {
@ -901,8 +918,7 @@ public sealed class BSPrim : BSPhysObject
} }
m_accumulatedForces.Clear(); m_accumulatedForces.Clear();
} }
// DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum);
// For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object.
if (fSum != OMV.Vector3.Zero) if (fSum != OMV.Vector3.Zero)
BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum);
}; };
@ -912,9 +928,43 @@ public sealed class BSPrim : BSPhysObject
PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation); PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation);
} }
private List<OMV.Vector3> m_accumulatedAngularForces = new List<OMV.Vector3>();
public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
// DetailLog("{0},BSPrim.AddAngularForce,call,angForce={1},push={2}", LocalID, force, pushforce); AddAngularForce(force, pushforce, false);
// m_log.DebugFormat("{0}: AddAngularForce. f={1}, push={2}", LogHeader, force, pushforce); }
public void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime)
{
if (force.IsFinite())
{
// _force += force;
lock (m_accumulatedAngularForces)
m_accumulatedAngularForces.Add(new OMV.Vector3(force));
}
else
{
m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
return;
}
BSScene.TaintCallback addAngularForceOperation = delegate()
{
OMV.Vector3 fSum = OMV.Vector3.Zero;
lock (m_accumulatedAngularForces)
{
// Sum the accumulated additional forces for one big force to apply once.
foreach (OMV.Vector3 v in m_accumulatedAngularForces)
{
fSum += v;
}
m_accumulatedAngularForces.Clear();
}
// DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
if (fSum != OMV.Vector3.Zero)
BulletSimAPI.ApplyTorque2(BSBody.ptr, fSum);
};
if (inTaintTime)
addAngularForceOperation();
else
PhysicsScene.TaintedObject("BSPrim.AddForce", addAngularForceOperation);
} }
public override void SetMomentum(OMV.Vector3 momentum) { public override void SetMomentum(OMV.Vector3 momentum) {
// DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);