BulletSim: implementation of linkset center-of-mass.
Default off, for the moment, until more testing. Add separate thread and center-of-mass flags to OpenSimDefaults.ini. Clean up comments in OpenSimDefaults.ini.cpu-performance
Robert Adams
parent
97698ae311
commit
a65cec3986
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@ -271,6 +271,8 @@ public sealed class BSLinksetCompound : BSLinkset
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// to what they should be as if the root was not in a linkset.
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// Not that bad since we only get into this routine if there are children in the linkset and
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// something has been updated/changed.
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// Have to do the rebuild before checking for physical because this might be a linkset
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// being destructed and going non-physical.
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LinksetRoot.ForceBodyShapeRebuild(true);
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// There is no reason to build all this physical stuff for a non-physical linkset.
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@ -283,28 +285,29 @@ public sealed class BSLinksetCompound : BSLinkset
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// Get a new compound shape to build the linkset shape in.
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BSShape linksetShape = BSShapeCompound.GetReference(m_physicsScene);
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// The center of mass for the linkset is the geometric center of the group.
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// Compute a displacement for each component so it is relative to the center-of-mass.
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// Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass
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OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass();
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OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation));
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OMV.Vector3 origRootPosition = LinksetRoot.RawPosition;
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// 'centerDisplacementV' is the value to subtract from children to give physical offset position
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// 'centerDisplacementV' is the vehicle relative distance from the simulator root position to the center-of-mass
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OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation;
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if (UseBulletSimRootOffsetHack || !BSParam.LinksetOffsetCenterOfMass)
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{
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// Zero everything if center-of-mass displacement is not being done.
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centerDisplacementV = OMV.Vector3.Zero;
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LinksetRoot.ClearDisplacement();
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}
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else
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{
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LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV);
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// The actual center-of-mass could have been set by the user.
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centerDisplacementV = LinksetRoot.PositionDisplacement;
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centerDisplacementV = LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV);
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}
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DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}",
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LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacementV);
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LinksetRoot.LocalID, origRootPosition, centerOfMassW, centerDisplacementV);
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// Add the shapes of all the components of the linkset
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int memberIndex = 1;
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@ -321,11 +324,11 @@ public sealed class BSLinksetCompound : BSLinkset
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memberIndex++;
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}
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// Get a reference to the shape of the child and add that shape to the linkset compound shape
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// Get a reference to the shape of the child for adding of that shape to the linkset compound shape
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BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim);
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// Offset the child shape from the center-of-mass and rotate it to vehicle relative
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OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacementV;
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// Offset the child shape from the center-of-mass and rotate it to vehicle relative.
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OMV.Vector3 offsetPos = (cPrim.RawPosition - origRootPosition) * invRootOrientation - centerDisplacementV;
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OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation;
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// Add the child shape to the compound shape being built
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@ -366,6 +369,7 @@ public sealed class BSLinksetCompound : BSLinkset
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// This enables a feature in the C++ code to return the world coordinates of the first shape in the
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// compound shape. This aleviates the need to offset the returned physical position by the
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// center-of-mass offset.
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// TODO: either debug this feature or remove it.
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m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE);
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}
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}
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@ -90,6 +90,8 @@ public abstract class BSPhysObject : PhysicsActor
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PhysBody = new BulletBody(localID);
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PhysShape = new BSShapeNull();
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UserSetCenterOfMassDisplacement = null;
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PrimAssetState = PrimAssetCondition.Unknown;
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// Default material type. Also sets Friction, Restitution and Density.
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@ -180,6 +182,7 @@ public abstract class BSPhysObject : PhysicsActor
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Material = (MaterialAttributes.Material)material;
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// Setting the material sets the material attributes also.
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// TODO: decide if this is necessary -- the simulator does this.
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MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
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Friction = matAttrib.friction;
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Restitution = matAttrib.restitution;
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@ -802,6 +802,7 @@ public class BSPrim : BSPhysObject
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// isSolid: other objects bounce off of this object
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// isVolumeDetect: other objects pass through but can generate collisions
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// collisionEvents: whether this object returns collision events
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// NOTE: overloaded by BSPrimLinkable to also update linkset physical parameters.
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public virtual void UpdatePhysicalParameters()
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{
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if (!PhysBody.HasPhysicalBody)
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@ -1532,6 +1533,8 @@ public class BSPrim : BSPhysObject
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// The physics engine says that properties have updated. Update same and inform
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// the world that things have changed.
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// NOTE: BSPrim.UpdateProperties is overloaded by BSPrimLinkable which modifies updates from root and children prims.
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// NOTE: BSPrim.UpdateProperties is overloaded by BSPrimDisplaced which handles mapping physical position to simulator position.
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public override void UpdateProperties(EntityProperties entprop)
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{
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// Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator.
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@ -1567,8 +1570,6 @@ public class BSPrim : BSPhysObject
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LastEntityProperties = CurrentEntityProperties;
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CurrentEntityProperties = entprop;
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// Note that BSPrim can be overloaded by BSPrimLinkable which controls updates from root and children prims.
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PhysScene.PostUpdate(this);
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}
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}
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@ -59,6 +59,7 @@ public class BSPrimDisplaced : BSPrim
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// are converted into simulator origin values before being passed to the base
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// class.
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// PositionDisplacement is the vehicle relative distance from the root prim position to the center-of-mass.
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public virtual OMV.Vector3 PositionDisplacement { get; set; }
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public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
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@ -72,49 +73,77 @@ public class BSPrimDisplaced : BSPrim
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// Does not clear the displacement set by the user.
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public void ClearDisplacement()
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{
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SetEffectiveCenterOfMassDisplacement(OMV.Vector3.Zero);
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if (UserSetCenterOfMassDisplacement.HasValue)
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PositionDisplacement = (OMV.Vector3)UserSetCenterOfMassDisplacement;
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else
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PositionDisplacement = OMV.Vector3.Zero;
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}
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// Set this sets and computes the displacement from the passed prim to the center-of-mass.
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// A user set value for center-of-mass overrides whatever might be passed in here.
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// The displacement is in local coordinates (relative to root prim in linkset oriented coordinates).
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// Returns the relative offset from the root position to the center-of-mass.
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// Called at taint time.
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public virtual void SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement)
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public virtual Vector3 SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement)
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{
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PhysScene.AssertInTaintTime("BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement");
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Vector3 comDisp;
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if (UserSetCenterOfMassDisplacement.HasValue)
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comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement;
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else
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comDisp = centerOfMassDisplacement;
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// Eliminate any jitter caused be very slight differences in masses and positions
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if (comDisp.ApproxEquals(Vector3.Zero, 0.01f) )
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comDisp = Vector3.Zero;
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DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}",
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LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp);
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if ( comDisp != PositionDisplacement )
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if ( !comDisp.ApproxEquals(PositionDisplacement, 0.01f) )
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{
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// Displacement setting is changing.
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// The relationship between the physical object and simulated object must be aligned.
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PositionDisplacement = comDisp;
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this.ForcePosition = RawPosition;
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}
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return PositionDisplacement;
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}
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// 'ForcePosition' is the one way to set the physical position of the body in the physics engine.
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// Displace the simulator idea of position (center of root prim) to the physical position.
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public override Vector3 ForcePosition
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{
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get { return base.ForcePosition; }
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get {
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OMV.Vector3 physPosition = base.ForcePosition;
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if (PositionDisplacement != OMV.Vector3.Zero)
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{
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// If there is some displacement, return the physical position (center-of-mass)
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// location minus the displacement to give the center of the root prim.
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OMV.Vector3 displacement = PositionDisplacement * ForceOrientation;
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DetailLog("{0},BSPrimDisplaced.ForcePosition,get,physPos={1},disp={2},simPos={3}",
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LocalID, physPosition, displacement, physPosition - displacement);
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physPosition -= displacement;
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}
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return physPosition;
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}
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set
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{
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if (PositionDisplacement != OMV.Vector3.Zero)
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{
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// The displacement is always relative to the vehicle so, when setting position,
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// the caller means to set the position of the root prim.
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// This offsets the setting value to the center-of-mass and sends that to the
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// physics engine.
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OMV.Vector3 displacedPos = value - (PositionDisplacement * RawOrientation);
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DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos);
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base.ForcePosition = displacedPos;
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// This value is the simulator's idea of where the prim is: the center of the root prim
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RawPosition = value;
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// Move the passed root prim postion to the center-of-mass position and set in the physics engine.
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OMV.Vector3 displacement = PositionDisplacement * RawOrientation;
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OMV.Vector3 displacedPos = RawPosition + displacement;
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DetailLog("{0},BSPrimDisplaced.ForcePosition,set,simPos={1},disp={2},physPos={3}",
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LocalID, RawPosition, displacement, displacedPos);
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if (PhysBody.HasPhysicalBody)
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{
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PhysScene.PE.SetTranslation(PhysBody, displacedPos, RawOrientation);
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ActivateIfPhysical(false);
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}
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}
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else
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{
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@ -143,10 +172,11 @@ public class BSPrimDisplaced : BSPrim
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// These physical location must be back converted to be centered around the displaced
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// root shape.
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// The root position is the reported position displaced by the rotated displacement.
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OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation);
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DetailLog("{0},BSPrimDisplaced.UpdateProperties,physPos={1},disp={2},newPos={3}",
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LocalID, entprop.Position, PositionDisplacement, displacedPos);
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// Move the returned center-of-mass location to the root prim location.
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OMV.Vector3 displacement = PositionDisplacement * entprop.Rotation;
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OMV.Vector3 displacedPos = entprop.Position - displacement;
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DetailLog("{0},BSPrimDisplaced.UpdateProperties,physPos={1},disp={2},simPos={3}",
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LocalID, entprop.Position, displacement, displacedPos);
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entprop.Position = displacedPos;
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}
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@ -160,11 +160,14 @@ public class BSPrimLinkable : BSPrimDisplaced
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protected override void MakeDynamic(bool makeStatic)
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{
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base.MakeDynamic(makeStatic);
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if (Linkset != null) // null can happen during initialization
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{
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if (makeStatic)
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Linkset.MakeStatic(this);
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else
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Linkset.MakeDynamic(this);
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}
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}
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// Body is being taken apart. Remove physical dependencies and schedule a rebuild.
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protected override void RemoveDependencies()
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@ -919,54 +919,72 @@
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; ## Joint support
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; ##
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; if you would like physics joints to be enabled through a special naming convention in the client, set this to true.
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; (see NINJA Physics documentation, http://opensimulator.org/wiki/NINJA_Physics)
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; default is false
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; If you would like physics joints to be enabled through a special naming
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; convention in the client, set this to true.
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; (See NINJA Physics documentation, http://opensimulator.org/wiki/NINJA_Physics)
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; Default is false
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;use_NINJA_physics_joints = true
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; ##
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; ## additional meshing options
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; ##
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; physical collision mesh proxies are normally created for complex prim shapes, and collisions for simple boxes and
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; spheres are computed algorithmically. If you would rather have mesh proxies for simple prims, you can set this to
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; true. Note that this will increase memory usage and region startup time. Default is false.
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; Physical collision mesh proxies are normally created for complex prim shapes,
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; and collisions for simple boxes and spheres are computed algorithmically.
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; If you would rather have mesh proxies for simple prims, you can set this to
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; true. Note that this will increase memory usage and region startup time.
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; Default is false.
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;force_simple_prim_meshing = true
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[BulletSim]
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; All the BulletSim parameters can be displayed with the console command "physics get all"
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; and all are defined in the source file OpenSim/Regions/Physics/BulletSPlugin/BSParam.cs.
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; All the BulletSim parameters can be displayed with the console command
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; "physics get all" and all are defined in the source file
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; OpenSim/Regions/Physics/BulletSPlugin/BSParam.cs.
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; There are two bullet physics libraries, bulletunmanaged is the default and is a native c++ dll
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; bulletxna is a managed C# dll. They have comparible functionality but the c++ one is much faster.
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; There are two bullet physics libraries, bulletunmanaged is the default and is a
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; native c++ dll bulletxna is a managed C# dll. They have comparible functionality
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; but the c++ one is much faster.
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BulletEngine = "bulletunmanaged"
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; BulletEngine = "bulletxna"
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; Terrain Implementation
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TerrainImplementation = 1 ; 0=Heightfield, 1=mesh
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; For mesh terrain, the detail of the created mesh. '1' gives 256x256 (heightfield resolution). '2'
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; gives 512x512. Etc. Cannot be larger than '4'. Higher magnification uses lots of memory.
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; BulletSim can run on its own thread independent of the simulator's heartbeat
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; thread. Enabling this will nto let the physics engine slow down avatar movement, etc.
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UseSeparatePhysicsThread = false
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; Terrain implementation can use either Bullet's heightField or BulletSim can build
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; a mesh. 0=heightField, 1=mesh
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TerrainImplementation = 1
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; For mesh terrain, the detail of the created mesh. '1' gives 256x256 (heightfield
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; resolution). '2' gives 512x512. Etc. Cannot be larger than '4'. Higher
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; magnification uses lots of memory.
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TerrainMeshMagnification = 2
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; Avatar physics height adjustments. http://opensimulator.org/wiki/BulletSim#Adjusting_Avatar_Height
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; Avatar physics height adjustments.
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; http://opensimulator.org/wiki/BulletSim#Adjusting_Avatar_Height
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AvatarHeightLowFudge = -0.2 ; Adjustment at low end of height range
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AvatarHeightMidFudge = 0.1 ; Adjustment at mid point of avatar height range
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AvatarHeightHighFudge = 0.1 ; Adjustment at high end of height range
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; Default linkset implmentation
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; 'Constraint' uses physics constraints to hold linkset together. 'Compound' builds a compound
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; shape from the children shapes to create a single physical shape. 'Compound' uses a lot less CPU time.
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; 'Constraint' uses physics constraints to hold linkset together. 'Compound'
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; builds a compound shape from the children shapes to create a single physical
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; shape. 'Compound' uses a lot less CPU time.
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LinkImplementation = 1 ; 0=constraint, 1=compound
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; If 'true', offset a linkset's origin based on mass of linkset parts.
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LinksetOffsetCenterOfMass = false
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; If 'true', turn scuplties into meshes
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MeshSculptedPrim = true
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; If 'true', force simple prims (box and sphere) to be meshed
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; If 'false', the Bullet native special case shape is used for square rectangles and even dimensioned spheres
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; If 'false', the Bullet native special case shape is used for square rectangles
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; and even dimensioned spheres.
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ForceSimplePrimMeshing = false
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; If 'true', when creating meshes, remove all triangles that have two equal vertexes.
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; Happens often in sculpties. If turned off, there will be some doorways that cannot be walked through.
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; Happens often in sculpties. If turned off, there will be some doorways
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; that cannot be walked through.
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ShouldRemoveZeroWidthTriangles = true
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; If 'true', use convex hull definition in mesh asset if present.
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