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BulletSim: Turn on center-of-mass calculation by default. 

Reduce object density by factor of 100 to bring physical mass computations
into a range better suited for Bullet.
TeleportWork
Robert Adams 2013-07-23 09:09:25 -07:00
parent f499b328c4
commit aec8d1e6be
2 changed files with 7 additions and 5 deletions
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8
OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
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@ -461,8 +461,9 @@ public static class BSParam
(s) => { return MaxAddForceMagnitude; }, (s) => { return MaxAddForceMagnitude; },
(s,v) => { MaxAddForceMagnitude = v; MaxAddForceMagnitudeSquared = v * v; } ), (s,v) => { MaxAddForceMagnitude = v; MaxAddForceMagnitudeSquared = v * v; } ),
// Density is passed around as 100kg/m3. This scales that to 1kg/m3. // Density is passed around as 100kg/m3. This scales that to 1kg/m3.
// Reduce by power of 100 because Bullet doesn't seem to handle objects with large mass very well
new ParameterDefn<float>("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)", new ParameterDefn<float>("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)",
0.01f ), 0.0001f ),
new ParameterDefn<float>("PID_D", "Derivitive factor for motion smoothing", new ParameterDefn<float>("PID_D", "Derivitive factor for motion smoothing",
2200f ), 2200f ),
@ -607,8 +608,9 @@ public static class BSParam
0.0f ), 0.0f ),
new ParameterDefn<float>("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)", new ParameterDefn<float>("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
0.0f ), 0.0f ),
// Turn off fudge with DensityScaleFactor = 0.0001. Value used to be 0.2f;
new ParameterDefn<float>("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)", new ParameterDefn<float>("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
0.2f ), 1.0f ),
new ParameterDefn<float>("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.", new ParameterDefn<float>("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.",
60.0f ), 60.0f ),
new ParameterDefn<bool>("VehicleEnableLinearDeflection", "Turn on/off vehicle linear deflection effect", new ParameterDefn<bool>("VehicleEnableLinearDeflection", "Turn on/off vehicle linear deflection effect",
@ -701,7 +703,7 @@ public static class BSParam
new ParameterDefn<float>("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", new ParameterDefn<float>("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
(float)BSLinkset.LinksetImplementation.Compound ), (float)BSLinkset.LinksetImplementation.Compound ),
new ParameterDefn<bool>("LinksetOffsetCenterOfMass", "If 'true', compute linkset center-of-mass and offset linkset position to account for same", new ParameterDefn<bool>("LinksetOffsetCenterOfMass", "If 'true', compute linkset center-of-mass and offset linkset position to account for same",
false ), true ),
new ParameterDefn<bool>("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", new ParameterDefn<bool>("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
false ), false ),
new ParameterDefn<bool>("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", new ParameterDefn<bool>("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",

4
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -440,8 +440,8 @@ public class BSPrim : BSPhysObject
Gravity = ComputeGravity(Buoyancy); Gravity = ComputeGravity(Buoyancy);
PhysScene.PE.SetGravity(PhysBody, Gravity); PhysScene.PE.SetGravity(PhysBody, Gravity);
OMV.Vector3 currentScale = PhysScene.PE.GetLocalScaling(PhysShape.physShapeInfo); // DEBUG DEBUG // OMV.Vector3 currentScale = PhysScene.PE.GetLocalScaling(PhysShape.physShapeInfo); // DEBUG DEBUG
DetailLog("{0},BSPrim.UpdateMassProperties,currentScale{1},shape={2}", LocalID, currentScale, PhysShape.physShapeInfo); // DEBUG DEBUG // DetailLog("{0},BSPrim.UpdateMassProperties,currentScale{1},shape={2}", LocalID, currentScale, PhysShape.physShapeInfo); // DEBUG DEBUG
Inertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass); Inertia = PhysScene.PE.CalculateLocalInertia(PhysShape.physShapeInfo, physMass);
PhysScene.PE.SetMassProps(PhysBody, physMass, Inertia); PhysScene.PE.SetMassProps(PhysBody, physMass, Inertia);