BulletSim: update DLLs and SOs with better debugging output.
Add definition of hand crafted avatar mesh. Not used yet. Comments and cleanup.user_profiles
Robert Adams
parent
2eba80a8cd
commit
9393403253
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@ -137,6 +137,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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get { return Type != Vehicle.TYPE_NONE && Prim.IsPhysical; }
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}
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#region Vehicle parameter setting
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internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
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{
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VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
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@ -546,6 +547,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f);
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m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
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}
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#endregion // Vehicle parameter setting
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// Some of the properties of this prim may have changed.
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// Do any updating needed for a vehicle
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@ -925,7 +927,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// TODO: Consider taking the rotated size of the object or possibly casting a ray.
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if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition))
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{
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// TODO: correct position by applying force rather than forcing position.
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// Force position because applying force won't get the vehicle through the terrain
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Vector3 newPosition = VehiclePosition;
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newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f;
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VehiclePosition = newPosition;
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@ -27,24 +27,19 @@
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Text;
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using OMV = OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public abstract class BSShape
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{
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public IntPtr ptr { get; set; }
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public BSPhysicsShapeType type { get; set; }
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public System.UInt64 key { get; set; }
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public int referenceCount { get; set; }
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public DateTime lastReferenced { get; set; }
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public BSShape()
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{
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ptr = IntPtr.Zero;
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type = BSPhysicsShapeType.SHAPE_UNKNOWN;
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key = 0;
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referenceCount = 0;
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lastReferenced = DateTime.Now;
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}
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@ -63,7 +58,7 @@ public abstract class BSShape
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}
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// Compound shapes are handled special as they are rebuilt from scratch.
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// This isn't too great a hardship since most of the child shapes will already been created.
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// This isn't too great a hardship since most of the child shapes will have already been created.
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if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_COMPOUND)
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{
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// Getting a reference to a compound shape gets you the compound shape with the root prim shape added
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@ -71,6 +66,14 @@ public abstract class BSShape
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physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,compoundShape,shape={1}", prim.LocalID, ret);
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}
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// Avatars have their own unique shape
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if (ret == null && prim.PreferredPhysicalShape == BSPhysicsShapeType.SHAPE_AVATAR)
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{
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// Getting a reference to a compound shape gets you the compound shape with the root prim shape added
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ret = BSShapeAvatar.GetReference(prim);
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physicsScene.DetailLog("{0},BSShapeCollection.CreateGeom,avatarShape,shape={1}", prim.LocalID, ret);
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}
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if (ret == null)
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ret = GetShapeReferenceNonSpecial(physicsScene, forceRebuild, prim);
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@ -228,5 +231,131 @@ public class BSShapeAvatar : BSShape
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return new BSShapeNull();
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}
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public override void Dereference(BSScene physicsScene) { }
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// From the front:
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// A---A
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// / \
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// B-------B
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// / \ +Z
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// C-----------C |
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// \ / -Y --+-- +Y
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// \ / |
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// \ / -Z
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// D-----D
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// \ /
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// E-E
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// From the top A and E are just lines.
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// B, C and D are hexagons:
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//
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// C1--C2 +X
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// / \ |
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// C0 C3 -Y --+-- +Y
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// \ / |
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// C5--C4 -X
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// Zero goes directly through the middle so the offsets are from that middle axis
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// and up and down from a middle horizon (A and E are the same distance from the zero).
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// The height, width and depth is one. All scaling is done by the simulator.
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// Z component -- how far the level is from the middle zero
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private const float Aup = 0.5f;
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private const float Bup = 0.4f;
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private const float Cup = 0.3f;
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private const float Dup = -0.4f;
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private const float Eup = -0.5f;
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// Y component -- distance from center to x0 and x3
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private const float Awid = 0.25f;
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private const float Bwid = 0.3f;
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private const float Cwid = 0.5f;
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private const float Dwid = 0.3f;
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private const float Ewid = 0.2f;
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// Y component -- distance from center to x1, x2, x4 and x5
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private const float Afwid = 0.0f;
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private const float Bfwid = 0.2f;
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private const float Cfwid = 0.4f;
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private const float Dfwid = 0.2f;
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private const float Efwid = 0.0f;
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// X component -- distance from zero to the front or back of a level
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private const float Adep = 0f;
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private const float Bdep = 0.3f;
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private const float Cdep = 0.5f;
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private const float Ddep = 0.2f;
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private const float Edep = 0f;
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private OMV.Vector3[] avatarVertices = {
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new OMV.Vector3( 0.0f, -Awid, Aup), // A0
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new OMV.Vector3( 0.0f, +Awid, Aup), // A3
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new OMV.Vector3( 0.0f, -Bwid, Bup), // B0
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new OMV.Vector3(+Bdep, -Bfwid, Bup), // B1
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new OMV.Vector3(+Bdep, +Bfwid, Bup), // B2
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new OMV.Vector3( 0.0f, +Bwid, Bup), // B3
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new OMV.Vector3(-Bdep, +Bfwid, Bup), // B4
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new OMV.Vector3(-Bdep, -Bfwid, Bup), // B5
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new OMV.Vector3( 0.0f, -Cwid, Cup), // C0
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new OMV.Vector3(+Cdep, -Cfwid, Cup), // C1
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new OMV.Vector3(+Cdep, +Cfwid, Cup), // C2
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new OMV.Vector3( 0.0f, +Cwid, Cup), // C3
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new OMV.Vector3(-Cdep, +Cfwid, Cup), // C4
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new OMV.Vector3(-Cdep, -Cfwid, Cup), // C5
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new OMV.Vector3( 0.0f, -Dwid, Dup), // D0
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new OMV.Vector3(+Ddep, -Dfwid, Dup), // D1
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new OMV.Vector3(+Ddep, +Dfwid, Dup), // D2
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new OMV.Vector3( 0.0f, +Dwid, Dup), // D3
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new OMV.Vector3(-Ddep, +Dfwid, Dup), // D4
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new OMV.Vector3(-Ddep, -Dfwid, Dup), // D5
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new OMV.Vector3( 0.0f, -Ewid, Eup), // E0
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new OMV.Vector3( 0.0f, +Ewid, Eup), // E3
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};
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// Offsets of the vertices in the vertices array
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private enum Ind : int
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{
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A0, A3,
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B0, B1, B2, B3, B4, B5,
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C0, C1, C2, C3, C4, C5,
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D0, D1, D2, D3, D4, D5,
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E0, E3
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}
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// Comments specify trianges and quads in clockwise direction
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private Ind[] avatarIndices = {
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Ind.A0, Ind.B0, Ind.B1, // A0,B0,B1
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Ind.A0, Ind.B1, Ind.B2, Ind.B2, Ind.A3, Ind.A0, // A0,B1,B2,A3
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Ind.A3, Ind.B2, Ind.B3, // A3,B2,B3
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Ind.A3, Ind.B3, Ind.B4, // A3,B3,B4
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Ind.A3, Ind.B4, Ind.B5, Ind.B5, Ind.A0, Ind.A3, // A3,B4,B5,A0
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Ind.A0, Ind.B5, Ind.B0, // A0,B5,B0
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Ind.B0, Ind.C0, Ind.C1, Ind.C1, Ind.B1, Ind.B0, // B0,C0,C1,B1
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Ind.B1, Ind.C1, Ind.C2, Ind.C2, Ind.B2, Ind.B1, // B1,C1,C2,B2
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Ind.B2, Ind.C2, Ind.C3, Ind.C3, Ind.B3, Ind.B2, // B2,C2,C3,B3
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Ind.B3, Ind.C3, Ind.C4, Ind.C4, Ind.B4, Ind.B3, // B3,C3,C4,B4
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Ind.B4, Ind.C4, Ind.C5, Ind.C5, Ind.B5, Ind.B4, // B4,C4,C5,B5
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Ind.B5, Ind.C5, Ind.C0, Ind.C0, Ind.B0, Ind.B5, // B5,C5,C0,B0
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Ind.C0, Ind.D0, Ind.D1, Ind.D1, Ind.C1, Ind.C0, // C0,D0,D1,C1
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Ind.C1, Ind.D1, Ind.D2, Ind.D2, Ind.C2, Ind.C1, // C1,D1,D2,C2
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Ind.C2, Ind.D2, Ind.D3, Ind.D3, Ind.C3, Ind.C2, // C2,D2,D3,C3
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Ind.C3, Ind.D3, Ind.D4, Ind.D4, Ind.C4, Ind.C3, // C3,D3,D4,C4
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Ind.C4, Ind.D4, Ind.D5, Ind.D5, Ind.C5, Ind.C4, // C4,D4,D5,C5
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Ind.C5, Ind.D5, Ind.D0, Ind.D0, Ind.C0, Ind.C5, // C5,D5,D0,C0
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Ind.E0, Ind.D0, Ind.D1, // E0,D0,D1
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Ind.E0, Ind.D1, Ind.D2, Ind.D2, Ind.E3, Ind.E0, // E0,D1,D2,E3
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Ind.E3, Ind.D2, Ind.D3, // E3,D2,D3
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Ind.E3, Ind.D3, Ind.D4, // E3,D3,D4
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Ind.E3, Ind.D4, Ind.D5, Ind.D5, Ind.E0, Ind.E3, // E3,D4,D5,E0
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Ind.E0, Ind.D5, Ind.D0, // E0,D5,D0
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};
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}
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}
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@ -114,8 +114,10 @@ public class BulletShape
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public virtual void Clear() { }
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public virtual bool HasPhysicalShape { get { return false; } }
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// Make another reference to this physical object.
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public virtual BulletShape Clone() { return new BulletShape(); }
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// Return 'true' if this and other refer to the same physical object
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public virtual bool ReferenceSame(BulletShape xx) { return false; }
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@ -1,8 +1,6 @@
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CURRENT PRIORITIES
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=================================================
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Redo BulletSimAPI to allow native C# implementation of Bullet option (DONE)
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Meshes rendering as bounding boxes
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llMoveToTarget
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Avatars walking up stairs
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Vehicle movement on terrain smoothness
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limitMotorUp calibration (more down?)
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Preferred orientatino angular correction fix
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@ -135,6 +133,9 @@ Eliminate collisions between objects in a linkset. (LinksetConstraint)
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MORE
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======================================================
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Use the HACD convex hull routine in Bullet rather than the C# version.
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Do we need to do convex hulls all the time? Can complex meshes be left meshes?
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There is some problem with meshes and collisions
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Test avatar walking up stairs. How does compare with SL.
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Radius of the capsule affects ability to climb edges.
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Debounce avatar contact so legs don't keep folding up when standing.
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@ -274,3 +275,8 @@ llSetBuoyancy() (DONE)
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(Resolution: Bullet resets object gravity when added to world. Moved set gravity)
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Avatar density is WAY off. Compare and calibrate with what's in SL. (DONE)
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(Resolution: set default density to 3.5 (from 60) which is closer to SL)
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Redo BulletSimAPI to allow native C# implementation of Bullet option (DONE)
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(Resolution: added BSAPITemplate and then interfaces for C++ Bullet and C# BulletXNA
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Meshes rendering as bounding boxes (DONE)
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(Resolution: Added test for mesh/sculpties in native shapes so it didn't think it was a box)
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llMoveToTarget (Resolution: added simple motor to update the position.)
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