BulletSim: remove double application of buoyancy. Centralize computation of buoyancy. Add motor angular debugging controls.
Robert Adams
parent
b592ec265b
commit
98168edc29
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@ -124,6 +124,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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static readonly float PIOverFour = ((float)Math.PI) / 4f;
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static readonly float PIOverTwo = ((float)Math.PI) / 2f;
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// For debugging, flags to turn on and off individual corrections.
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private bool enableAngularVerticalAttraction = true;
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private bool enableAngularDeflection = true;
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private bool enableAngularBanking = true;
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public BSDynamics(BSScene myScene, BSPrim myPrim)
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{
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PhysicsScene = myScene;
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@ -575,11 +580,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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PhysicsScene.PE.SetMassProps(Prim.PhysBody, m_vehicleMass, localInertia);
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PhysicsScene.PE.UpdateInertiaTensor(Prim.PhysBody);
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Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy);
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// Set the gravity for the vehicle depending on the buoyancy
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// TODO: what should be done if prim and vehicle buoyancy differ?
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Vector3 grav = Prim.ComputeGravity(m_VehicleBuoyancy);
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PhysicsScene.PE.SetGravity(Prim.PhysBody, grav);
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VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}",
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Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping);
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VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4},grav={5}",
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Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping, grav);
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}
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else
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{
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@ -858,12 +865,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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linearMotorContribution *= VehicleOrientation;
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// All the contributions after this are world relative (mostly Z modifications)
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// ==================================================================
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// Buoyancy: force to overcome gravity.
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// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
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// So, if zero, don't change anything (let gravity happen). If one, negate the effect of gravity.
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Vector3 buoyancyContribution = Prim.PhysicsScene.DefaultGravity * m_VehicleBuoyancy;
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Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep);
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Vector3 hoverContribution = ComputeLinearHover(pTimestep);
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@ -873,12 +874,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep);
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// ==================================================================
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// Select between velocities and forces. Forces will happen over time and
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// will take into account inertia, collisions, etc. Velocities are
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// raw updates to the velocity of the vehicle.
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Vector3 newVelocity = linearMotorContribution
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+ terrainHeightContribution
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+ hoverContribution
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+ limitMotorUpContribution;
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Vector3 newForce = buoyancyContribution;
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Vector3 newForce = Vector3.Zero;
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// If not changing some axis, reduce out velocity
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if ((m_flags & (VehicleFlag.NO_X)) != 0)
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@ -902,6 +906,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// ==================================================================
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// Stuff new linear velocity into the vehicle.
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// Since the velocity is just being set, it is not scaled by pTimeStep. Bullet will do that for us.
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// Also not scaled by mass since this is a super-physical setting of velocity.
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VehicleVelocity = newVelocity;
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// Other linear forces are applied as forces.
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@ -911,13 +916,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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VehicleAddForce(totalDownForce);
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}
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VDetailLog("{0}, MoveLinear,done,newVel={1},totDown={2},IsColliding={3}",
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Prim.LocalID, newVelocity, totalDownForce, Prim.IsColliding);
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VDetailLog("{0}, MoveLinear,done,linContrib={1},terrContrib={2},hoverContrib={3},limitContrib={4},buoyContrib={5}",
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VDetailLog("{0}, MoveLinear,done,linContrib={1},terrContrib={2},hoverContrib={3},limitContrib={4},totDown={5},isColl={6},newVel={7}",
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Prim.LocalID,
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linearMotorContribution, terrainHeightContribution, hoverContribution,
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limitMotorUpContribution, buoyancyContribution
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);
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linearMotorContribution, terrainHeightContribution, hoverContribution, limitMotorUpContribution,
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totalDownForce, Prim.IsColliding, newVelocity );
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} // end MoveLinear()
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@ -1088,6 +1090,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// for preventing ground vehicles with large linear deflection, like bumper cars,
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// from climbing their linear deflection into the sky.
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// That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
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// TODO: This is here because this is where ODE put it but documentation says it
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// is a linear effect. Where should this check go?
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if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
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{
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angularMotorContribution.X = 0f;
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@ -1179,7 +1183,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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Vector3 ret = Vector3.Zero;
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// If vertical attaction timescale is reasonable
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if (m_verticalAttractionTimescale < m_verticalAttractionCutoff)
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if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
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{
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// Take a vector pointing up and convert it from world to vehicle relative coords.
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Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
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@ -1230,7 +1234,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// this creates an over-correction and then wabbling as the target is overshot.
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// TODO: rethink how the different correction computations inter-relate.
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if (m_angularDeflectionEfficiency != 0 && VehicleVelocity != Vector3.Zero)
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if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleVelocity != Vector3.Zero)
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{
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// The direction the vehicle is moving
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Vector3 movingDirection = VehicleVelocity;
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@ -1303,7 +1307,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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{
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Vector3 ret = Vector3.Zero;
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if (m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
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if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
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{
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// Rotate a UnitZ vector (pointing up) to how the vehicle is oriented.
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// As the vehicle rolls to the right or left, the Y value will increase from
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@ -410,7 +410,7 @@ public sealed class BSPrim : BSPhysObject
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}
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else
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{
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OMV.Vector3 grav = ComputeGravity();
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OMV.Vector3 grav = ComputeGravity(Buoyancy);
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if (inWorld)
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{
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@ -445,12 +445,12 @@ public sealed class BSPrim : BSPhysObject
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}
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// Return what gravity should be set to this very moment
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private OMV.Vector3 ComputeGravity()
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public OMV.Vector3 ComputeGravity(float buoyancy)
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{
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OMV.Vector3 ret = PhysicsScene.DefaultGravity;
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if (!IsStatic)
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ret *= (1f - Buoyancy);
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ret *= (1f - buoyancy);
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return ret;
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}
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@ -1561,21 +1561,6 @@ public sealed class BSPrim : BSPhysObject
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// The physics engine says that properties have updated. Update same and inform
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// the world that things have changed.
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// TODO: do we really need to check for changed? Maybe just copy values and call RequestPhysicsterseUpdate()
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enum UpdatedProperties {
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Position = 1 << 0,
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Rotation = 1 << 1,
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Velocity = 1 << 2,
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Acceleration = 1 << 3,
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RotationalVel = 1 << 4
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}
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const float ROTATION_TOLERANCE = 0.01f;
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const float VELOCITY_TOLERANCE = 0.001f;
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const float POSITION_TOLERANCE = 0.05f;
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const float ACCELERATION_TOLERANCE = 0.01f;
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const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
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public override void UpdateProperties(EntityProperties entprop)
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{
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// Updates only for individual prims and for the root object of a linkset.
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@ -1588,7 +1573,7 @@ public sealed class BSPrim : BSPhysObject
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entprop.RotationalVelocity = OMV.Vector3.Zero;
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}
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// Assign directly to the local variables so the normal set action does not happen
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// Assign directly to the local variables so the normal set actions do not happen
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_position = entprop.Position;
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_orientation = entprop.Rotation;
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_velocity = entprop.Velocity;
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@ -486,6 +486,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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ProcessTaints();
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// Some of the physical objects requre individual, pre-step calls
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// (vehicles and avatar movement, in particular)
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TriggerPreStepEvent(timeStep);
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// the prestep actions might have added taints
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@ -1,12 +1,17 @@
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CURRENT PRIORITIES
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=================================================
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Avatars walking up stairs (HALF DONE)
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Vehicle movement on terrain smoothness
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Nebadon vehicles turning funny in arena
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limitMotorUp calibration (more down?)
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Vehicle angular vertical attraction
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Vehicle angular deflection
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Preferred orientation angular correction fix
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vehicle angular banking
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Avatars walking up stairs (HALF DONE)
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Radius of the capsule affects ability to climb edges.
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Vehicle movement on terrain smoothness
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Surfboard go wonky when turning
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Angular motor direction is global coordinates rather than local coordinates?
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Boats float low in the water
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Boats float low in the water (DONE)
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Avatar movement
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flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
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walking up stairs is not calibrated correctly (stairs out of Kepler cabin)
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@ -33,19 +38,15 @@ CRASHES
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VEHICLES TODO LIST:
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=================================================
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Angular motor direction is global coordinates rather than local coordinates
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Border crossing with linked vehicle causes crash
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Vehicles (Move smoothly)
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Add vehicle collisions so IsColliding is properly reported.
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Needed for banking, limitMotorUp, movementLimiting, ...
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VehicleAddForce is not scaled by the simulation step but it is only
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applied for one step. Should it be scaled?
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Some vehicles should not be able to turn if no speed or off ground.
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Cannot edit/move a vehicle being ridden: it jumps back to the origional position.
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Neb car jiggling left and right
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Happens on terrain and any other mesh object. Flat cubes are much smoother.
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This has been reduced but not eliminated.
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Implement referenceFrame for all the motion routines.
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For limitMotorUp, use raycast down to find if vehicle is in the air.
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Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
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Verify that angular motion specified around Z moves in the vehicle coordinates.
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Verify llGetVel() is returning a smooth and good value for vehicle movement.
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@ -54,14 +55,13 @@ Implement function efficiency for lineaar and angular motion.
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After getting off a vehicle, the root prim is phantom (can be walked through)
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Need to force a position update for the root prim after compound shape destruction
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Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint)
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For limitMotorUp, use raycast down to find if vehicle is in the air.
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Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties().
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A kludge that isn't fixing the real problem of Bullet adding extra motion.
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Incorporate inter-relationship of angular corrections. For instance, angularDeflection
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and angularMotorUp will compute same X or Y correction. When added together
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creates over-correction and over-shoot and wabbling.
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BULLETSIM TODO LIST:
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GENERAL TODO LIST:
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=================================================
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Implement an avatar mesh shape. The Bullet capsule is way too limited.
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Consider just hand creating a vertex/index array in a new BSShapeAvatar.
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@ -121,11 +121,9 @@ LinksetCompound: when one of the children changes orientation (like tires
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Verify/think through scripts in children of linksets. What do they reference
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and return when getting position, velocity, ...
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Confirm constraint linksets still work after making all the changes for compound linksets.
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Use PostTaint callback to do rebuilds for constraint linksets to reduce rebuilding
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Add 'changed' flag or similar to reduce the number of times a linkset is rebuilt.
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For compound linksets, add ability to remove or reposition individual child shapes.
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Disable activity of passive linkset children.
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Since the linkset is a compound object, the old prims are left lying
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around and need to be phantomized so they don't collide, ...
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Speed up creation of large physical linksets
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For instance, sitting in Neb's car (130 prims) takes several seconds to become physical.
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REALLY bad for very large physical linksets (freezes the sim for many seconds).
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@ -138,25 +136,21 @@ MORE
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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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Hulls are not as detailed as meshes. Hulled vehicles insides are different shape.
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Debounce avatar contact so legs don't keep folding up when standing.
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Implement LSL physics controls. Like STATUS_ROTATE_X.
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Add border extensions to terrain to help region crossings and objects leaving region.
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Use a different capsule shape for avatar when sitting
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LL uses a pyrimidal shape scaled by the avatar's bounding box
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http://wiki.secondlife.com/wiki/File:Avmeshforms.png
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Performance test with lots of avatars. Can BulletSim support a thousand?
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Optimize collisions in C++: only send up to the object subscribed to collisions.
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Use collision subscription and remove the collsion(A,B) and collision(B,A)
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Check whether SimMotionState needs large if statement (see TODO).
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Implement 'top colliders' info.
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Avatar jump
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Performance measurement and changes to make quicker.
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Implement detailed physics stats (GetStats()).
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Measure performance improvement from hulls
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Test not using ghost objects for volume detect implementation.
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Performance of closures and delegates for taint processing
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@ -164,9 +158,7 @@ Performance of closures and delegates for taint processing
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Is any slowdown introduced by the existing implementation significant?
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Is there are more efficient method of implementing pre and post step actions?
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See http://www.codeproject.com/Articles/29922/Weak-Events-in-C
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Physics Arena central pyramid: why is one side permiable?
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In SL, perfect spheres don't seem to have rolling friction. Add special case.
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Enforce physical parameter min/max:
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Gravity: [-1, 28]
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@ -197,22 +189,19 @@ Generalize Dynamics and PID with standardized motors.
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Generalize Linkset and vehicles into PropertyManagers
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Methods for Refresh, RemoveBodyDependencies, RestoreBodyDependencies
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Potentially add events for shape destruction, etc.
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Complete implemention of preStepActions
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Replace vehicle step call with prestep event.
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Is there a need for postStepActions? postStepTaints?
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Better mechanism for resetting linkset set and vehicle parameters when body rebuilt.
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BSPrim.CreateGeomAndObject is kludgy with the callbacks, etc.
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Implement linkset by setting position of children when root updated. (LinksetManual)
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Linkset implementation using manual prim movement.
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LinkablePrim class? Would that simplify/centralize the linkset logic?
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BSScene.UpdateParameterSet() is broken. How to set params on objects?
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Remove HeightmapInfo from terrain specification
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Since C++ code does not need terrain height, this structure et al are not needed.
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Add floating motor for BS_FLOATS_ON_WATER so prim and avatar will
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bob at the water level. BSPrim.PositionSanityCheck().
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bob at the water level. BSPrim.PositionSanityCheck()
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Should taints check for existance or activeness of target?
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When destroying linksets/etc, taints can be generated for objects that are
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actually gone when the taint happens. Crashes don't happen because the taint closure
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keeps the object from being freed, but that is just an accident.
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Possibly have and 'active' flag that is checked by the taint processor?
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Possibly have an 'active' flag that is checked by the taint processor?
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Parameters for physics logging should be moved from BSScene to BSParam (at least boolean ones)
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Can some of the physical wrapper classes (BulletBody, BulletWorld, BulletShape) be 'sealed'?
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There are TOO MANY interfaces from BulletSim core to Bullet itself
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@ -282,3 +271,18 @@ Redo BulletSimAPI to allow native C# implementation of Bullet option (DONE)
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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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Angular motor direction is global coordinates rather than local coordinates (DONE)
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Add vehicle collisions so IsColliding is properly reported. (DONE)
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Needed for banking, limitMotorUp, movementLimiting, ...
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(Resolution: added CollisionFlags.BS_VEHICLE_COLLISION and code to use it)
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VehicleAddForce is not scaled by the simulation step but it is only
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applied for one step. Should it be scaled? (DONE)
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(Resolution: use force for timed things, Impulse for immediate, non-timed things)
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Complete implemention of preStepActions (DONE)
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Replace vehicle step call with prestep event.
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Is there a need for postStepActions? postStepTaints?
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Disable activity of passive linkset children. (DONE)
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Since the linkset is a compound object, the old prims are left lying
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around and need to be phantomized so they don't collide, ...
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Remove HeightmapInfo from terrain specification (DONE)
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Since C++ code does not need terrain height, this structure et al are not needed.
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