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BulletSim: fix physics repositioning when under ground to only happen 

for physical objects. Non-physical objects can go anywhere they want.
user_profiles
Robert Adams 2013-01-29 17:01:27 -08:00
parent 39700445f2
commit a61ecee227
3 changed files with 50 additions and 15 deletions
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6
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -344,6 +344,10 @@ public sealed class BSPrim : BSPhysObject
{
bool ret = false;
// We don't care where non-physical items are placed
if (!IsPhysicallyActive)
return ret;
if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
{
// The physical object is out of the known/simulated area.
@ -1643,7 +1647,7 @@ public sealed class BSPrim : BSPhysObject
// DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG
// The sanity check can change the velocity and/or position.
if (IsPhysical && PositionSanityCheck(true /* inTaintTime */ ))
if (PositionSanityCheck(true /* inTaintTime */ ))
{
entprop.Position = _position;
entprop.Velocity = _velocity;

45
OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
View File

@ -51,7 +51,7 @@ public class BasicVehicles : OpenSimTestCase
BSScene PhysicsScene { get; set; }
BSPrim TestVehicle { get; set; }
Vector3 TestVehicleInitPosition { get; set; }
float timeStep = 0.089f;
float simulationTimeStep = 0.089f;
[TestFixtureSetUp]
public void Init()
@ -87,39 +87,62 @@ public class BasicVehicles : OpenSimTestCase
}
}
[TestCase(25, 0.25f, 0.25f, 0.25f)]
[TestCase(25, -0.25f, 0.25f, 0.25f)]
[TestCase(25, 0.25f, -0.25f, 0.25f)]
[TestCase(25, -0.25f, -0.25f, 0.25f)]
public void VerticalAttraction(int simSteps, float initRoll, float initPitch, float initYaw)
[TestCase(2f, 0.2f, 0.25f, 0.25f, 0.25f)]
[TestCase(2f, 0.2f, -0.25f, 0.25f, 0.25f)]
[TestCase(2f, 0.2f, 0.25f, -0.25f, 0.25f)]
[TestCase(2f, 0.2f, -0.25f, -0.25f, 0.25f)]
// [TestCase(2f, 0.2f, 0.785f, 0.0f, 0.25f) /*, "Leaning 45 degrees to the side" */]
// [TestCase(2f, 0.2f, 1.650f, 0.0f, 0.25f) /*, "Leaning more than 90 degrees to the side" */]
// [TestCase(2f, 0.2f, 2.750f, 0.0f, 0.25f) /*, "Almost upside down, tipped right" */]
// [TestCase(2f, 0.2f,-2.750f, 0.0f, 0.25f) /*, "Almost upside down, tipped left" */]
// [TestCase(2f, 0.2f, 0.0f, 0.785f, 0.25f) /*, "Tipped back 45 degrees" */]
// [TestCase(2f, 0.2f, 0.0f, 1.650f, 0.25f) /*, "Tipped back more than 90 degrees" */]
// [TestCase(2f, 0.2f, 0.0f, 2.750f, 0.25f) /*, "Almost upside down, tipped back" */]
// [TestCase(2f, 0.2f, 0.0f,-2.750f, 0.25f) /*, "Almost upside down, tipped forward" */]
public void AngularVerticalAttraction(float timeScale, float efficiency, float initRoll, float initPitch, float initYaw)
{
// Enough simulation steps to cover the timescale the operation should take
int simSteps = (int)(timeScale / simulationTimeStep) + 1;
// Tip the vehicle
Quaternion initOrientation = Quaternion.CreateFromEulers(initRoll, initPitch, initYaw);
TestVehicle.Orientation = initOrientation;
TestVehicle.Position = TestVehicleInitPosition;
// The vehicle controller is not enabled directly (set a vehicle type).
// The vehicle controller is not enabled directly (by setting a vehicle type).
// Instead the appropriate values are set and calls are made just the parts of the
// controller we want to exercise. Stepping the physics engine then applies
// the actions of that one feature.
TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, 0.2f);
TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, 2f);
TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency);
TestVehicle.VehicleController.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale);
TestVehicle.VehicleController.enableAngularVerticalAttraction = true;
TestVehicle.IsPhysical = true;
PhysicsScene.ProcessTaints();
// Step the simulator a bunch of times and and vertical attraction should orient the vehicle up
// Step the simulator a bunch of times and vertical attraction should orient the vehicle up
for (int ii = 0; ii < simSteps; ii++)
{
TestVehicle.VehicleController.ForgetKnownVehicleProperties();
TestVehicle.VehicleController.ComputeAngularVerticalAttraction();
TestVehicle.VehicleController.PushKnownChanged();
PhysicsScene.Simulate(timeStep);
PhysicsScene.Simulate(simulationTimeStep);
}
TestVehicle.IsPhysical = false;
PhysicsScene.ProcessTaints();
// After these steps, the vehicle should be upright
/*
float finalRoll, finalPitch, finalYaw;
TestVehicle.Orientation.GetEulerAngles(out finalRoll, out finalPitch, out finalYaw);
Assert.That(finalRoll, Is.InRange(-0.01f, 0.01f));
Assert.That(finalPitch, Is.InRange(-0.01f, 0.01f));
Assert.That(finalYaw, Is.InRange(initYaw - 0.1f, initYaw + 0.1f));
*/
Vector3 upPointer = Vector3.UnitZ * TestVehicle.Orientation;
Assert.That(upPointer.Z, Is.GreaterThan(0.99f));
}

14
OpenSim/Region/Physics/BulletSPlugin/Tests/BulletSimTestsUtil.cs
View File

@ -26,6 +26,7 @@
*/
using System;
using System.IO;
using System.Collections.Generic;
using System.Linq;
using System.Text;
@ -65,9 +66,16 @@ public static class BulletSimTestsUtil
bulletSimConfig.Set(kvp.Key, kvp.Value);
}
}
// bulletSimConfig.Set("PhysicsLoggingEnabled","True");
// bulletSimConfig.Set("PhysicsLoggingDoFlush","True");
// bulletSimConfig.Set("VehicleLoggingEnabled","True");
// If a special directory exists, put detailed logging therein.
// This allows local testing/debugging without having to worry that the build engine will output logs.
if (Directory.Exists("physlogs"))
{
bulletSimConfig.Set("PhysicsLoggingDir","./physlogs");
bulletSimConfig.Set("PhysicsLoggingEnabled","True");
bulletSimConfig.Set("PhysicsLoggingDoFlush","True");
bulletSimConfig.Set("VehicleLoggingEnabled","True");
}
BSPlugin bsPlugin = new BSPlugin();