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Merge branch 'master' into careminster

avinationmerge
Melanie 2012-12-23 18:05:17 +00:00
parent f6f2080539 30807b81cc
commit a126097d6b
17 changed files with 964 additions and 908 deletions
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7
OpenSim/Framework/Util.cs
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@ -299,6 +299,13 @@ namespace OpenSim.Framework
x; x;
} }
// Inclusive, within range test (true if equal to the endpoints)
public static bool InRange<T>(T x, T min, T max)
where T : IComparable<T>
{
return x.CompareTo(max) <= 0 && x.CompareTo(min) >= 0;
}
public static uint GetNextXferID() public static uint GetNextXferID()
{ {
uint id = 0; uint id = 0;

113
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -88,8 +88,8 @@ public sealed class BSCharacter : BSPhysObject
// Old versions of ScenePresence passed only the height. If width and/or depth are zero, // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
// replace with the default values. // replace with the default values.
_size = size; _size = size;
if (_size.X == 0f) _size.X = PhysicsScene.Params.avatarCapsuleDepth; if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth; if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
// A motor to control the acceleration and deceleration of the avatar movement. // A motor to control the acceleration and deceleration of the avatar movement.
// _velocityMotor = new BSVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f); // _velocityMotor = new BSVMotor("BSCharacter.Velocity", 3f, 5f, BSMotor.InfiniteVector, 1f);
@ -108,8 +108,8 @@ public sealed class BSCharacter : BSPhysObject
_velocity = OMV.Vector3.Zero; _velocity = OMV.Vector3.Zero;
_appliedVelocity = OMV.Vector3.Zero; _appliedVelocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying); _buoyancy = ComputeBuoyancyFromFlying(isFlying);
_currentFriction = PhysicsScene.Params.avatarStandingFriction; _currentFriction = BSParam.AvatarStandingFriction;
_avatarDensity = PhysicsScene.Params.avatarDensity; _avatarDensity = BSParam.AvatarDensity;
// The dimensions of the avatar capsule are kept in the scale. // The dimensions of the avatar capsule are kept in the scale.
// Physics creates a unit capsule which is scaled by the physics engine. // Physics creates a unit capsule which is scaled by the physics engine.
@ -134,6 +134,8 @@ public sealed class BSCharacter : BSPhysObject
// called when this character is being destroyed and the resources should be released // called when this character is being destroyed and the resources should be released
public override void Destroy() public override void Destroy()
{ {
base.Destroy();
DetailLog("{0},BSCharacter.Destroy", LocalID); DetailLog("{0},BSCharacter.Destroy", LocalID);
PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
{ {
@ -156,19 +158,20 @@ public sealed class BSCharacter : BSPhysObject
_velocityMotor.Reset(); _velocityMotor.Reset();
_velocityMotor.SetCurrent(_velocity); _velocityMotor.SetCurrent(_velocity);
_velocityMotor.SetTarget(_velocity); _velocityMotor.SetTarget(_velocity);
_velocityMotor.Enabled = false;
// This will enable or disable the flying buoyancy of the avatar. // This will enable or disable the flying buoyancy of the avatar.
// Needs to be reset especially when an avatar is recreated after crossing a region boundry. // Needs to be reset especially when an avatar is recreated after crossing a region boundry.
Flying = _flying; Flying = _flying;
BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.avatarRestitution); BulletSimAPI.SetRestitution2(PhysBody.ptr, BSParam.AvatarRestitution);
BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin); BulletSimAPI.SetMargin2(PhysShape.ptr, PhysicsScene.Params.collisionMargin);
BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold); BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
if (PhysicsScene.Params.ccdMotionThreshold > 0f) if (BSParam.CcdMotionThreshold > 0f)
{ {
BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold); BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
} }
UpdatePhysicalMassProperties(RawMass); UpdatePhysicalMassProperties(RawMass);
@ -208,8 +211,8 @@ public sealed class BSCharacter : BSPhysObject
_size = value; _size = value;
// Old versions of ScenePresence passed only the height. If width and/or depth are zero, // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
// replace with the default values. // replace with the default values.
if (_size.X == 0f) _size.X = PhysicsScene.Params.avatarCapsuleDepth; if (_size.X == 0f) _size.X = BSParam.AvatarCapsuleDepth;
if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth; if (_size.Y == 0f) _size.Y = BSParam.AvatarCapsuleWidth;
ComputeAvatarScale(_size); ComputeAvatarScale(_size);
ComputeAvatarVolumeAndMass(); ComputeAvatarVolumeAndMass();
@ -433,13 +436,13 @@ public sealed class BSCharacter : BSPhysObject
OMV.Vector3 targetVel = value; OMV.Vector3 targetVel = value;
PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate() PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
{ {
float timeStep = 0.089f; // DEBUG DEBUG FIX FIX FIX
_velocityMotor.Reset(); _velocityMotor.Reset();
_velocityMotor.SetTarget(targetVel); _velocityMotor.SetTarget(targetVel);
_velocityMotor.SetCurrent(_velocity); _velocityMotor.SetCurrent(_velocity);
// Compute a velocity value and make sure it gets pushed into the avatar. _velocityMotor.Enabled = true;
// This makes sure the avatar will start from a stop.
ForceVelocity = _velocityMotor.Step(timeStep); // Make sure a property update happens next step so the motor gets incorporated.
BulletSimAPI.PushUpdate2(PhysBody.ptr);
}); });
} }
} }
@ -448,12 +451,15 @@ public sealed class BSCharacter : BSPhysObject
get { return _velocity; } get { return _velocity; }
set { set {
_velocity = value; _velocity = value;
_velocityMotor.Reset();
_velocityMotor.SetCurrent(_velocity);
_velocityMotor.SetTarget(_velocity);
// m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
{ {
_velocityMotor.Reset();
_velocityMotor.SetCurrent(_velocity);
_velocityMotor.SetTarget(_velocity);
// Even though the motor is initialized, it's not used and the velocity goes straight into the avatar.
_velocityMotor.Enabled = false;
DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
ForceVelocity = _velocity; ForceVelocity = _velocity;
}); });
@ -464,27 +470,27 @@ public sealed class BSCharacter : BSPhysObject
set { set {
PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity"); PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
_velocity = value;
// Depending on whether the avatar is moving or not, change the friction // Depending on whether the avatar is moving or not, change the friction
// to keep the avatar from slipping around // to keep the avatar from slipping around
if (_velocity.Length() == 0) if (_velocity.Length() == 0)
{ {
if (_currentFriction != PhysicsScene.Params.avatarStandingFriction) if (_currentFriction != BSParam.AvatarStandingFriction)
{ {
_currentFriction = PhysicsScene.Params.avatarStandingFriction; _currentFriction = BSParam.AvatarStandingFriction;
if (PhysBody.HasPhysicalBody) if (PhysBody.HasPhysicalBody)
BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
} }
} }
else else
{ {
if (_currentFriction != PhysicsScene.Params.avatarFriction) if (_currentFriction != BSParam.AvatarFriction)
{ {
_currentFriction = PhysicsScene.Params.avatarFriction; _currentFriction = BSParam.AvatarFriction;
if (PhysBody.HasPhysicalBody) if (PhysBody.HasPhysicalBody)
BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
} }
} }
_velocity = value;
// Remember the set velocity so we can suppress the reduction by friction, ... // Remember the set velocity so we can suppress the reduction by friction, ...
_appliedVelocity = value; _appliedVelocity = value;
@ -561,12 +567,6 @@ public sealed class BSCharacter : BSPhysObject
set { set {
_flying = value; _flying = value;
// Velocity movement is different when flying: flying velocity degrades over time.
if (_flying)
_velocityMotor.TargetValueDecayTimeScale = 1f;
else
_velocityMotor.TargetValueDecayTimeScale = BSMotor.Infinite;
// simulate flying by changing the effect of gravity // simulate flying by changing the effect of gravity
Buoyancy = ComputeBuoyancyFromFlying(_flying); Buoyancy = ComputeBuoyancyFromFlying(_flying);
} }
@ -750,39 +750,42 @@ public sealed class BSCharacter : BSPhysObject
_velocity = entprop.Velocity; _velocity = entprop.Velocity;
_acceleration = entprop.Acceleration; _acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity; _rotationalVelocity = entprop.RotationalVelocity;
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds. // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
PositionSanityCheck(true); PositionSanityCheck(true);
if (_velocityMotor.Enabled)
{
// TODO: Decide if the step parameters should be changed depending on the avatar's
// state (flying, colliding, ...).
OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep);
// If falling, we keep the world's downward vector no matter what the other axis specify.
if (!Flying && !IsColliding)
{
stepVelocity.Z = entprop.Velocity.Z;
DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
}
// If the user has said stop and we've stopped applying velocity correction,
// the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer.
if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero)
{
stepVelocity = OMV.Vector3.Zero;
_velocityMotor.Enabled = false;
DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);
}
_velocity = stepVelocity;
entprop.Velocity = _velocity;
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
}
// remember the current and last set values // remember the current and last set values
LastEntityProperties = CurrentEntityProperties; LastEntityProperties = CurrentEntityProperties;
CurrentEntityProperties = entprop; CurrentEntityProperties = entprop;
// Avatars don't respond to world friction, etc. They only go the speed I tell them too.
// Special kludge here for falling. Even though the target velocity might not have a
// Z component, the avatar could be falling (walked off a ledge, stopped flying, ...)
// and that velocity component must be retained.
float timeStep = 0.089f; // DEBUG DEBUG FIX FIX FIX
OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep);
// Remove next line so avatars don't fly up forever. DEBUG DEBUG this is only temporary.
// stepVelocity.Z += entprop.Velocity.Z;
_velocity = stepVelocity;
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
/*
OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep);
OMV.Vector3 avVel = new OMV.Vector3(stepVelocity.X, stepVelocity.Y, entprop.Velocity.Z);
_velocity = avVel;
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel);
if (entprop.Velocity != LastEntityProperties.Velocity)
{
// Changes in the velocity are suppressed in avatars.
// That's just the way they are defined.
OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
_velocity = avVel;
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel);
}
*/
// Tell the linkset about value changes // Tell the linkset about value changes
Linkset.UpdateProperties(this, true); Linkset.UpdateProperties(this, true);

2
OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs
View File

@ -122,7 +122,7 @@ public abstract class BSConstraint : IDisposable
// Setting an object's mass to zero (making it static like when it's selected) // Setting an object's mass to zero (making it static like when it's selected)
// automatically disables the constraints. // automatically disables the constraints.
// If the link is enabled, be sure to set the constraint itself to enabled. // If the link is enabled, be sure to set the constraint itself to enabled.
BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, m_world.physicsScene.NumericBool(true)); BulletSimAPI.SetConstraintEnable2(m_constraint.ptr, BSParam.NumericBool(true));
} }
else else
{ {

39
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
View File

@ -563,7 +563,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Moderate angular movement introduced by Bullet. // Moderate angular movement introduced by Bullet.
// TODO: possibly set AngularFactor and LinearFactor for the type of vehicle. // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
// Maybe compute linear and angular factor and damping from params. // Maybe compute linear and angular factor and damping from params.
float angularDamping = PhysicsScene.Params.vehicleAngularDamping; float angularDamping = BSParam.VehicleAngularDamping;
BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping); BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, angularDamping);
// Vehicles report collision events so we know when it's on the ground // Vehicles report collision events so we know when it's on the ground
@ -634,28 +634,33 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_knownHas = 0; m_knownHas = 0;
m_knownChanged = 0; m_knownChanged = 0;
} }
// Push all the changed values back into the physics engine
private void PushKnownChanged() private void PushKnownChanged()
{ {
if (m_knownChanged != 0) if (m_knownChanged != 0)
{ {
if ((m_knownChanged & m_knownChangedPosition) != 0) if ((m_knownChanged & m_knownChangedPosition) != 0)
Prim.ForcePosition = VehiclePosition; Prim.ForcePosition = m_knownPosition;
if ((m_knownChanged & m_knownChangedOrientation) != 0) if ((m_knownChanged & m_knownChangedOrientation) != 0)
Prim.ForceOrientation = VehicleOrientation; Prim.ForceOrientation = m_knownOrientation;
if ((m_knownChanged & m_knownChangedVelocity) != 0) if ((m_knownChanged & m_knownChangedVelocity) != 0)
{ {
Prim.ForceVelocity = VehicleVelocity; Prim.ForceVelocity = m_knownVelocity;
BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity); BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity);
} }
if ((m_knownChanged & m_knownChangedForce) != 0) if ((m_knownChanged & m_knownChangedForce) != 0)
Prim.AddForce((Vector3)m_knownForce, false, true); Prim.AddForce((Vector3)m_knownForce, false, true);
if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0)
{ {
Prim.ForceRotationalVelocity = VehicleRotationalVelocity; Prim.ForceRotationalVelocity = m_knownRotationalVelocity;
// Fake out Bullet by making it think the velocity is the same as last time. // Fake out Bullet by making it think the velocity is the same as last time.
BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, VehicleRotationalVelocity); BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, m_knownRotationalVelocity);
} }
if ((m_knownChanged & m_knownChangedRotationalForce) != 0) if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true); Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true);
@ -667,7 +672,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
} }
// Since the computation of terrain height can be a little involved, this routine // Since the computation of terrain height can be a little involved, this routine
// is used ot fetch the height only once for each vehicle simulation step. // is used to fetch the height only once for each vehicle simulation step.
private float GetTerrainHeight(Vector3 pos) private float GetTerrainHeight(Vector3 pos)
{ {
if ((m_knownHas & m_knownChangedTerrainHeight) == 0) if ((m_knownHas & m_knownChangedTerrainHeight) == 0)
@ -699,12 +704,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_knownPosition = Prim.ForcePosition; m_knownPosition = Prim.ForcePosition;
m_knownHas |= m_knownChangedPosition; m_knownHas |= m_knownChangedPosition;
} }
return (Vector3)m_knownPosition; return m_knownPosition;
} }
set set
{ {
m_knownPosition = value; m_knownPosition = value;
m_knownChanged |= m_knownChangedPosition; m_knownChanged |= m_knownChangedPosition;
m_knownHas |= m_knownChangedPosition;
} }
} }
@ -717,12 +723,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_knownOrientation = Prim.ForceOrientation; m_knownOrientation = Prim.ForceOrientation;
m_knownHas |= m_knownChangedOrientation; m_knownHas |= m_knownChangedOrientation;
} }
return (Quaternion)m_knownOrientation; return m_knownOrientation;
} }
set set
{ {
m_knownOrientation = value; m_knownOrientation = value;
m_knownChanged |= m_knownChangedOrientation; m_knownChanged |= m_knownChangedOrientation;
m_knownHas |= m_knownChangedOrientation;
} }
} }
@ -741,13 +748,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{ {
m_knownVelocity = value; m_knownVelocity = value;
m_knownChanged |= m_knownChangedVelocity; m_knownChanged |= m_knownChangedVelocity;
m_knownHas |= m_knownChangedVelocity;
} }
} }
private void VehicleAddForce(Vector3 aForce) private void VehicleAddForce(Vector3 aForce)
{ {
if ((m_knownHas & m_knownChangedForce) == 0)
{
m_knownForce = Vector3.Zero;
}
m_knownForce += aForce; m_knownForce += aForce;
m_knownChanged |= m_knownChangedForce; m_knownChanged |= m_knownChangedForce;
m_knownHas |= m_knownChangedForce;
} }
private Vector3 VehicleRotationalVelocity private Vector3 VehicleRotationalVelocity
@ -765,12 +778,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{ {
m_knownRotationalVelocity = value; m_knownRotationalVelocity = value;
m_knownChanged |= m_knownChangedRotationalVelocity; m_knownChanged |= m_knownChangedRotationalVelocity;
m_knownHas |= m_knownChangedRotationalVelocity;
} }
} }
private void VehicleAddAngularForce(Vector3 aForce) private void VehicleAddAngularForce(Vector3 aForce)
{ {
if ((m_knownHas & m_knownChangedRotationalForce) == 0)
{
m_knownRotationalForce = Vector3.Zero;
}
m_knownRotationalForce += aForce; m_knownRotationalForce += aForce;
m_knownChanged |= m_knownChangedRotationalForce; m_knownChanged |= m_knownChangedRotationalForce;
m_knownHas |= m_knownChangedRotationalForce;
} }
// Vehicle relative forward velocity // Vehicle relative forward velocity
private Vector3 VehicleForwardVelocity private Vector3 VehicleForwardVelocity
@ -782,7 +801,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation)); m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation));
m_knownHas |= m_knownChangedForwardVelocity; m_knownHas |= m_knownChangedForwardVelocity;
} }
return (Vector3)m_knownForwardVelocity; return m_knownForwardVelocity;
} }
} }
private float VehicleForwardSpeed private float VehicleForwardSpeed

2
OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
View File

@ -56,7 +56,7 @@ public abstract class BSLinkset
{ {
BSLinkset ret = null; BSLinkset ret = null;
switch ((int)physScene.Params.linksetImplementation) switch ((int)BSParam.LinksetImplementation)
{ {
case (int)LinksetImplementation.Constraint: case (int)LinksetImplementation.Constraint:
ret = new BSLinksetConstraints(physScene, parent); ret = new BSLinksetConstraints(physScene, parent);

14
OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
View File

@ -226,14 +226,14 @@ public sealed class BSLinksetConstraints : BSLinkset
constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero);
// tweek the constraint to increase stability // tweek the constraint to increase stability
constrain.UseFrameOffset(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintUseFrameOffset)); constrain.UseFrameOffset(BSParam.BoolNumeric(BSParam.LinkConstraintUseFrameOffset));
constrain.TranslationalLimitMotor(PhysicsScene.BoolNumeric(PhysicsScene.Params.linkConstraintEnableTransMotor), constrain.TranslationalLimitMotor(BSParam.BoolNumeric(BSParam.LinkConstraintEnableTransMotor),
PhysicsScene.Params.linkConstraintTransMotorMaxVel, BSParam.LinkConstraintTransMotorMaxVel,
PhysicsScene.Params.linkConstraintTransMotorMaxForce); BSParam.LinkConstraintTransMotorMaxForce);
constrain.SetCFMAndERP(PhysicsScene.Params.linkConstraintCFM, PhysicsScene.Params.linkConstraintERP); constrain.SetCFMAndERP(BSParam.LinkConstraintCFM, BSParam.LinkConstraintERP);
if (PhysicsScene.Params.linkConstraintSolverIterations != 0f) if (BSParam.LinkConstraintSolverIterations != 0f)
{ {
constrain.SetSolverIterations(PhysicsScene.Params.linkConstraintSolverIterations); constrain.SetSolverIterations(BSParam.LinkConstraintSolverIterations);
} }
return constrain; return constrain;
} }

32
OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
View File

@ -43,7 +43,9 @@ public abstract class BSMotor
{ {
UseName = useName; UseName = useName;
PhysicsScene = null; PhysicsScene = null;
Enabled = true;
} }
public virtual bool Enabled { get; set; }
public virtual void Reset() { } public virtual void Reset() { }
public virtual void Zero() { } public virtual void Zero() { }
public virtual void GenerateTestOutput(float timeStep) { } public virtual void GenerateTestOutput(float timeStep) { }
@ -98,6 +100,12 @@ public class BSVMotor : BSMotor
public virtual Vector3 CurrentValue { get; protected set; } public virtual Vector3 CurrentValue { get; protected set; }
public virtual Vector3 LastError { get; protected set; } public virtual Vector3 LastError { get; protected set; }
public virtual bool ErrorIsZero
{ get {
return (LastError == Vector3.Zero || LastError.LengthSquared() <= ErrorZeroThreshold);
}
}
public BSVMotor(string useName) public BSVMotor(string useName)
: base(useName) : base(useName)
{ {
@ -105,7 +113,7 @@ public class BSVMotor : BSMotor
Efficiency = 1f; Efficiency = 1f;
FrictionTimescale = BSMotor.InfiniteVector; FrictionTimescale = BSMotor.InfiniteVector;
CurrentValue = TargetValue = Vector3.Zero; CurrentValue = TargetValue = Vector3.Zero;
ErrorZeroThreshold = 0.01f; ErrorZeroThreshold = 0.001f;
} }
public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)
: this(useName) : this(useName)
@ -133,6 +141,8 @@ public class BSVMotor : BSMotor
// Compute the next step and return the new current value // Compute the next step and return the new current value
public virtual Vector3 Step(float timeStep) public virtual Vector3 Step(float timeStep)
{ {
if (!Enabled) return TargetValue;
Vector3 origTarget = TargetValue; // DEBUG Vector3 origTarget = TargetValue; // DEBUG
Vector3 origCurrVal = CurrentValue; // DEBUG Vector3 origCurrVal = CurrentValue; // DEBUG
@ -178,7 +188,7 @@ public class BSVMotor : BSMotor
{ {
// Difference between what we have and target is small. Motor is done. // Difference between what we have and target is small. Motor is done.
CurrentValue = TargetValue; CurrentValue = TargetValue;
MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={2}", MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue); BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
} }
@ -186,6 +196,8 @@ public class BSVMotor : BSMotor
} }
public virtual Vector3 Step(float timeStep, Vector3 error) public virtual Vector3 Step(float timeStep, Vector3 error)
{ {
if (!Enabled) return Vector3.Zero;
LastError = error; LastError = error;
Vector3 returnCorrection = Vector3.Zero; Vector3 returnCorrection = Vector3.Zero;
if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) if (!error.ApproxEquals(Vector3.Zero, ErrorZeroThreshold))
@ -268,12 +280,14 @@ public class BSPIDVMotor : BSVMotor
public Vector3 proportionFactor { get; set; } public Vector3 proportionFactor { get; set; }
public Vector3 integralFactor { get; set; } public Vector3 integralFactor { get; set; }
public Vector3 derivFactor { get; set; } public Vector3 derivFactor { get; set; }
// Arbritrary factor range. // Arbritrary factor range.
// EfficiencyHigh means move quickly to the correct number. EfficiencyLow means might over correct. // EfficiencyHigh means move quickly to the correct number. EfficiencyLow means might over correct.
public float EfficiencyHigh = 0.4f; public float EfficiencyHigh = 0.4f;
public float EfficiencyLow = 4.0f; public float EfficiencyLow = 4.0f;
Vector3 IntegralFactor { get; set; } // Running integration of the error
Vector3 RunningIntegration { get; set; }
public BSPIDVMotor(string useName) public BSPIDVMotor(string useName)
: base(useName) : base(useName)
@ -281,7 +295,7 @@ public class BSPIDVMotor : BSVMotor
proportionFactor = new Vector3(1.00f, 1.00f, 1.00f); proportionFactor = new Vector3(1.00f, 1.00f, 1.00f);
integralFactor = new Vector3(1.00f, 1.00f, 1.00f); integralFactor = new Vector3(1.00f, 1.00f, 1.00f);
derivFactor = new Vector3(1.00f, 1.00f, 1.00f); derivFactor = new Vector3(1.00f, 1.00f, 1.00f);
IntegralFactor = Vector3.Zero; RunningIntegration = Vector3.Zero;
LastError = Vector3.Zero; LastError = Vector3.Zero;
} }
@ -311,15 +325,21 @@ public class BSPIDVMotor : BSVMotor
// Ignore Current and Target Values and just advance the PID computation on this error. // Ignore Current and Target Values and just advance the PID computation on this error.
public override Vector3 Step(float timeStep, Vector3 error) public override Vector3 Step(float timeStep, Vector3 error)
{ {
if (!Enabled) return Vector3.Zero;
// Add up the error so we can integrate over the accumulated errors // Add up the error so we can integrate over the accumulated errors
IntegralFactor += error * timeStep; RunningIntegration += error * timeStep;
// A simple derivitive is the rate of change from the last error. // A simple derivitive is the rate of change from the last error.
Vector3 derivFactor = (error - LastError) * timeStep; Vector3 derivFactor = (error - LastError) * timeStep;
LastError = error; LastError = error;
// Correction = -(proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError) // Correction = -(proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError)
Vector3 ret = -(error * proportionFactor + IntegralFactor * integralFactor + derivFactor * derivFactor); Vector3 ret = -(
error * proportionFactor
+ RunningIntegration * integralFactor
+ derivFactor * derivFactor
);
return ret; return ret;
} }

559
OpenSim/Region/Physics/BulletSPlugin/BSParam.cs Executable file
View File

@ -0,0 +1,559 @@
/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyrightD
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the OpenSimulator Project nor the
* names of its contributors may be used to endorse or promote products
* derived from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
* EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
* WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
* DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
* ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
using System;
using System.Collections.Generic;
using System.Text;
using OpenSim.Region.Physics.Manager;
using OpenMetaverse;
using Nini.Config;
namespace OpenSim.Region.Physics.BulletSPlugin
{
public static class BSParam
{
// Level of Detail values kept as float because that's what the Meshmerizer wants
public static float MeshLOD { get; private set; }
public static float MeshMegaPrimLOD { get; private set; }
public static float MeshMegaPrimThreshold { get; private set; }
public static float SculptLOD { get; private set; }
public static float MinimumObjectMass { get; private set; }
public static float MaximumObjectMass { get; private set; }
public static float LinearDamping { get; private set; }
public static float AngularDamping { get; private set; }
public static float DeactivationTime { get; private set; }
public static float LinearSleepingThreshold { get; private set; }
public static float AngularSleepingThreshold { get; private set; }
public static float CcdMotionThreshold { get; private set; }
public static float CcdSweptSphereRadius { get; private set; }
public static float ContactProcessingThreshold { get; private set; }
public static bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed
public static bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes
public static bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects
public static float TerrainImplementation { get; private set; }
public static float TerrainFriction { get; private set; }
public static float TerrainHitFraction { get; private set; }
public static float TerrainRestitution { get; private set; }
public static float TerrainCollisionMargin { get; private set; }
// Avatar parameters
public static float AvatarFriction { get; private set; }
public static float AvatarStandingFriction { get; private set; }
public static float AvatarDensity { get; private set; }
public static float AvatarRestitution { get; private set; }
public static float AvatarCapsuleWidth { get; private set; }
public static float AvatarCapsuleDepth { get; private set; }
public static float AvatarCapsuleHeight { get; private set; }
public static float AvatarContactProcessingThreshold { get; private set; }
public static float VehicleAngularDamping { get; private set; }
public static float LinksetImplementation { get; private set; }
public static float LinkConstraintUseFrameOffset { get; private set; }
public static float LinkConstraintEnableTransMotor { get; private set; }
public static float LinkConstraintTransMotorMaxVel { get; private set; }
public static float LinkConstraintTransMotorMaxForce { get; private set; }
public static float LinkConstraintERP { get; private set; }
public static float LinkConstraintCFM { get; private set; }
public static float LinkConstraintSolverIterations { get; private set; }
public static float PID_D { get; private set; } // derivative
public static float PID_P { get; private set; } // proportional
public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
public delegate float ParamGet(BSScene scene);
public delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
public delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
public struct ParameterDefn
{
public string name; // string name of the parameter
public string desc; // a short description of what the parameter means
public float defaultValue; // default value if not specified anywhere else
public ParamUser userParam; // get the value from the configuration file
public ParamGet getter; // return the current value stored for this parameter
public ParamSet setter; // set the current value for this parameter
public SetOnObject onObject; // set the value on an object in the physical domain
public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
{
name = n;
desc = d;
defaultValue = v;
userParam = u;
getter = g;
setter = s;
onObject = null;
}
public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
{
name = n;
desc = d;
defaultValue = v;
userParam = u;
getter = g;
setter = s;
onObject = o;
}
}
// List of all of the externally visible parameters.
// For each parameter, this table maps a text name to getter and setters.
// To add a new externally referencable/settable parameter, add the paramter storage
// location somewhere in the program and make an entry in this table with the
// getters and setters.
// It is easiest to find an existing definition and copy it.
// Parameter values are floats. Booleans are converted to a floating value.
//
// A ParameterDefn() takes the following parameters:
// -- the text name of the parameter. This is used for console input and ini file.
// -- a short text description of the parameter. This shows up in the console listing.
// -- a default value (float)
// -- a delegate for fetching the parameter from the ini file.
// Should handle fetching the right type from the ini file and converting it.
// -- a delegate for getting the value as a float
// -- a delegate for setting the value from a float
// -- an optional delegate to update the value in the world. Most often used to
// push the new value to an in-world object.
//
// The single letter parameters for the delegates are:
// s = BSScene
// o = BSPhysObject
// p = string parameter name
// l = localID of referenced object
// v = value (float)
// cf = parameter configuration class (for fetching values from ini file)
private static ParameterDefn[] ParameterDefinitions =
{
new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties",
ConfigurationParameters.numericTrue,
(s,cf,p,v) => { ShouldMeshSculptedPrim = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
(s) => { return BSParam.NumericBool(ShouldMeshSculptedPrim); },
(s,p,l,v) => { ShouldMeshSculptedPrim = BSParam.BoolNumeric(v); } ),
new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
ConfigurationParameters.numericFalse,
(s,cf,p,v) => { ShouldForceSimplePrimMeshing = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
(s) => { return BSParam.NumericBool(ShouldForceSimplePrimMeshing); },
(s,p,l,v) => { ShouldForceSimplePrimMeshing = BSParam.BoolNumeric(v); } ),
new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
ConfigurationParameters.numericTrue,
(s,cf,p,v) => { ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, BSParam.BoolNumeric(v)); },
(s) => { return BSParam.NumericBool(ShouldUseHullsForPhysicalObjects); },
(s,p,l,v) => { ShouldUseHullsForPhysicalObjects = BSParam.BoolNumeric(v); } ),
new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
8f,
(s,cf,p,v) => { MeshLOD = (float)cf.GetInt(p, (int)v); },
(s) => { return MeshLOD; },
(s,p,l,v) => { MeshLOD = v; } ),
new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
16f,
(s,cf,p,v) => { MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); },
(s) => { return MeshMegaPrimLOD; },
(s,p,l,v) => { MeshMegaPrimLOD = v; } ),
new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
10f,
(s,cf,p,v) => { MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); },
(s) => { return MeshMegaPrimThreshold; },
(s,p,l,v) => { MeshMegaPrimThreshold = v; } ),
new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
32f,
(s,cf,p,v) => { SculptLOD = (float)cf.GetInt(p, (int)v); },
(s) => { return SculptLOD; },
(s,p,l,v) => { SculptLOD = v; } ),
new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps",
10f,
(s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); },
(s) => { return (float)s.m_maxSubSteps; },
(s,p,l,v) => { s.m_maxSubSteps = (int)v; } ),
new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)",
1f / 60f,
(s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); },
(s) => { return (float)s.m_fixedTimeStep; },
(s,p,l,v) => { s.m_fixedTimeStep = v; } ),
new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
2048f,
(s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); },
(s) => { return (float)s.m_maxCollisionsPerFrame; },
(s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ),
new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame",
8000f,
(s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
(s) => { return (float)s.m_maxUpdatesPerFrame; },
(s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step",
500f,
(s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); },
(s) => { return (float)s.m_taintsToProcessPerStep; },
(s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ),
new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)",
0.0001f,
(s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); },
(s) => { return (float)MinimumObjectMass; },
(s,p,l,v) => { MinimumObjectMass = v; } ),
new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
10000.01f,
(s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); },
(s) => { return (float)MaximumObjectMass; },
(s,p,l,v) => { MaximumObjectMass = v; } ),
new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
2200f,
(s,cf,p,v) => { PID_D = cf.GetFloat(p, v); },
(s) => { return (float)PID_D; },
(s,p,l,v) => { PID_D = v; } ),
new ParameterDefn("PID_P", "Parameteric factor for motion smoothing",
900f,
(s,cf,p,v) => { PID_P = cf.GetFloat(p, v); },
(s) => { return (float)PID_P; },
(s,p,l,v) => { PID_P = v; } ),
new ParameterDefn("DefaultFriction", "Friction factor used on new objects",
0.2f,
(s,cf,p,v) => { s.UnmanagedParams[0].defaultFriction = cf.GetFloat(p, v); },
(s) => { return s.UnmanagedParams[0].defaultFriction; },
(s,p,l,v) => { s.UnmanagedParams[0].defaultFriction = v; } ),
new ParameterDefn("DefaultDensity", "Density for new objects" ,
10.000006836f, // Aluminum g/cm3
(s,cf,p,v) => { s.UnmanagedParams[0].defaultDensity = cf.GetFloat(p, v); },
(s) => { return s.UnmanagedParams[0].defaultDensity; },
(s,p,l,v) => { s.UnmanagedParams[0].defaultDensity = v; } ),
new ParameterDefn("DefaultRestitution", "Bouncyness of an object" ,
0f,
(s,cf,p,v) => { s.UnmanagedParams[0].defaultRestitution = cf.GetFloat(p, v); },
(s) => { return s.UnmanagedParams[0].defaultRestitution; },
(s,p,l,v) => { s.UnmanagedParams[0].defaultRestitution = v; } ),
new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
0.04f,
(s,cf,p,v) => { s.UnmanagedParams[0].collisionMargin = cf.GetFloat(p, v); },
(s) => { return s.UnmanagedParams[0].collisionMargin; },
(s,p,l,v) => { s.UnmanagedParams[0].collisionMargin = v; } ),
new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)",
-9.80665f,
(s,cf,p,v) => { s.UnmanagedParams[0].gravity = cf.GetFloat(p, v); },
(s) => { return s.UnmanagedParams[0].gravity; },
(s,p,l,v) => { s.UpdateParameterObject((x)=>{s.UnmanagedParams[0].gravity=x;}, p, PhysParameterEntry.APPLY_TO_NONE, v); },
(s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ),
new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
0f,
(s,cf,p,v) => { LinearDamping = cf.GetFloat(p, v); },
(s) => { return LinearDamping; },
(s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearDamping=x;}, p, l, v); },
(s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, AngularDamping); } ),
new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
0f,
(s,cf,p,v) => { AngularDamping = cf.GetFloat(p, v); },
(s) => { return AngularDamping; },
(s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularDamping=x;}, p, l, v); },
(s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, LinearDamping, v); } ),
new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
0.2f,
(s,cf,p,v) => { DeactivationTime = cf.GetFloat(p, v); },
(s) => { return DeactivationTime; },
(s,p,l,v) => { s.UpdateParameterObject((x)=>{DeactivationTime=x;}, p, l, v); },
(s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ),
new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
0.8f,
(s,cf,p,v) => { LinearSleepingThreshold = cf.GetFloat(p, v); },
(s) => { return LinearSleepingThreshold; },
(s,p,l,v) => { s.UpdateParameterObject((x)=>{LinearSleepingThreshold=x;}, p, l, v); },
(s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
1.0f,
(s,cf,p,v) => { AngularSleepingThreshold = cf.GetFloat(p, v); },
(s) => { return AngularSleepingThreshold; },
(s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); },
(s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
0f, // set to zero to disable
(s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); },
(s) => { return CcdMotionThreshold; },
(s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); },
(s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ),
new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
0f,
(s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); },
(s) => { return CcdSweptSphereRadius; },
(s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); },
(s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ),
new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
0.1f,
(s,cf,p,v) => { ContactProcessingThreshold = cf.GetFloat(p, v); },
(s) => { return ContactProcessingThreshold; },
(s,p,l,v) => { s.UpdateParameterObject((x)=>{ContactProcessingThreshold=x;}, p, l, v); },
(s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ),
new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
(float)BSTerrainPhys.TerrainImplementation.Mesh,
(s,cf,p,v) => { TerrainImplementation = cf.GetFloat(p,v); },
(s) => { return TerrainImplementation; },
(s,p,l,v) => { TerrainImplementation = v; } ),
new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
0.3f,
(s,cf,p,v) => { TerrainFriction = cf.GetFloat(p, v); },
(s) => { return TerrainFriction; },
(s,p,l,v) => { TerrainFriction = v; /* TODO: set on real terrain */} ),
new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
0.8f,
(s,cf,p,v) => { TerrainHitFraction = cf.GetFloat(p, v); },
(s) => { return TerrainHitFraction; },
(s,p,l,v) => { TerrainHitFraction = v; /* TODO: set on real terrain */ } ),
new ParameterDefn("TerrainRestitution", "Bouncyness" ,
0f,
(s,cf,p,v) => { TerrainRestitution = cf.GetFloat(p, v); },
(s) => { return TerrainRestitution; },
(s,p,l,v) => { TerrainRestitution = v; /* TODO: set on real terrain */ } ),
new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" ,
0.04f,
(s,cf,p,v) => { TerrainCollisionMargin = cf.GetFloat(p, v); },
(s) => { return TerrainCollisionMargin; },
(s,p,l,v) => { TerrainCollisionMargin = v; /* TODO: set on real terrain */ } ),
new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
0.2f,
(s,cf,p,v) => { AvatarFriction = cf.GetFloat(p, v); },
(s) => { return AvatarFriction; },
(s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarFriction=x;}, p, l, v); } ),
new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
10.0f,
(s,cf,p,v) => { AvatarStandingFriction = cf.GetFloat(p, v); },
(s) => { return AvatarStandingFriction; },
(s,p,l,v) => { AvatarStandingFriction = v; } ),
new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
60f,
(s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); },
(s) => { return AvatarDensity; },
(s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ),
new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
0f,
(s,cf,p,v) => { AvatarRestitution = cf.GetFloat(p, v); },
(s) => { return AvatarRestitution; },
(s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarRestitution=x;}, p, l, v); } ),
new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
0.6f,
(s,cf,p,v) => { AvatarCapsuleWidth = cf.GetFloat(p, v); },
(s) => { return AvatarCapsuleWidth; },
(s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleWidth=x;}, p, l, v); } ),
new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
0.45f,
(s,cf,p,v) => { AvatarCapsuleDepth = cf.GetFloat(p, v); },
(s) => { return AvatarCapsuleDepth; },
(s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleDepth=x;}, p, l, v); } ),
new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
1.5f,
(s,cf,p,v) => { AvatarCapsuleHeight = cf.GetFloat(p, v); },
(s) => { return AvatarCapsuleHeight; },
(s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarCapsuleHeight=x;}, p, l, v); } ),
new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
0.1f,
(s,cf,p,v) => { AvatarContactProcessingThreshold = cf.GetFloat(p, v); },
(s) => { return AvatarContactProcessingThreshold; },
(s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarContactProcessingThreshold=x;}, p, l, v); } ),
new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
0.95f,
(s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
(s) => { return VehicleAngularDamping; },
(s,p,l,v) => { VehicleAngularDamping = v; } ),
new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
0f,
(s,cf,p,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
(s) => { return s.UnmanagedParams[0].maxPersistantManifoldPoolSize; },
(s,p,l,v) => { s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ),
new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
0f,
(s,cf,p,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
(s) => { return s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize; },
(s,p,l,v) => { s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ),
new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
ConfigurationParameters.numericFalse,
(s,cf,p,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
(s) => { return s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation; },
(s,p,l,v) => { s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = v; } ),
new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
ConfigurationParameters.numericFalse,
(s,cf,p,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
(s) => { return s.UnmanagedParams[0].shouldForceUpdateAllAabbs; },
(s,p,l,v) => { s.UnmanagedParams[0].shouldForceUpdateAllAabbs = v; } ),
new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
ConfigurationParameters.numericTrue,
(s,cf,p,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
(s) => { return s.UnmanagedParams[0].shouldRandomizeSolverOrder; },
(s,p,l,v) => { s.UnmanagedParams[0].shouldRandomizeSolverOrder = v; } ),
new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
ConfigurationParameters.numericTrue,
(s,cf,p,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
(s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; },
(s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ),
new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching",
ConfigurationParameters.numericFalse,
(s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
(s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; },
(s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ),
new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)",
0f, // zero says use Bullet default
(s,cf,p,v) => { s.UnmanagedParams[0].numberOfSolverIterations = cf.GetFloat(p, v); },
(s) => { return s.UnmanagedParams[0].numberOfSolverIterations; },
(s,p,l,v) => { s.UnmanagedParams[0].numberOfSolverIterations = v; } ),
new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
(float)BSLinkset.LinksetImplementation.Compound,
(s,cf,p,v) => { LinksetImplementation = cf.GetFloat(p,v); },
(s) => { return LinksetImplementation; },
(s,p,l,v) => { LinksetImplementation = v; } ),
new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
ConfigurationParameters.numericFalse,
(s,cf,p,v) => { LinkConstraintUseFrameOffset = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
(s) => { return LinkConstraintUseFrameOffset; },
(s,p,l,v) => { LinkConstraintUseFrameOffset = v; } ),
new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
ConfigurationParameters.numericTrue,
(s,cf,p,v) => { LinkConstraintEnableTransMotor = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
(s) => { return LinkConstraintEnableTransMotor; },
(s,p,l,v) => { LinkConstraintEnableTransMotor = v; } ),
new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
5.0f,
(s,cf,p,v) => { LinkConstraintTransMotorMaxVel = cf.GetFloat(p, v); },
(s) => { return LinkConstraintTransMotorMaxVel; },
(s,p,l,v) => { LinkConstraintTransMotorMaxVel = v; } ),
new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
0.1f,
(s,cf,p,v) => { LinkConstraintTransMotorMaxForce = cf.GetFloat(p, v); },
(s) => { return LinkConstraintTransMotorMaxForce; },
(s,p,l,v) => { LinkConstraintTransMotorMaxForce = v; } ),
new ParameterDefn("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
0.1f,
(s,cf,p,v) => { LinkConstraintCFM = cf.GetFloat(p, v); },
(s) => { return LinkConstraintCFM; },
(s,p,l,v) => { LinkConstraintCFM = v; } ),
new ParameterDefn("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
0.1f,
(s,cf,p,v) => { LinkConstraintERP = cf.GetFloat(p, v); },
(s) => { return LinkConstraintERP; },
(s,p,l,v) => { LinkConstraintERP = v; } ),
new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
40,
(s,cf,p,v) => { LinkConstraintSolverIterations = cf.GetFloat(p, v); },
(s) => { return LinkConstraintSolverIterations; },
(s,p,l,v) => { LinkConstraintSolverIterations = v; } ),
new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)",
0f,
(s,cf,p,v) => { s.UnmanagedParams[0].physicsLoggingFrames = cf.GetInt(p, (int)v); },
(s) => { return (float)s.UnmanagedParams[0].physicsLoggingFrames; },
(s,p,l,v) => { s.UnmanagedParams[0].physicsLoggingFrames = (int)v; } ),
};
// Convert a boolean to our numeric true and false values
public static float NumericBool(bool b)
{
return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse);
}
// Convert numeric true and false values to a boolean
public static bool BoolNumeric(float b)
{
return (b == ConfigurationParameters.numericTrue ? true : false);
}
// Search through the parameter definitions and return the matching
// ParameterDefn structure.
// Case does not matter as names are compared after converting to lower case.
// Returns 'false' if the parameter is not found.
internal static bool TryGetParameter(string paramName, out ParameterDefn defn)
{
bool ret = false;
ParameterDefn foundDefn = new ParameterDefn();
string pName = paramName.ToLower();
foreach (ParameterDefn parm in ParameterDefinitions)
{
if (pName == parm.name.ToLower())
{
foundDefn = parm;
ret = true;
break;
}
}
defn = foundDefn;
return ret;
}
// Pass through the settable parameters and set the default values
internal static void SetParameterDefaultValues(BSScene physicsScene)
{
foreach (ParameterDefn parm in ParameterDefinitions)
{
parm.setter(physicsScene, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue);
}
}
// Get user set values out of the ini file.
internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg)
{
foreach (ParameterDefn parm in ParameterDefinitions)
{
parm.userParam(physicsScene, cfg, parm.name, parm.defaultValue);
}
}
internal static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1];
// This creates an array in the correct format for returning the list of
// parameters. This is used by the 'list' option of the 'physics' command.
internal static void BuildParameterTable()
{
if (SettableParameters.Length < ParameterDefinitions.Length)
{
List<PhysParameterEntry> entries = new List<PhysParameterEntry>();
for (int ii = 0; ii < ParameterDefinitions.Length; ii++)
{
ParameterDefn pd = ParameterDefinitions[ii];
entries.Add(new PhysParameterEntry(pd.name, pd.desc));
}
// make the list in alphabetical order for estetic reasons
entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2)
{
return ppe1.name.CompareTo(ppe2.name);
});
SettableParameters = entries.ToArray();
}
}
}
}

63
OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
View File

@ -45,6 +45,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
* ForceVariableName: direct reference (store and fetch) to the value in the physics engine. * ForceVariableName: direct reference (store and fetch) to the value in the physics engine.
* The last two (and certainly the last one) should be referenced only in taint-time. * The last two (and certainly the last one) should be referenced only in taint-time.
*/ */
/*
* As of 20121221, the following are the call sequences (going down) for different script physical functions:
* llApplyImpulse llApplyRotImpulse llSetTorque llSetForce
* SOP.ApplyImpulse SOP.ApplyAngularImpulse SOP.SetAngularImpulse SOP.SetForce
* SOG.ApplyImpulse SOG.ApplyAngularImpulse SOG.SetAngularImpulse
* PA.AddForce PA.AddAngularForce PA.Torque = v PA.Force = v
* BS.ApplyCentralForce BS.ApplyTorque
*/
public abstract class BSPhysObject : PhysicsActor public abstract class BSPhysObject : PhysicsActor
{ {
protected BSPhysObject() protected BSPhysObject()
@ -69,6 +79,12 @@ public abstract class BSPhysObject : PhysicsActor
CollidingGroundStep = 0; CollidingGroundStep = 0;
} }
// Tell the object to clean up.
public virtual void Destroy()
{
UnRegisterAllPreStepActions();
}
public BSScene PhysicsScene { get; protected set; } public BSScene PhysicsScene { get; protected set; }
// public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor // public override uint LocalID { get; set; } // Use the LocalID definition in PhysicsActor
public string PhysObjectName { get; protected set; } public string PhysObjectName { get; protected set; }
@ -130,9 +146,6 @@ public abstract class BSPhysObject : PhysicsActor
// Update the physical location and motion of the object. Called with data from Bullet. // Update the physical location and motion of the object. Called with data from Bullet.
public abstract void UpdateProperties(EntityProperties entprop); public abstract void UpdateProperties(EntityProperties entprop);
// Tell the object to clean up.
public abstract void Destroy();
public abstract OMV.Vector3 RawPosition { get; set; } public abstract OMV.Vector3 RawPosition { get; set; }
public abstract OMV.Vector3 ForcePosition { get; set; } public abstract OMV.Vector3 ForcePosition { get; set; }
@ -140,7 +153,7 @@ public abstract class BSPhysObject : PhysicsActor
public abstract OMV.Quaternion ForceOrientation { get; set; } public abstract OMV.Quaternion ForceOrientation { get; set; }
// The system is telling us the velocity it wants to move at. // The system is telling us the velocity it wants to move at.
protected OMV.Vector3 m_targetVelocity; // protected OMV.Vector3 m_targetVelocity; // use the definition in PhysicsActor
public override OMV.Vector3 TargetVelocity public override OMV.Vector3 TargetVelocity
{ {
get { return m_targetVelocity; } get { return m_targetVelocity; }
@ -280,11 +293,53 @@ public abstract class BSPhysObject : PhysicsActor
#endregion // Collisions #endregion // Collisions
#region Per Simulation Step actions
// There are some actions that must be performed for a physical object before each simulation step.
// These actions are optional so, rather than scanning all the physical objects and asking them
// if they have anything to do, a physical object registers for an event call before the step is performed.
// This bookkeeping makes it easy to add, remove and clean up after all these registrations.
private Dictionary<string, BSScene.PreStepAction> RegisteredActions = new Dictionary<string, BSScene.PreStepAction>();
protected void RegisterPreStepAction(string op, uint id, BSScene.PreStepAction actn)
{
string identifier = op + "-" + id.ToString();
RegisteredActions[identifier] = actn;
PhysicsScene.BeforeStep += actn;
DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
}
// Unregister a pre step action. Safe to call if the action has not been registered.
protected void UnRegisterPreStepAction(string op, uint id)
{
string identifier = op + "-" + id.ToString();
bool removed = false;
if (RegisteredActions.ContainsKey(identifier))
{
PhysicsScene.BeforeStep -= RegisteredActions[identifier];
RegisteredActions.Remove(identifier);
removed = true;
}
DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
}
protected void UnRegisterAllPreStepActions()
{
foreach (KeyValuePair<string, BSScene.PreStepAction> kvp in RegisteredActions)
{
PhysicsScene.BeforeStep -= kvp.Value;
}
RegisteredActions.Clear();
DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
}
#endregion // Per Simulation Step actions
// High performance detailed logging routine used by the physical objects. // High performance detailed logging routine used by the physical objects.
protected void DetailLog(string msg, params Object[] args) protected void DetailLog(string msg, params Object[] args)
{ {
if (PhysicsScene.PhysicsLogging.Enabled) if (PhysicsScene.PhysicsLogging.Enabled)
PhysicsScene.DetailLog(msg, args); PhysicsScene.DetailLog(msg, args);
} }
} }
} }

192
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -129,6 +129,7 @@ public sealed class BSPrim : BSPhysObject
public override void Destroy() public override void Destroy()
{ {
// m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
base.Destroy();
// Undo any links between me and any other object // Undo any links between me and any other object
BSPhysObject parentBefore = Linkset.LinksetRoot; BSPhysObject parentBefore = Linkset.LinksetRoot;
@ -434,12 +435,26 @@ public sealed class BSPrim : BSPhysObject
get { return _force; } get { return _force; }
set { set {
_force = value; _force = value;
PhysicsScene.TaintedObject("BSPrim.setForce", delegate() if (_force != OMV.Vector3.Zero)
{ {
// DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); // If the force is non-zero, it must be reapplied each tick because
if (PhysBody.HasPhysicalBody) // Bullet clears the forces applied last frame.
BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); RegisterPreStepAction("BSPrim.setForce", LocalID,
}); delegate(float timeStep)
{
DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
if (PhysBody.HasPhysicalBody)
{
BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force);
ActivateIfPhysical(false);
}
}
);
}
else
{
UnRegisterPreStepAction("BSPrim.setForce", LocalID);
}
} }
} }
@ -450,15 +465,18 @@ public sealed class BSPrim : BSPhysObject
set { set {
Vehicle type = (Vehicle)value; Vehicle type = (Vehicle)value;
// Tell the scene about the vehicle so it will get processing each frame.
PhysicsScene.VehicleInSceneTypeChanged(this, type);
PhysicsScene.TaintedObject("setVehicleType", delegate() PhysicsScene.TaintedObject("setVehicleType", delegate()
{ {
// 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); ActivateIfPhysical(false);
// If an active vehicle, register the vehicle code to be called before each step
if (_vehicle.Type == Vehicle.TYPE_NONE)
UnRegisterPreStepAction("BSPrim.Vehicle", LocalID);
else
RegisterPreStepAction("BSPrim.Vehicle", LocalID, _vehicle.Step);
}); });
} }
} }
@ -494,23 +512,6 @@ public sealed class BSPrim : BSPhysObject
}); });
} }
// Called each simulation step to advance vehicle characteristics.
// Called from Scene when doing simulation step so we're in taint processing time.
public override void StepVehicle(float timeStep)
{
if (IsPhysical && _vehicle.IsActive)
{
_vehicle.Step(timeStep);
/* // TEST TEST DEBUG DEBUG -- trying to reduce the extra action of Bullet simulation step
PhysicsScene.PostTaintObject("BSPrim.StepVehicles", LocalID, delegate()
{
// This resets the interpolation values and recomputes the tensor variables
BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation);
});
*/
}
}
// Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more // Allows the detection of collisions with inherently non-physical prims. see llVolumeDetect for more
public override void SetVolumeDetect(int param) { public override void SetVolumeDetect(int param) {
bool newValue = (param != 0); bool newValue = (param != 0);
@ -543,14 +544,32 @@ public sealed class BSPrim : BSPhysObject
_velocity = value; _velocity = value;
if (PhysBody.HasPhysicalBody) if (PhysBody.HasPhysicalBody)
{
BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
ActivateIfPhysical(false);
}
} }
} }
public override OMV.Vector3 Torque { public override OMV.Vector3 Torque {
get { return _torque; } get { return _torque; }
set { set {
_torque = value; _torque = value;
AddAngularForce(_torque, false, false); if (_torque != OMV.Vector3.Zero)
{
// If the torque is non-zero, it must be reapplied each tick because
// Bullet clears the forces applied last frame.
RegisterPreStepAction("BSPrim.setTorque", LocalID,
delegate(float timeStep)
{
if (PhysBody.HasPhysicalBody)
AddAngularForce(_torque, false, true);
}
);
}
else
{
UnRegisterPreStepAction("BSPrim.setTorque", LocalID);
}
// DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
} }
} }
@ -720,10 +739,10 @@ public sealed class BSPrim : BSPhysObject
// Mass is zero which disables a bunch of physics stuff in Bullet // Mass is zero which disables a bunch of physics stuff in Bullet
UpdatePhysicalMassProperties(0f); UpdatePhysicalMassProperties(0f);
// Set collision detection parameters // Set collision detection parameters
if (PhysicsScene.Params.ccdMotionThreshold > 0f) if (BSParam.CcdMotionThreshold > 0f)
{ {
BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold); BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
} }
// The activation state is 'disabled' so Bullet will not try to act on it. // The activation state is 'disabled' so Bullet will not try to act on it.
@ -761,17 +780,17 @@ public sealed class BSPrim : BSPhysObject
UpdatePhysicalMassProperties(RawMass); UpdatePhysicalMassProperties(RawMass);
// Set collision detection parameters // Set collision detection parameters
if (PhysicsScene.Params.ccdMotionThreshold > 0f) if (BSParam.CcdMotionThreshold > 0f)
{ {
BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, PhysicsScene.Params.ccdMotionThreshold); BulletSimAPI.SetCcdMotionThreshold2(PhysBody.ptr, BSParam.CcdMotionThreshold);
BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
} }
// Various values for simulation limits // Various values for simulation limits
BulletSimAPI.SetDamping2(PhysBody.ptr, PhysicsScene.Params.linearDamping, PhysicsScene.Params.angularDamping); BulletSimAPI.SetDamping2(PhysBody.ptr, BSParam.LinearDamping, BSParam.AngularDamping);
BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, PhysicsScene.Params.deactivationTime); BulletSimAPI.SetDeactivationTime2(PhysBody.ptr, BSParam.DeactivationTime);
BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold); BulletSimAPI.SetSleepingThresholds2(PhysBody.ptr, BSParam.LinearSleepingThreshold, BSParam.AngularSleepingThreshold);
BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, PhysicsScene.Params.contactProcessingThreshold); BulletSimAPI.SetContactProcessingThreshold2(PhysBody.ptr, BSParam.ContactProcessingThreshold);
// This collides like an object. // This collides like an object.
PhysBody.collisionType = CollisionType.Dynamic; PhysBody.collisionType = CollisionType.Dynamic;
@ -819,7 +838,7 @@ public sealed class BSPrim : BSPhysObject
// Called in taint-time!! // Called in taint-time!!
private void ActivateIfPhysical(bool forceIt) private void ActivateIfPhysical(bool forceIt)
{ {
if (IsPhysical) if (IsPhysical && PhysBody.HasPhysicalBody)
BulletSimAPI.Activate2(PhysBody.ptr, forceIt); BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
} }
@ -893,8 +912,7 @@ public sealed class BSPrim : BSPhysObject
PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
{ {
DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
if (PhysBody.HasPhysicalBody) ForceRotationalVelocity = _rotationalVelocity;
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
}); });
} }
} }
@ -904,7 +922,11 @@ public sealed class BSPrim : BSPhysObject
} }
set { set {
_rotationalVelocity = value; _rotationalVelocity = value;
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); if (PhysBody.HasPhysicalBody)
{
BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
ActivateIfPhysical(false);
}
} }
} }
public override bool Kinematic { public override bool Kinematic {
@ -933,6 +955,7 @@ public sealed class BSPrim : BSPhysObject
{ {
float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
ActivateIfPhysical(false);
} }
} }
} }
@ -969,56 +992,35 @@ public sealed class BSPrim : BSPhysObject
public override float APIDStrength { set { return; } } public override float APIDStrength { set { return; } }
public override float APIDDamping { set { return; } } public override float APIDDamping { set { return; } }
private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>();
public override void AddForce(OMV.Vector3 force, bool pushforce) { public override void AddForce(OMV.Vector3 force, bool pushforce) {
AddForce(force, pushforce, false); AddForce(force, pushforce, false);
} }
// Applying a force just adds this to the total force on the object. // Applying a force just adds this to the total force on the object.
// This added force will only last the next simulation tick.
public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
// for an object, doesn't matter if force is a pushforce or not // for an object, doesn't matter if force is a pushforce or not
if (force.IsFinite()) if (force.IsFinite())
{ {
// _force += force; OMV.Vector3 addForce = force;
lock (m_accumulatedForces) DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
m_accumulatedForces.Add(new OMV.Vector3(force)); PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
{
// Bullet adds this central force to the total force for this tick
DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
if (PhysBody.HasPhysicalBody)
{
BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce);
ActivateIfPhysical(false);
}
});
} }
else else
{ {
m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
return; return;
} }
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
{
OMV.Vector3 fSum = OMV.Vector3.Zero;
lock (m_accumulatedForces)
{
// Sum the accumulated additional forces for one big force to apply once.
foreach (OMV.Vector3 v in m_accumulatedForces)
{
fSum += v;
}
m_accumulatedForces.Clear();
}
DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum);
if (fSum != OMV.Vector3.Zero)
if (PhysBody.HasPhysicalBody)
BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum);
});
} }
// An impulse force is scaled by the mass of the object.
public void ApplyForceImpulse(OMV.Vector3 impulse, bool inTaintTime)
{
OMV.Vector3 applyImpulse = impulse;
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyForceImpulse", delegate()
{
DetailLog("{0},BSPrim.ApplyForceImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
if (PhysBody.HasPhysicalBody)
BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse);
});
}
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) {
AddAngularForce(force, pushforce, false); AddAngularForce(force, pushforce, false);
} }
@ -1026,36 +1028,23 @@ public sealed class BSPrim : BSPhysObject
{ {
if (force.IsFinite()) if (force.IsFinite())
{ {
// _force += force; OMV.Vector3 angForce = force;
lock (m_accumulatedAngularForces) PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
m_accumulatedAngularForces.Add(new OMV.Vector3(force)); {
if (PhysBody.HasPhysicalBody)
{
BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce);
ActivateIfPhysical(false);
}
});
} }
else else
{ {
m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
return; return;
} }
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", 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)
{
if (PhysBody.HasPhysicalBody)
BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum);
_torque = fSum;
}
});
} }
// A torque impulse. // A torque impulse.
// ApplyTorqueImpulse adds torque directly to the angularVelocity. // ApplyTorqueImpulse adds torque directly to the angularVelocity.
// AddAngularForce accumulates the force and applied it to the angular velocity all at once. // AddAngularForce accumulates the force and applied it to the angular velocity all at once.
@ -1066,7 +1055,10 @@ public sealed class BSPrim : BSPhysObject
PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate() PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
{ {
if (PhysBody.HasPhysicalBody) if (PhysBody.HasPhysicalBody)
{
BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
ActivateIfPhysical(false);
}
}); });
} }
@ -1361,11 +1353,7 @@ public sealed class BSPrim : BSPhysObject
} }
*/ */
if (returnMass <= 0) returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
returnMass = 0.0001f;
if (returnMass > PhysicsScene.MaximumObjectMass)
returnMass = PhysicsScene.MaximumObjectMass;
return returnMass; return returnMass;
}// end CalculateMass }// end CalculateMass

748
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -69,20 +69,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
// every tick so OpenSim will update its animation. // every tick so OpenSim will update its animation.
private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>(); private HashSet<BSPhysObject> m_avatars = new HashSet<BSPhysObject>();
// List of all the objects that have vehicle properties and should be called
// to update each physics step.
private List<BSPhysObject> m_vehicles = new List<BSPhysObject>();
// let my minuions use my logger // let my minuions use my logger
public ILog Logger { get { return m_log; } } public ILog Logger { get { return m_log; } }
public IMesher mesher; public IMesher mesher;
// Level of Detail values kept as float because that's what the Meshmerizer wants
public float MeshLOD { get; private set; }
public float MeshMegaPrimLOD { get; private set; }
public float MeshMegaPrimThreshold { get; private set; }
public float SculptLOD { get; private set; }
public uint WorldID { get; private set; } public uint WorldID { get; private set; }
public BulletSim World { get; private set; } public BulletSim World { get; private set; }
@ -90,24 +80,18 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
public BSConstraintCollection Constraints { get; private set; } public BSConstraintCollection Constraints { get; private set; }
// Simulation parameters // Simulation parameters
private int m_maxSubSteps; internal int m_maxSubSteps;
private float m_fixedTimeStep; internal float m_fixedTimeStep;
private long m_simulationStep = 0; internal long m_simulationStep = 0;
public long SimulationStep { get { return m_simulationStep; } } public long SimulationStep { get { return m_simulationStep; } }
private int m_taintsToProcessPerStep; internal int m_taintsToProcessPerStep;
internal float LastTimeStep { get; private set; }
// Avatar parameters
public float ParamAvatarFriction { get; private set; }
public float ParamAvatarStandingFriction { get; private set; }
public float ParamAvatarDensity { get; private set; }
public float ParamAvatarRestitution { get; private set; }
public float ParamAvatarCapsuleWidth { get; private set; }
public float ParamAvatarCapsuleDepth { get; private set; }
public float ParamAvatarCapsuleHeight { get; private set; }
public float ParamAvatarContactProcessingThreshold { get; private set; }
// Physical objects can register for prestep or poststep events
public delegate void PreStepAction(float timeStep); public delegate void PreStepAction(float timeStep);
public delegate void PostStepAction(float timeStep);
public event PreStepAction BeforeStep; public event PreStepAction BeforeStep;
public event PreStepAction AfterStep;
// A value of the time now so all the collision and update routines do not have to get their own // A value of the time now so all the collision and update routines do not have to get their own
// Set to 'now' just before all the prims and actors are called for collisions and updates // Set to 'now' just before all the prims and actors are called for collisions and updates
@ -121,20 +105,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
public bool InTaintTime { get; private set; } public bool InTaintTime { get; private set; }
// Pinned memory used to pass step information between managed and unmanaged // Pinned memory used to pass step information between managed and unmanaged
private int m_maxCollisionsPerFrame; internal int m_maxCollisionsPerFrame;
private CollisionDesc[] m_collisionArray; internal CollisionDesc[] m_collisionArray;
private GCHandle m_collisionArrayPinnedHandle; internal GCHandle m_collisionArrayPinnedHandle;
private int m_maxUpdatesPerFrame; internal int m_maxUpdatesPerFrame;
private EntityProperties[] m_updateArray; internal EntityProperties[] m_updateArray;
private GCHandle m_updateArrayPinnedHandle; internal GCHandle m_updateArrayPinnedHandle;
public bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed
public bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes
public bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects
public float PID_D { get; private set; } // derivative
public float PID_P { get; private set; } // proportional
public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero
public const uint GROUNDPLANE_ID = 1; public const uint GROUNDPLANE_ID = 1;
@ -145,7 +122,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
public ConfigurationParameters Params public ConfigurationParameters Params
{ {
get { return m_params[0]; } get { return UnmanagedParams[0]; }
} }
public Vector3 DefaultGravity public Vector3 DefaultGravity
{ {
@ -157,8 +134,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
get { return Params.gravity; } get { return Params.gravity; }
} }
public float MaximumObjectMass { get; private set; }
// When functions in the unmanaged code must be called, it is only // When functions in the unmanaged code must be called, it is only
// done at a known time just before the simulation step. The taint // done at a known time just before the simulation step. The taint
// system saves all these function calls and executes them in // system saves all these function calls and executes them in
@ -181,7 +156,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
// A pointer to an instance if this structure is passed to the C++ code // A pointer to an instance if this structure is passed to the C++ code
// Used to pass basic configuration values to the unmanaged code. // Used to pass basic configuration values to the unmanaged code.
ConfigurationParameters[] m_params; internal ConfigurationParameters[] UnmanagedParams;
GCHandle m_paramsHandle; GCHandle m_paramsHandle;
// Handle to the callback used by the unmanaged code to call into the managed code. // Handle to the callback used by the unmanaged code to call into the managed code.
@ -218,8 +193,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
Shapes = new BSShapeCollection(this); Shapes = new BSShapeCollection(this);
// Allocate pinned memory to pass parameters. // Allocate pinned memory to pass parameters.
m_params = new ConfigurationParameters[1]; UnmanagedParams = new ConfigurationParameters[1];
m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned); m_paramsHandle = GCHandle.Alloc(UnmanagedParams, GCHandleType.Pinned);
// Set default values for physics parameters plus any overrides from the ini file // Set default values for physics parameters plus any overrides from the ini file
GetInitialParameterValues(config); GetInitialParameterValues(config);
@ -277,7 +252,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
TerrainManager = new BSTerrainManager(this); TerrainManager = new BSTerrainManager(this);
TerrainManager.CreateInitialGroundPlaneAndTerrain(); TerrainManager.CreateInitialGroundPlaneAndTerrain();
m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)Params.linksetImplementation); m_log.WarnFormat("{0} Linksets implemented with {1}", LogHeader, (BSLinkset.LinksetImplementation)BSParam.LinksetImplementation);
InTaintTime = false; InTaintTime = false;
m_initialized = true; m_initialized = true;
@ -288,9 +263,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
private void GetInitialParameterValues(IConfigSource config) private void GetInitialParameterValues(IConfigSource config)
{ {
ConfigurationParameters parms = new ConfigurationParameters(); ConfigurationParameters parms = new ConfigurationParameters();
m_params[0] = parms; UnmanagedParams[0] = parms;
SetParameterDefaultValues(); BSParam.SetParameterDefaultValues(this);
if (config != null) if (config != null)
{ {
@ -298,7 +273,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
IConfig pConfig = config.Configs["BulletSim"]; IConfig pConfig = config.Configs["BulletSim"];
if (pConfig != null) if (pConfig != null)
{ {
SetParameterConfigurationValues(pConfig); BSParam.SetParameterConfigurationValues(this, pConfig);
// Very detailed logging for physics debugging // Very detailed logging for physics debugging
m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
@ -492,6 +467,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
// Simulate one timestep // Simulate one timestep
public override float Simulate(float timeStep) public override float Simulate(float timeStep)
{ {
// prevent simulation until we've been initialized
if (!m_initialized) return 5.0f;
LastTimeStep = timeStep;
int updatedEntityCount = 0; int updatedEntityCount = 0;
IntPtr updatedEntitiesPtr; IntPtr updatedEntitiesPtr;
int collidersCount = 0; int collidersCount = 0;
@ -500,26 +480,27 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
int beforeTime = 0; int beforeTime = 0;
int simTime = 0; int simTime = 0;
// prevent simulation until we've been initialized
if (!m_initialized) return 5.0f;
// update the prim states while we know the physics engine is not busy // update the prim states while we know the physics engine is not busy
int numTaints = _taintOperations.Count; int numTaints = _taintOperations.Count;
InTaintTime = true; // Only used for debugging so locking is not necessary.
ProcessTaints(); ProcessTaints();
// Some of the prims operate with special vehicle properties // Some of the physical objects requre individual, pre-step calls
DoPreStepActions(timeStep); TriggerPreStepEvent(timeStep);
// the prestep actions might have added taints // the prestep actions might have added taints
ProcessTaints(); ProcessTaints();
InTaintTime = false; // Only used for debugging so locking is not necessary.
// step the physical world one interval // step the physical world one interval
m_simulationStep++; m_simulationStep++;
int numSubSteps = 0; int numSubSteps = 0;
try try
{ {
if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG
if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
@ -529,7 +510,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}", DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps,
updatedEntityCount, collidersCount, ObjectsWithCollisions.Count); updatedEntityCount, collidersCount, ObjectsWithCollisions.Count);
if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG
} }
catch (Exception e) catch (Exception e)
{ {
@ -608,7 +588,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
} }
} }
ProcessPostStepTaints(); TriggerPostStepEvent(timeStep);
// The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
// Only enable this in a limited test world with few objects. // Only enable this in a limited test world with few objects.
@ -700,6 +680,15 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
public override bool IsThreaded { get { return false; } } public override bool IsThreaded { get { return false; } }
#region Taints #region Taints
// The simulation execution order is:
// Simulate()
// DoOneTimeTaints
// TriggerPreStepEvent
// DoOneTimeTaints
// Step()
// ProcessAndForwardCollisions
// ProcessAndForwardPropertyUpdates
// TriggerPostStepEvent
// Calls to the PhysicsActors can't directly call into the physics engine // Calls to the PhysicsActors can't directly call into the physics engine
// because it might be busy. We delay changes to a known time. // because it might be busy. We delay changes to a known time.
@ -726,58 +715,35 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
TaintedObject(ident, callback); TaintedObject(ident, callback);
} }
private void TriggerPreStepEvent(float timeStep)
{
PreStepAction actions = BeforeStep;
if (actions != null)
actions(timeStep);
}
private void TriggerPostStepEvent(float timeStep)
{
PreStepAction actions = AfterStep;
if (actions != null)
actions(timeStep);
}
// When someone tries to change a property on a BSPrim or BSCharacter, the object queues // When someone tries to change a property on a BSPrim or BSCharacter, the object queues
// a callback into itself to do the actual property change. That callback is called // a callback into itself to do the actual property change. That callback is called
// here just before the physics engine is called to step the simulation. // here just before the physics engine is called to step the simulation.
public void ProcessTaints() public void ProcessTaints()
{ {
InTaintTime = true; // Only used for debugging so locking is not necessary.
ProcessRegularTaints(); ProcessRegularTaints();
ProcessPostTaintTaints(); ProcessPostTaintTaints();
InTaintTime = false;
} }
private void ProcessRegularTaints() private void ProcessRegularTaints()
{ {
if (_taintOperations.Count > 0) // save allocating new list if there is nothing to process if (_taintOperations.Count > 0) // save allocating new list if there is nothing to process
{ {
/*
// Code to limit the number of taints processed per step. Meant to limit step time.
// Unsure if a good idea as code assumes that taints are done before the step.
int taintCount = m_taintsToProcessPerStep;
TaintCallbackEntry oneCallback = new TaintCallbackEntry();
while (_taintOperations.Count > 0 && taintCount-- > 0)
{
bool gotOne = false;
lock (_taintLock)
{
if (_taintOperations.Count > 0)
{
oneCallback = _taintOperations[0];
_taintOperations.RemoveAt(0);
gotOne = true;
}
}
if (gotOne)
{
try
{
DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident);
oneCallback.callback();
}
catch (Exception e)
{
DetailLog("{0},BSScene.ProcessTaints,doTaintException,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG
m_log.ErrorFormat("{0}: ProcessTaints: {1}: Exception: {2}", LogHeader, oneCallback.ident, e);
}
}
}
if (_taintOperations.Count > 0)
{
DetailLog("{0},BSScene.ProcessTaints,leftTaintsOnList,numNotProcessed={1}", DetailLogZero, _taintOperations.Count);
}
*/
// swizzle a new list into the list location so we can process what's there // swizzle a new list into the list location so we can process what's there
List<TaintCallbackEntry> oldList; List<TaintCallbackEntry> oldList;
lock (_taintLock) lock (_taintLock)
@ -816,6 +782,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
return; return;
} }
// Taints that happen after the normal taint processing but before the simulation step.
private void ProcessPostTaintTaints() private void ProcessPostTaintTaints()
{ {
if (_postTaintOperations.Count > 0) if (_postTaintOperations.Count > 0)
@ -843,45 +810,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
} }
} }
public void PostStepTaintObject(String ident, TaintCallback callback)
{
if (!m_initialized) return;
lock (_taintLock)
{
_postStepOperations.Add(new TaintCallbackEntry(ident, callback));
}
return;
}
private void ProcessPostStepTaints()
{
if (_postStepOperations.Count > 0)
{
List<TaintCallbackEntry> oldList;
lock (_taintLock)
{
oldList = _postStepOperations;
_postStepOperations = new List<TaintCallbackEntry>();
}
foreach (TaintCallbackEntry tcbe in oldList)
{
try
{
DetailLog("{0},BSScene.ProcessPostStepTaints,doTaint,id={1}", DetailLogZero, tcbe.ident); // DEBUG DEBUG DEBUG
tcbe.callback();
}
catch (Exception e)
{
m_log.ErrorFormat("{0}: ProcessPostStepTaints: {1}: Exception: {2}", LogHeader, tcbe.ident, e);
}
}
oldList.Clear();
}
}
// Only used for debugging. Does not change state of anything so locking is not necessary. // Only used for debugging. Does not change state of anything so locking is not necessary.
public bool AssertInTaintTime(string whereFrom) public bool AssertInTaintTime(string whereFrom)
{ {
@ -889,540 +817,21 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
{ {
DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom); DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom); m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
Util.PrintCallStack(); // Prints the stack into the DEBUG log file. Util.PrintCallStack(DetailLog);
} }
return InTaintTime; return InTaintTime;
} }
#endregion // Taints #endregion // Taints
#region Vehicles
public void VehicleInSceneTypeChanged(BSPrim vehic, Vehicle newType)
{
RemoveVehiclePrim(vehic);
if (newType != Vehicle.TYPE_NONE)
{
// make it so the scene will call us each tick to do vehicle things
AddVehiclePrim(vehic);
}
}
// Make so the scene will call this prim for vehicle actions each tick.
// Safe to call if prim is already in the vehicle list.
public void AddVehiclePrim(BSPrim vehicle)
{
lock (m_vehicles)
{
if (!m_vehicles.Contains(vehicle))
{
m_vehicles.Add(vehicle);
}
}
}
// Remove a prim from our list of vehicles.
// Safe to call if the prim is not in the vehicle list.
public void RemoveVehiclePrim(BSPrim vehicle)
{
lock (m_vehicles)
{
if (m_vehicles.Contains(vehicle))
{
m_vehicles.Remove(vehicle);
}
}
}
private void DoPreStepActions(float timeStep)
{
ProcessVehicles(timeStep);
PreStepAction actions = BeforeStep;
if (actions != null)
actions(timeStep);
}
// Some prims have extra vehicle actions
// Called at taint time!
private void ProcessVehicles(float timeStep)
{
foreach (BSPhysObject pobj in m_vehicles)
{
pobj.StepVehicle(timeStep);
}
}
#endregion Vehicles
#region INI and command line parameter processing #region INI and command line parameter processing
delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
delegate float ParamGet(BSScene scene);
delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val);
private struct ParameterDefn
{
public string name; // string name of the parameter
public string desc; // a short description of what the parameter means
public float defaultValue; // default value if not specified anywhere else
public ParamUser userParam; // get the value from the configuration file
public ParamGet getter; // return the current value stored for this parameter
public ParamSet setter; // set the current value for this parameter
public SetOnObject onObject; // set the value on an object in the physical domain
public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s)
{
name = n;
desc = d;
defaultValue = v;
userParam = u;
getter = g;
setter = s;
onObject = null;
}
public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o)
{
name = n;
desc = d;
defaultValue = v;
userParam = u;
getter = g;
setter = s;
onObject = o;
}
}
// List of all of the externally visible parameters.
// For each parameter, this table maps a text name to getter and setters.
// To add a new externally referencable/settable parameter, add the paramter storage
// location somewhere in the program and make an entry in this table with the
// getters and setters.
// It is easiest to find an existing definition and copy it.
// Parameter values are floats. Booleans are converted to a floating value.
//
// A ParameterDefn() takes the following parameters:
// -- the text name of the parameter. This is used for console input and ini file.
// -- a short text description of the parameter. This shows up in the console listing.
// -- a delegate for fetching the parameter from the ini file.
// Should handle fetching the right type from the ini file and converting it.
// -- a delegate for getting the value as a float
// -- a delegate for setting the value from a float
// -- an optional delegate to update the value in the world. Most often used to
// push the new value to an in-world object.
//
// The single letter parameters for the delegates are:
// s = BSScene
// o = BSPhysObject
// p = string parameter name
// l = localID of referenced object
// v = float value
// cf = parameter configuration class (for fetching values from ini file)
private ParameterDefn[] ParameterDefinitions =
{
new ParameterDefn("MeshSculptedPrim", "Whether to create meshes for sculpties",
ConfigurationParameters.numericTrue,
(s,cf,p,v) => { s.ShouldMeshSculptedPrim = cf.GetBoolean(p, s.BoolNumeric(v)); },
(s) => { return s.NumericBool(s.ShouldMeshSculptedPrim); },
(s,p,l,v) => { s.ShouldMeshSculptedPrim = s.BoolNumeric(v); } ),
new ParameterDefn("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
ConfigurationParameters.numericFalse,
(s,cf,p,v) => { s.ShouldForceSimplePrimMeshing = cf.GetBoolean(p, s.BoolNumeric(v)); },
(s) => { return s.NumericBool(s.ShouldForceSimplePrimMeshing); },
(s,p,l,v) => { s.ShouldForceSimplePrimMeshing = s.BoolNumeric(v); } ),
new ParameterDefn("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
ConfigurationParameters.numericTrue,
(s,cf,p,v) => { s.ShouldUseHullsForPhysicalObjects = cf.GetBoolean(p, s.BoolNumeric(v)); },
(s) => { return s.NumericBool(s.ShouldUseHullsForPhysicalObjects); },
(s,p,l,v) => { s.ShouldUseHullsForPhysicalObjects = s.BoolNumeric(v); } ),
new ParameterDefn("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
8f,
(s,cf,p,v) => { s.MeshLOD = (float)cf.GetInt(p, (int)v); },
(s) => { return s.MeshLOD; },
(s,p,l,v) => { s.MeshLOD = v; } ),
new ParameterDefn("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
16f,
(s,cf,p,v) => { s.MeshMegaPrimLOD = (float)cf.GetInt(p, (int)v); },
(s) => { return s.MeshMegaPrimLOD; },
(s,p,l,v) => { s.MeshMegaPrimLOD = v; } ),
new ParameterDefn("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
10f,
(s,cf,p,v) => { s.MeshMegaPrimThreshold = (float)cf.GetInt(p, (int)v); },
(s) => { return s.MeshMegaPrimThreshold; },
(s,p,l,v) => { s.MeshMegaPrimThreshold = v; } ),
new ParameterDefn("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
32f,
(s,cf,p,v) => { s.SculptLOD = (float)cf.GetInt(p, (int)v); },
(s) => { return s.SculptLOD; },
(s,p,l,v) => { s.SculptLOD = v; } ),
new ParameterDefn("MaxSubStep", "In simulation step, maximum number of substeps",
10f,
(s,cf,p,v) => { s.m_maxSubSteps = cf.GetInt(p, (int)v); },
(s) => { return (float)s.m_maxSubSteps; },
(s,p,l,v) => { s.m_maxSubSteps = (int)v; } ),
new ParameterDefn("FixedTimeStep", "In simulation step, seconds of one substep (1/60)",
1f / 60f,
(s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); },
(s) => { return (float)s.m_fixedTimeStep; },
(s,p,l,v) => { s.m_fixedTimeStep = v; } ),
new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
2048f,
(s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); },
(s) => { return (float)s.m_maxCollisionsPerFrame; },
(s,p,l,v) => { s.m_maxCollisionsPerFrame = (int)v; } ),
new ParameterDefn("MaxUpdatesPerFrame", "Max updates returned at end of each frame",
8000f,
(s,cf,p,v) => { s.m_maxUpdatesPerFrame = cf.GetInt(p, (int)v); },
(s) => { return (float)s.m_maxUpdatesPerFrame; },
(s,p,l,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
new ParameterDefn("MaxTaintsToProcessPerStep", "Number of update taints to process before each simulation step",
500f,
(s,cf,p,v) => { s.m_taintsToProcessPerStep = cf.GetInt(p, (int)v); },
(s) => { return (float)s.m_taintsToProcessPerStep; },
(s,p,l,v) => { s.m_taintsToProcessPerStep = (int)v; } ),
new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
10000.01f,
(s,cf,p,v) => { s.MaximumObjectMass = cf.GetFloat(p, v); },
(s) => { return (float)s.MaximumObjectMass; },
(s,p,l,v) => { s.MaximumObjectMass = v; } ),
new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
2200f,
(s,cf,p,v) => { s.PID_D = cf.GetFloat(p, v); },
(s) => { return (float)s.PID_D; },
(s,p,l,v) => { s.PID_D = v; } ),
new ParameterDefn("PID_P", "Parameteric factor for motion smoothing",
900f,
(s,cf,p,v) => { s.PID_P = cf.GetFloat(p, v); },
(s) => { return (float)s.PID_P; },
(s,p,l,v) => { s.PID_P = v; } ),
new ParameterDefn("DefaultFriction", "Friction factor used on new objects",
0.2f,
(s,cf,p,v) => { s.m_params[0].defaultFriction = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].defaultFriction; },
(s,p,l,v) => { s.m_params[0].defaultFriction = v; } ),
new ParameterDefn("DefaultDensity", "Density for new objects" ,
10.000006836f, // Aluminum g/cm3
(s,cf,p,v) => { s.m_params[0].defaultDensity = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].defaultDensity; },
(s,p,l,v) => { s.m_params[0].defaultDensity = v; } ),
new ParameterDefn("DefaultRestitution", "Bouncyness of an object" ,
0f,
(s,cf,p,v) => { s.m_params[0].defaultRestitution = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].defaultRestitution; },
(s,p,l,v) => { s.m_params[0].defaultRestitution = v; } ),
new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
0.04f,
(s,cf,p,v) => { s.m_params[0].collisionMargin = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].collisionMargin; },
(s,p,l,v) => { s.m_params[0].collisionMargin = v; } ),
new ParameterDefn("Gravity", "Vertical force of gravity (negative means down)",
-9.80665f,
(s,cf,p,v) => { s.m_params[0].gravity = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].gravity; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].gravity, p, PhysParameterEntry.APPLY_TO_NONE, v); },
(s,o,v) => { BulletSimAPI.SetGravity2(s.World.ptr, new Vector3(0f,0f,v)); } ),
new ParameterDefn("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
0f,
(s,cf,p,v) => { s.m_params[0].linearDamping = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].linearDamping; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearDamping, p, l, v); },
(s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, v, s.m_params[0].angularDamping); } ),
new ParameterDefn("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
0f,
(s,cf,p,v) => { s.m_params[0].angularDamping = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].angularDamping; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularDamping, p, l, v); },
(s,o,v) => { BulletSimAPI.SetDamping2(o.PhysBody.ptr, s.m_params[0].linearDamping, v); } ),
new ParameterDefn("DeactivationTime", "Seconds before considering an object potentially static",
0.2f,
(s,cf,p,v) => { s.m_params[0].deactivationTime = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].deactivationTime; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].deactivationTime, p, l, v); },
(s,o,v) => { BulletSimAPI.SetDeactivationTime2(o.PhysBody.ptr, v); } ),
new ParameterDefn("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
0.8f,
(s,cf,p,v) => { s.m_params[0].linearSleepingThreshold = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].linearSleepingThreshold; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].linearSleepingThreshold, p, l, v); },
(s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
new ParameterDefn("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
1.0f,
(s,cf,p,v) => { s.m_params[0].angularSleepingThreshold = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].angularSleepingThreshold; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].angularSleepingThreshold, p, l, v); },
(s,o,v) => { BulletSimAPI.SetSleepingThresholds2(o.PhysBody.ptr, v, v); } ),
new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
0f, // set to zero to disable
(s,cf,p,v) => { s.m_params[0].ccdMotionThreshold = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].ccdMotionThreshold; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdMotionThreshold, p, l, v); },
(s,o,v) => { BulletSimAPI.SetCcdMotionThreshold2(o.PhysBody.ptr, v); } ),
new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
0f,
(s,cf,p,v) => { s.m_params[0].ccdSweptSphereRadius = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].ccdSweptSphereRadius; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].ccdSweptSphereRadius, p, l, v); },
(s,o,v) => { BulletSimAPI.SetCcdSweptSphereRadius2(o.PhysBody.ptr, v); } ),
new ParameterDefn("ContactProcessingThreshold", "Distance between contacts before doing collision check" ,
0.1f,
(s,cf,p,v) => { s.m_params[0].contactProcessingThreshold = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].contactProcessingThreshold; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].contactProcessingThreshold, p, l, v); },
(s,o,v) => { BulletSimAPI.SetContactProcessingThreshold2(o.PhysBody.ptr, v); } ),
new ParameterDefn("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
(float)BSTerrainPhys.TerrainImplementation.Mesh,
(s,cf,p,v) => { s.m_params[0].terrainImplementation = cf.GetFloat(p,v); },
(s) => { return s.m_params[0].terrainImplementation; },
(s,p,l,v) => { s.m_params[0].terrainImplementation = v; } ),
new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
0.3f,
(s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].terrainFriction; },
(s,p,l,v) => { s.m_params[0].terrainFriction = v; /* TODO: set on real terrain */} ),
new ParameterDefn("TerrainHitFraction", "Distance to measure hit collisions" ,
0.8f,
(s,cf,p,v) => { s.m_params[0].terrainHitFraction = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].terrainHitFraction; },
(s,p,l,v) => { s.m_params[0].terrainHitFraction = v; /* TODO: set on real terrain */ } ),
new ParameterDefn("TerrainRestitution", "Bouncyness" ,
0f,
(s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].terrainRestitution; },
(s,p,l,v) => { s.m_params[0].terrainRestitution = v; /* TODO: set on real terrain */ } ),
new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" ,
0.04f,
(s,cf,p,v) => { s.m_params[0].terrainCollisionMargin = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].terrainCollisionMargin; },
(s,p,l,v) => { s.m_params[0].terrainCollisionMargin = v; /* TODO: set on real terrain */ } ),
new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
0.2f,
(s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarFriction; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ),
new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
10.0f,
(s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarStandingFriction; },
(s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ),
new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
60f,
(s,cf,p,v) => { s.m_params[0].avatarDensity = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarDensity; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarDensity, p, l, v); } ),
new ParameterDefn("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
0f,
(s,cf,p,v) => { s.m_params[0].avatarRestitution = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarRestitution; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarRestitution, p, l, v); } ),
new ParameterDefn("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
0.6f,
(s,cf,p,v) => { s.m_params[0].avatarCapsuleWidth = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarCapsuleWidth; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleWidth, p, l, v); } ),
new ParameterDefn("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
0.45f,
(s,cf,p,v) => { s.m_params[0].avatarCapsuleDepth = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarCapsuleDepth; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleDepth, p, l, v); } ),
new ParameterDefn("AvatarCapsuleHeight", "Default height of space around avatar",
1.5f,
(s,cf,p,v) => { s.m_params[0].avatarCapsuleHeight = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarCapsuleHeight; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarCapsuleHeight, p, l, v); } ),
new ParameterDefn("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
0.1f,
(s,cf,p,v) => { s.m_params[0].avatarContactProcessingThreshold = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].avatarContactProcessingThreshold; },
(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ),
new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
0.95f,
(s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].vehicleAngularDamping; },
(s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ),
new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
0f,
(s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].maxPersistantManifoldPoolSize; },
(s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ),
new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
0f,
(s,cf,p,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].maxCollisionAlgorithmPoolSize; },
(s,p,l,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = v; } ),
new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
ConfigurationParameters.numericFalse,
(s,cf,p,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
(s) => { return s.m_params[0].shouldDisableContactPoolDynamicAllocation; },
(s,p,l,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = v; } ),
new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
ConfigurationParameters.numericFalse,
(s,cf,p,v) => { s.m_params[0].shouldForceUpdateAllAabbs = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
(s) => { return s.m_params[0].shouldForceUpdateAllAabbs; },
(s,p,l,v) => { s.m_params[0].shouldForceUpdateAllAabbs = v; } ),
new ParameterDefn("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
ConfigurationParameters.numericTrue,
(s,cf,p,v) => { s.m_params[0].shouldRandomizeSolverOrder = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
(s) => { return s.m_params[0].shouldRandomizeSolverOrder; },
(s,p,l,v) => { s.m_params[0].shouldRandomizeSolverOrder = v; } ),
new ParameterDefn("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
ConfigurationParameters.numericTrue,
(s,cf,p,v) => { s.m_params[0].shouldSplitSimulationIslands = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
(s) => { return s.m_params[0].shouldSplitSimulationIslands; },
(s,p,l,v) => { s.m_params[0].shouldSplitSimulationIslands = v; } ),
new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching",
ConfigurationParameters.numericFalse,
(s,cf,p,v) => { s.m_params[0].shouldEnableFrictionCaching = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
(s) => { return s.m_params[0].shouldEnableFrictionCaching; },
(s,p,l,v) => { s.m_params[0].shouldEnableFrictionCaching = v; } ),
new ParameterDefn("NumberOfSolverIterations", "Number of internal iterations (0 means default)",
0f, // zero says use Bullet default
(s,cf,p,v) => { s.m_params[0].numberOfSolverIterations = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].numberOfSolverIterations; },
(s,p,l,v) => { s.m_params[0].numberOfSolverIterations = v; } ),
new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
(float)BSLinkset.LinksetImplementation.Compound,
(s,cf,p,v) => { s.m_params[0].linksetImplementation = cf.GetFloat(p,v); },
(s) => { return s.m_params[0].linksetImplementation; },
(s,p,l,v) => { s.m_params[0].linksetImplementation = v; } ),
new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
ConfigurationParameters.numericFalse,
(s,cf,p,v) => { s.m_params[0].linkConstraintUseFrameOffset = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
(s) => { return s.m_params[0].linkConstraintUseFrameOffset; },
(s,p,l,v) => { s.m_params[0].linkConstraintUseFrameOffset = v; } ),
new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
ConfigurationParameters.numericTrue,
(s,cf,p,v) => { s.m_params[0].linkConstraintEnableTransMotor = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
(s) => { return s.m_params[0].linkConstraintEnableTransMotor; },
(s,p,l,v) => { s.m_params[0].linkConstraintEnableTransMotor = v; } ),
new ParameterDefn("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
5.0f,
(s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxVel = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].linkConstraintTransMotorMaxVel; },
(s,p,l,v) => { s.m_params[0].linkConstraintTransMotorMaxVel = v; } ),
new ParameterDefn("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
0.1f,
(s,cf,p,v) => { s.m_params[0].linkConstraintTransMotorMaxForce = cf.GetFloat(p, v); },
(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,
(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",
0.1f,
(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; } ),
new ParameterDefn("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
40,
(s,cf,p,v) => { s.m_params[0].linkConstraintSolverIterations = cf.GetFloat(p, v); },
(s) => { return s.m_params[0].linkConstraintSolverIterations; },
(s,p,l,v) => { s.m_params[0].linkConstraintSolverIterations = v; } ),
new ParameterDefn("LogPhysicsStatisticsFrames", "Frames between outputting detailed phys stats. (0 is off)",
0f,
(s,cf,p,v) => { s.m_params[0].physicsLoggingFrames = cf.GetInt(p, (int)v); },
(s) => { return (float)s.m_params[0].physicsLoggingFrames; },
(s,p,l,v) => { s.m_params[0].physicsLoggingFrames = (int)v; } ),
};
// Convert a boolean to our numeric true and false values
public float NumericBool(bool b)
{
return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse);
}
// Convert numeric true and false values to a boolean
public bool BoolNumeric(float b)
{
return (b == ConfigurationParameters.numericTrue ? true : false);
}
// Search through the parameter definitions and return the matching
// ParameterDefn structure.
// Case does not matter as names are compared after converting to lower case.
// Returns 'false' if the parameter is not found.
private bool TryGetParameter(string paramName, out ParameterDefn defn)
{
bool ret = false;
ParameterDefn foundDefn = new ParameterDefn();
string pName = paramName.ToLower();
foreach (ParameterDefn parm in ParameterDefinitions)
{
if (pName == parm.name.ToLower())
{
foundDefn = parm;
ret = true;
break;
}
}
defn = foundDefn;
return ret;
}
// Pass through the settable parameters and set the default values
private void SetParameterDefaultValues()
{
foreach (ParameterDefn parm in ParameterDefinitions)
{
parm.setter(this, parm.name, PhysParameterEntry.APPLY_TO_NONE, parm.defaultValue);
}
}
// Get user set values out of the ini file.
private void SetParameterConfigurationValues(IConfig cfg)
{
foreach (ParameterDefn parm in ParameterDefinitions)
{
parm.userParam(this, cfg, parm.name, parm.defaultValue);
}
}
private PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1];
// This creates an array in the correct format for returning the list of
// parameters. This is used by the 'list' option of the 'physics' command.
private void BuildParameterTable()
{
if (SettableParameters.Length < ParameterDefinitions.Length)
{
List<PhysParameterEntry> entries = new List<PhysParameterEntry>();
for (int ii = 0; ii < ParameterDefinitions.Length; ii++)
{
ParameterDefn pd = ParameterDefinitions[ii];
entries.Add(new PhysParameterEntry(pd.name, pd.desc));
}
// make the list in alphabetical order for estetic reasons
entries.Sort(delegate(PhysParameterEntry ppe1, PhysParameterEntry ppe2)
{
return ppe1.name.CompareTo(ppe2.name);
});
SettableParameters = entries.ToArray();
}
}
#region IPhysicsParameters #region IPhysicsParameters
// Get the list of parameters this physics engine supports // Get the list of parameters this physics engine supports
public PhysParameterEntry[] GetParameterList() public PhysParameterEntry[] GetParameterList()
{ {
BuildParameterTable(); BSParam.BuildParameterTable();
return SettableParameters; return BSParam.SettableParameters;
} }
// Set parameter on a specific or all instances. // Set parameter on a specific or all instances.
@ -1434,8 +843,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
public bool SetPhysicsParameter(string parm, float val, uint localID) public bool SetPhysicsParameter(string parm, float val, uint localID)
{ {
bool ret = false; bool ret = false;
ParameterDefn theParam; BSParam.ParameterDefn theParam;
if (TryGetParameter(parm, out theParam)) if (BSParam.TryGetParameter(parm, out theParam))
{ {
theParam.setter(this, parm, localID, val); theParam.setter(this, parm, localID, val);
ret = true; ret = true;
@ -1447,19 +856,20 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
// If the local ID is APPLY_TO_NONE, just change the default value // If the local ID is APPLY_TO_NONE, just change the default value
// If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs // If the localID is APPLY_TO_ALL change the default value and apply the new value to all the lIDs
// If the localID is a specific object, apply the parameter change to only that object // If the localID is a specific object, apply the parameter change to only that object
private void UpdateParameterObject(ref float defaultLoc, string parm, uint localID, float val) internal delegate void AssignVal(float x);
internal void UpdateParameterObject(AssignVal setDefault, string parm, uint localID, float val)
{ {
List<uint> objectIDs = new List<uint>(); List<uint> objectIDs = new List<uint>();
switch (localID) switch (localID)
{ {
case PhysParameterEntry.APPLY_TO_NONE: case PhysParameterEntry.APPLY_TO_NONE:
defaultLoc = val; // setting only the default value setDefault(val); // setting only the default value
// This will cause a call into the physical world if some operation is specified (SetOnObject). // This will cause a call into the physical world if some operation is specified (SetOnObject).
objectIDs.Add(TERRAIN_ID); objectIDs.Add(TERRAIN_ID);
TaintedUpdateParameter(parm, objectIDs, val); TaintedUpdateParameter(parm, objectIDs, val);
break; break;
case PhysParameterEntry.APPLY_TO_ALL: case PhysParameterEntry.APPLY_TO_ALL:
defaultLoc = val; // setting ALL also sets the default value setDefault(val); // setting ALL also sets the default value
lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys); lock (PhysObjects) objectIDs = new List<uint>(PhysObjects.Keys);
TaintedUpdateParameter(parm, objectIDs, val); TaintedUpdateParameter(parm, objectIDs, val);
break; break;
@ -1478,8 +888,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
List<uint> xlIDs = lIDs; List<uint> xlIDs = lIDs;
string xparm = parm; string xparm = parm;
TaintedObject("BSScene.UpdateParameterSet", delegate() { TaintedObject("BSScene.UpdateParameterSet", delegate() {
ParameterDefn thisParam; BSParam.ParameterDefn thisParam;
if (TryGetParameter(xparm, out thisParam)) if (BSParam.TryGetParameter(xparm, out thisParam))
{ {
if (thisParam.onObject != null) if (thisParam.onObject != null)
{ {
@ -1500,8 +910,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
{ {
float val = 0f; float val = 0f;
bool ret = false; bool ret = false;
ParameterDefn theParam; BSParam.ParameterDefn theParam;
if (TryGetParameter(parm, out theParam)) if (BSParam.TryGetParameter(parm, out theParam))
{ {
val = theParam.getter(this); val = theParam.getter(this);
ret = true; ret = true;
@ -1514,16 +924,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
#endregion Runtime settable parameters #endregion Runtime settable parameters
// Debugging routine for dumping detailed physical information for vehicle prims
private void DumpVehicles()
{
foreach (BSPrim prim in m_vehicles)
{
BulletSimAPI.DumpRigidBody2(World.ptr, prim.PhysBody.ptr);
BulletSimAPI.DumpCollisionShape2(World.ptr, prim.PhysShape.ptr);
}
}
// Invoke the detailed logger and output something if it's enabled. // Invoke the detailed logger and output something if it's enabled.
public void DetailLog(string msg, params Object[] args) public void DetailLog(string msg, params Object[] args)
{ {

12
OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
View File

@ -456,7 +456,7 @@ public sealed class BSShapeCollection : IDisposable
if (!haveShape if (!haveShape
&& pbs != null && pbs != null
&& nativeShapePossible && nativeShapePossible
&& ((pbs.SculptEntry && !PhysicsScene.ShouldMeshSculptedPrim) && ((pbs.SculptEntry && !BSParam.ShouldMeshSculptedPrim)
|| (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0 || (pbs.ProfileBegin == 0 && pbs.ProfileEnd == 0
&& pbs.ProfileHollow == 0 && pbs.ProfileHollow == 0
&& pbs.PathTwist == 0 && pbs.PathTwistBegin == 0 && pbs.PathTwist == 0 && pbs.PathTwistBegin == 0
@ -520,7 +520,7 @@ public sealed class BSShapeCollection : IDisposable
bool ret = false; bool ret = false;
// Note that if it's a native shape, the check for physical/non-physical is not // Note that if it's a native shape, the check for physical/non-physical is not
// made. Native shapes work in either case. // made. Native shapes work in either case.
if (prim.IsPhysical && PhysicsScene.ShouldUseHullsForPhysicalObjects) if (prim.IsPhysical && BSParam.ShouldUseHullsForPhysicalObjects)
{ {
// Update prim.BSShape to reference a hull of this shape. // Update prim.BSShape to reference a hull of this shape.
ret = GetReferenceToHull(prim,shapeCallback); ret = GetReferenceToHull(prim,shapeCallback);
@ -836,14 +836,14 @@ public sealed class BSShapeCollection : IDisposable
private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod) private System.UInt64 ComputeShapeKey(OMV.Vector3 size, PrimitiveBaseShape pbs, out float retLod)
{ {
// level of detail based on size and type of the object // level of detail based on size and type of the object
float lod = PhysicsScene.MeshLOD; float lod = BSParam.MeshLOD;
if (pbs.SculptEntry) if (pbs.SculptEntry)
lod = PhysicsScene.SculptLOD; lod = BSParam.SculptLOD;
// Mega prims usually get more detail because one can interact with shape approximations at this size. // Mega prims usually get more detail because one can interact with shape approximations at this size.
float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z)); float maxAxis = Math.Max(size.X, Math.Max(size.Y, size.Z));
if (maxAxis > PhysicsScene.MeshMegaPrimThreshold) if (maxAxis > BSParam.MeshMegaPrimThreshold)
lod = PhysicsScene.MeshMegaPrimLOD; lod = BSParam.MeshMegaPrimLOD;
retLod = lod; retLod = lod;
return pbs.GetMeshKey(size, lod); return pbs.GetMeshKey(size, lod);

8
OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs
View File

@ -93,7 +93,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
{ {
m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID, m_mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, m_mapInfo.ID,
m_mapInfo.minCoords, m_mapInfo.maxCoords, m_mapInfo.minCoords, m_mapInfo.maxCoords,
m_mapInfo.heightMap, PhysicsScene.Params.terrainCollisionMargin); m_mapInfo.heightMap, BSParam.TerrainCollisionMargin);
// Create the terrain shape from the mapInfo // Create the terrain shape from the mapInfo
m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr), m_mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(m_mapInfo.Ptr),
@ -110,9 +110,9 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
m_mapInfo.ID, centerPos, Quaternion.Identity)); m_mapInfo.ID, centerPos, Quaternion.Identity));
// Set current terrain attributes // Set current terrain attributes
BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainFriction); BulletSimAPI.SetFriction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainFriction);
BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); BulletSimAPI.SetHitFraction2(m_mapInfo.terrainBody.ptr, BSParam.TerrainHitFraction);
BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); BulletSimAPI.SetRestitution2(m_mapInfo.terrainBody.ptr, BSParam.TerrainRestitution);
BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); BulletSimAPI.SetCollisionFlags2(m_mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
// Return the new terrain to the world of physical objects // Return the new terrain to the world of physical objects

10
OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
View File

@ -135,7 +135,7 @@ public sealed class BSTerrainManager : IDisposable
// The ground plane is here to catch things that are trying to drop to negative infinity // The ground plane is here to catch things that are trying to drop to negative infinity
BulletShape groundPlaneShape = new BulletShape( BulletShape groundPlaneShape = new BulletShape(
BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f, BulletSimAPI.CreateGroundPlaneShape2(BSScene.GROUNDPLANE_ID, 1f,
PhysicsScene.Params.terrainCollisionMargin), BSParam.TerrainCollisionMargin),
BSPhysicsShapeType.SHAPE_GROUNDPLANE); BSPhysicsShapeType.SHAPE_GROUNDPLANE);
m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
@ -309,9 +309,9 @@ public sealed class BSTerrainManager : IDisposable
{ {
PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}", PhysicsScene.Logger.DebugFormat("{0} Terrain for {1}/{2} created with {3}",
LogHeader, PhysicsScene.RegionName, terrainRegionBase, LogHeader, PhysicsScene.RegionName, terrainRegionBase,
(BSTerrainPhys.TerrainImplementation)PhysicsScene.Params.terrainImplementation); (BSTerrainPhys.TerrainImplementation)BSParam.TerrainImplementation);
BSTerrainPhys newTerrainPhys = null; BSTerrainPhys newTerrainPhys = null;
switch ((int)PhysicsScene.Params.terrainImplementation) switch ((int)BSParam.TerrainImplementation)
{ {
case (int)BSTerrainPhys.TerrainImplementation.Heightmap: case (int)BSTerrainPhys.TerrainImplementation.Heightmap:
newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id, newTerrainPhys = new BSTerrainHeightmap(PhysicsScene, terrainRegionBase, id,
@ -324,8 +324,8 @@ public sealed class BSTerrainManager : IDisposable
default: default:
PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}", PhysicsScene.Logger.ErrorFormat("{0} Bad terrain implementation specified. Type={1}/{2},Region={3}/{4}",
LogHeader, LogHeader,
(int)PhysicsScene.Params.terrainImplementation, (int)BSParam.TerrainImplementation,
PhysicsScene.Params.terrainImplementation, BSParam.TerrainImplementation,
PhysicsScene.RegionName, terrainRegionBase); PhysicsScene.RegionName, terrainRegionBase);
break; break;
} }

6
OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs
View File

@ -116,9 +116,9 @@ public sealed class BSTerrainMesh : BSTerrainPhys
} }
// Set current terrain attributes // Set current terrain attributes
BulletSimAPI.SetFriction2(m_terrainBody.ptr, PhysicsScene.Params.terrainFriction); BulletSimAPI.SetFriction2(m_terrainBody.ptr, BSParam.TerrainFriction);
BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, PhysicsScene.Params.terrainHitFraction); BulletSimAPI.SetHitFraction2(m_terrainBody.ptr, BSParam.TerrainHitFraction);
BulletSimAPI.SetRestitution2(m_terrainBody.ptr, PhysicsScene.Params.terrainRestitution); BulletSimAPI.SetRestitution2(m_terrainBody.ptr, BSParam.TerrainRestitution);
BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); BulletSimAPI.SetCollisionFlags2(m_terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT);
// Static objects are not very massive. // Static objects are not very massive.

62
OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
View File

@ -141,6 +141,8 @@ public struct EntityProperties
} }
// Format of this structure must match the definition in the C++ code // Format of this structure must match the definition in the C++ code
// NOTE: adding the X causes compile breaks if used. These are unused symbols
// that can be removed from both here and the unmanaged definition of this structure.
[StructLayout(LayoutKind.Sequential)] [StructLayout(LayoutKind.Sequential)]
public struct ConfigurationParameters public struct ConfigurationParameters
{ {
@ -150,31 +152,31 @@ public struct ConfigurationParameters
public float collisionMargin; public float collisionMargin;
public float gravity; public float gravity;
public float linearDamping; public float XlinearDamping;
public float angularDamping; public float XangularDamping;
public float deactivationTime; public float XdeactivationTime;
public float linearSleepingThreshold; public float XlinearSleepingThreshold;
public float angularSleepingThreshold; public float XangularSleepingThreshold;
public float ccdMotionThreshold; public float XccdMotionThreshold;
public float ccdSweptSphereRadius; public float XccdSweptSphereRadius;
public float contactProcessingThreshold; public float XcontactProcessingThreshold;
public float terrainImplementation; public float XterrainImplementation;
public float terrainFriction; public float XterrainFriction;
public float terrainHitFraction; public float XterrainHitFraction;
public float terrainRestitution; public float XterrainRestitution;
public float terrainCollisionMargin; public float XterrainCollisionMargin;
public float avatarFriction; public float XavatarFriction;
public float avatarStandingFriction; public float XavatarStandingFriction;
public float avatarDensity; public float XavatarDensity;
public float avatarRestitution; public float XavatarRestitution;
public float avatarCapsuleWidth; public float XavatarCapsuleWidth;
public float avatarCapsuleDepth; public float XavatarCapsuleDepth;
public float avatarCapsuleHeight; public float XavatarCapsuleHeight;
public float avatarContactProcessingThreshold; public float XavatarContactProcessingThreshold;
public float vehicleAngularDamping; public float XvehicleAngularDamping;
public float maxPersistantManifoldPoolSize; public float maxPersistantManifoldPoolSize;
public float maxCollisionAlgorithmPoolSize; public float maxCollisionAlgorithmPoolSize;
@ -185,14 +187,14 @@ public struct ConfigurationParameters
public float shouldEnableFrictionCaching; public float shouldEnableFrictionCaching;
public float numberOfSolverIterations; public float numberOfSolverIterations;
public float linksetImplementation; public float XlinksetImplementation;
public float linkConstraintUseFrameOffset; public float XlinkConstraintUseFrameOffset;
public float linkConstraintEnableTransMotor; public float XlinkConstraintEnableTransMotor;
public float linkConstraintTransMotorMaxVel; public float XlinkConstraintTransMotorMaxVel;
public float linkConstraintTransMotorMaxForce; public float XlinkConstraintTransMotorMaxForce;
public float linkConstraintERP; public float XlinkConstraintERP;
public float linkConstraintCFM; public float XlinkConstraintCFM;
public float linkConstraintSolverIterations; public float XlinkConstraintSolverIterations;
public float physicsLoggingFrames; public float physicsLoggingFrames;

3
OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
View File

@ -112,6 +112,9 @@ Test avatar walking up stairs. How does compare with SL.
Debounce avatar contact so legs don't keep folding up when standing. Debounce avatar contact so legs don't keep folding up when standing.
Implement LSL physics controls. Like STATUS_ROTATE_X. Implement LSL physics controls. Like STATUS_ROTATE_X.
Add border extensions to terrain to help region crossings and objects leaving region. Add border extensions to terrain to help region crossings and objects leaving region.
Use a different capsule shape for avatar when sitting
LL uses a pyrimidal shape scaled by the avatar's bounding box
http://wiki.secondlife.com/wiki/File:Avmeshforms.png
Performance test with lots of avatars. Can BulletSim support a thousand? Performance test with lots of avatars. Can BulletSim support a thousand?
Optimize collisions in C++: only send up to the object subscribed to collisions. Optimize collisions in C++: only send up to the object subscribed to collisions.