BulletSim: clean up TODO list. It is kept somewhere wlse that should be more public. Add error logging for the detail log writer so a message is output when it cannot write to the specified logging directory. Modify friction defaults to be closer to ODE's values. Add new collision margin and vehicle angular damping parameters.
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9a42405944
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@ -525,7 +525,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, 0f);
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BulletSimAPI.SetHitFraction2(Prim.PhysBody.ptr, 0f);
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BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, 0.8f);
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BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, PhysicsScene.Params.vehicleAngularDamping);
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BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, new Vector3(1f, 1f, 1f));
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@ -39,23 +39,10 @@ using log4net;
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using OpenMetaverse;
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// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
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// Test sculpties (verified that they don't work)
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// Compute physics FPS reasonably
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// Based on material, set density and friction
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// Don't use constraints in linksets of non-physical objects. Means having to move children manually.
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// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly?
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// In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground)
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// At the moment, physical and phantom causes object to drop through the terrain
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// Physical phantom objects and related typing (collision options )
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// Check out llVolumeDetect. Must do something for that.
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// Use collision masks for collision with terrain and phantom objects
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// More efficient memory usage when passing hull information from BSPrim to BulletSim
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// Should prim.link() and prim.delink() membership checking happen at taint time?
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// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once.
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// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
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// Implement LockAngularMotion
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// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
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// Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet.
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// Add PID movement operations. What does ScenePresence.MoveToTarget do?
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// Check terrain size. 128 or 127?
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// Raycast
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@ -234,6 +221,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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if (m_physicsLoggingEnabled)
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{
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PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
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PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output error messages.
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}
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else
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{
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@ -1076,7 +1064,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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(s,p,l,v) => { s.PID_P = v; } ),
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new ParameterDefn("DefaultFriction", "Friction factor used on new objects",
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0.5f,
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0.2f,
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(s,cf,p,v) => { s.m_params[0].defaultFriction = cf.GetFloat(p, v); },
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(s) => { return s.m_params[0].defaultFriction; },
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(s,p,l,v) => { s.m_params[0].defaultFriction = v; } ),
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@ -1091,7 +1079,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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(s) => { return s.m_params[0].defaultRestitution; },
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(s,p,l,v) => { s.m_params[0].defaultRestitution = v; } ),
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new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
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0f,
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0.04f,
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(s,cf,p,v) => { s.m_params[0].collisionMargin = cf.GetFloat(p, v); },
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(s) => { return s.m_params[0].collisionMargin; },
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(s,p,l,v) => { s.m_params[0].collisionMargin = v; } ),
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@ -1158,7 +1146,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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(s) => { return s.m_params[0].terrainImplementation; },
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(s,p,l,v) => { s.m_params[0].terrainImplementation = v; } ),
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new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
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0.5f,
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0.3f,
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(s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); },
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(s) => { return s.m_params[0].terrainFriction; },
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(s,p,l,v) => { s.m_params[0].terrainFriction = v; /* TODO: set on real terrain */} ),
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@ -1172,13 +1160,19 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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(s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); },
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(s) => { return s.m_params[0].terrainRestitution; },
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(s,p,l,v) => { s.m_params[0].terrainRestitution = v; /* TODO: set on real terrain */ } ),
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new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" ,
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0.04f,
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(s,cf,p,v) => { s.m_params[0].terrainCollisionMargin = cf.GetFloat(p, v); },
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(s) => { return s.m_params[0].terrainCollisionMargin; },
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(s,p,l,v) => { s.m_params[0].terrainCollisionMargin = v; /* TODO: set on real terrain */ } ),
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new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
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0.2f,
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(s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); },
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(s) => { return s.m_params[0].avatarFriction; },
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(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ),
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new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
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10f,
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0.99f,
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(s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); },
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(s) => { return s.m_params[0].avatarStandingFriction; },
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(s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ),
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@ -1213,6 +1207,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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(s) => { return s.m_params[0].avatarContactProcessingThreshold; },
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(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ),
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new ParameterDefn("vehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
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0.8f,
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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("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
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0f,
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