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BulletSim: Change defaults for constraint CFM and ERP to make large linksets more rigid. Remove mass calculation for terrain (it should stay a static object).

connector_plugin
Robert Adams 2012-10-10 09:43:46 -07:00
parent a791620622
commit 919569f6ec
2 changed files with 8 additions and 11 deletions
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4
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
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@ -1099,12 +1099,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters
(s) => { return s.m_params[0].linkConstraintTransMotorMaxForce; },
(s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = v; } ),
new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
0.1f,
0.001f,
(s,cf,p,v) => { s.m_params[0].linkConstraintCFM = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].linkConstraintCFM; },
(s,p,l,v) => { s.m_params[0].linkConstraintCFM = v; } ),
new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
0.2f,
0.8f,
(s,cf,p,v) => { s.m_params[0].linkConstraintERP = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].linkConstraintERP; },
(s,p,l,v) => { s.m_params[0].linkConstraintERP = v; } ),

15
OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
View File

@ -114,6 +114,8 @@ public class BSTerrainManager
BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
Vector3.Zero, Quaternion.Identity));
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr);
// Ground plane does not move
BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
// Everything collides with the ground plane.
BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr,
(uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask);
@ -296,16 +298,16 @@ public class BSTerrainManager
mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, mapInfo.ID,
mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN);
// Create the terrain shape from the mapInfo
mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr),
ShapeData.PhysicsShapeType.SHAPE_TERRAIN);
// The terrain object initial position is at the center of the object
Vector3 centerPos;
centerPos.X = minCoords.X + (mapInfo.sizeX / 2f);
centerPos.Y = minCoords.Y + (mapInfo.sizeY / 2f);
centerPos.Z = minZ + ((maxZ - minZ) / 2f);
// Create the terrain shape from the mapInfo
mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr),
ShapeData.PhysicsShapeType.SHAPE_TERRAIN);
mapInfo.terrainBody = new BulletBody(mapInfo.ID,
BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr,
id, centerPos, Quaternion.Identity));
@ -320,11 +322,6 @@ public class BSTerrainManager
BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution);
BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
float terrainMass = 1000;
Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(mapInfo.terrainBody.ptr, terrainMass);
BulletSimAPI.SetMassProps2(mapInfo.terrainBody.ptr, terrainMass, localInertia);
BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.ptr);
// Return the new terrain to the world of physical objects
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr);