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BulletSim: fix problem with avatars sinking into the ground. 

Change terrain activation state to DISABLE_SIMULATION for better performance.
integration
Robert Adams 2012-10-23 17:30:43 -07:00
parent b49f8a377b
commit b6fc5bad00
4 changed files with 23 additions and 15 deletions
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27
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -105,7 +105,7 @@ public class BSCharacter : BSPhysObject
shapeData.Position = _position;
shapeData.Rotation = _orientation;
shapeData.Velocity = _velocity;
shapeData.Size = Scale;
shapeData.Size = Scale; // capsule is a native shape but scale is not just <1,1,1>
shapeData.Scale = Scale;
shapeData.Mass = _mass;
shapeData.Buoyancy = _buoyancy;
@ -144,7 +144,9 @@ public class BSCharacter : BSPhysObject
ForcePosition = _position;
// Set the velocity and compute the proper friction
ForceVelocity = _velocity;
BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution);
BulletSimAPI.SetMargin2(BSShape.ptr, PhysicsScene.Params.collisionMargin);
BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
if (PhysicsScene.Params.ccdMotionThreshold > 0f)
@ -156,11 +158,15 @@ public class BSCharacter : BSPhysObject
OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
// Make so capsule does not fall over
BulletSimAPI.SetAngularFactorV2(BSBody.ptr, OMV.Vector3.Zero);
BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
// BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_DEACTIVATION);
BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
// Do this after the object has been added to the world
@ -175,11 +181,13 @@ public class BSCharacter : BSPhysObject
}
// No one calls this method so I don't know what it could possibly mean
public override bool Stopped { get { return false; } }
public override OMV.Vector3 Size {
get
{
// Avatar capsule size is kept in the scale parameter.
return _size;
// return _size;
return new OMV.Vector3(Scale.X * 2f, Scale.Y * 2f, Scale.Z);
}
set {
@ -199,7 +207,9 @@ public class BSCharacter : BSPhysObject
}
}
public override OMV.Vector3 Scale { get; set; }
public override PrimitiveBaseShape Shape
{
set { BaseShape = value; }
@ -264,7 +274,7 @@ public class BSCharacter : BSPhysObject
// Check that the current position is sane and, if not, modify the position to make it so.
// Check for being below terrain and being out of bounds.
// Check for being below terrain or on water.
// Returns 'true' of the position was made sane by some action.
private bool PositionSanityCheck()
{
@ -335,7 +345,7 @@ public class BSCharacter : BSPhysObject
}
// Avatars don't do vehicles
public override int VehicleType { get { return 0; } set { return; } }
public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } }
public override void VehicleFloatParam(int param, float value) { }
public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
@ -588,9 +598,8 @@ public class BSCharacter : BSPhysObject
newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
// From the total height, remote the capsule half spheres that are at each end
newScale.Z = (size.Z * 2f) - Math.Min(newScale.X, newScale.Y);
// newScale.Z = (size.Z * 2f);
// From the total height, remove the capsule half spheres that are at each end
newScale.Z = size.Z- (newScale.X + newScale.Y);
Scale = newScale;
}
@ -636,7 +645,7 @@ public class BSCharacter : BSPhysObject
BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel);
}
// Tell the linkset about this
// Tell the linkset about value changes
Linkset.UpdateProperties(this);
// Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.

3
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -692,7 +692,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
{
if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process
{
// swizzle a new list into the list location so we can process what's there
int taintCount = m_taintsToProcessPerStep;
TaintCallbackEntry oneCallback = new TaintCallbackEntry();
while (_taintedObjects.Count > 0 && taintCount-- > 0)
@ -711,7 +710,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
{
try
{
DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG
DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident);
oneCallback.callback();
}
catch (Exception e)

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

@ -443,7 +443,8 @@ public class BSShapeCollection : IDisposable
if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
{
newShape = new BulletShape(
BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, nativeShapeData.Scale), shapeType);
BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, nativeShapeData.Scale)
, shapeType);
DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", nativeShapeData.ID, nativeShapeData.Scale);
}
else
@ -790,7 +791,6 @@ public class BSShapeCollection : IDisposable
// If the collisionObject is not the correct type for solidness, rebuild what's there
mustRebuild = true;
}
}
if (mustRebuild || forceRebuild)

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

@ -333,8 +333,8 @@ public class BSTerrainManager
// Make sure the new shape is processed.
// BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true);
BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING);
// BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
// BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING);
BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
m_terrainModified = true;
};