BulletSim: working on COM

OpenSim/Region/Physics/BulletSPlugin/BSApiTemplate.cs

@@ -140,6 +140,25 @@ public struct EntityProperties
     public Vector3 Velocity;
     public Vector3 Acceleration;
     public Vector3 RotationalVelocity;
+
+    public override string ToString()
+    {
+        StringBuilder buff = new StringBuilder();
+        buff.Append("<i=");
+        buff.Append(ID.ToString());
+        buff.Append(",p=");
+        buff.Append(Position.ToString());
+        buff.Append(",r=");
+        buff.Append(Rotation.ToString());
+        buff.Append(",v=");
+        buff.Append(Velocity.ToString());
+        buff.Append(",a=");
+        buff.Append(Acceleration.ToString());
+        buff.Append(",rv=");
+        buff.Append(RotationalVelocity.ToString());
+        buff.Append(">");
+        return buff.ToString();
+    }
 }
 
 // Format of this structure must match the definition in the C++ code

OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs

@@ -377,7 +377,7 @@ public sealed class BSLinksetCompound : BSLinkset
     // Constraint linksets are rebuilt every time.
     // Note that this works for rebuilding just the root after a linkset is taken apart.
     // Called at taint time!!
-    private bool disableCOM = true;     // disable until we get this debugged
+    private bool disableCOM = false;     // disable until we get this debugged
     private void RecomputeLinksetCompound()
     {
         try
@@ -400,8 +400,9 @@ public sealed class BSLinksetCompound : BSLinkset
             }                                           // DEBUG DEBUG
             else
             {
-                centerOfMass = ComputeLinksetGeometricCenter();
-                centerDisplacement = centerOfMass - LinksetRoot.RawPosition;
+                centerOfMass = ComputeLinksetCenterOfMass();
+                // 'centerDisplacement' is the value to *add* to all the shape offsets
+                centerDisplacement = LinksetRoot.RawPosition - centerOfMass;
 
                 // Since we're displacing the center of the shape, we need to move the body in the world
                 LinksetRoot.PositionDisplacement = centerDisplacement;

OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs

@@ -336,6 +336,7 @@ public sealed class BSPrim : BSPhysObject
             }
         }
     }
+        /*  Disable. Presume whoever is setting displacement is already adjusting position, etc.
     // Override to have position displacement immediately update the physical position.
     // A feeble attempt to keep the sim and physical positions in sync
     // Must be called at taint time.
@@ -355,6 +356,7 @@ public sealed class BSPrim : 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.
@@ -371,11 +373,11 @@ public sealed class BSPrim : BSPhysObject
             return ret;
         }
 
-        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position);
+        float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
         OMV.Vector3 upForce = OMV.Vector3.Zero;
         if (RawPosition.Z < terrainHeight)
         {
-            DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
+            DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
             float targetHeight = terrainHeight + (Size.Z / 2f);
             // If the object is below ground it just has to be moved up because pushing will
             //     not get it through the terrain
@@ -1637,7 +1639,11 @@ public sealed class BSPrim : BSPhysObject
                 // entprop.RotationalVelocity = OMV.Vector3.Zero;
             }
 
+            DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop);   // DEBUG DEBUG
+
             // Assign directly to the local variables so the normal set actions do not happen
+
+            // Undo any center-of-mass displacement that might have been done.
             entprop.Position -= PositionDisplacement;
             _position = entprop.Position;
             _orientation = entprop.Rotation;
@@ -1645,6 +1651,8 @@ public sealed class BSPrim : BSPhysObject
             _acceleration = entprop.Acceleration;
             _rotationalVelocity = entprop.RotationalVelocity;
 
+            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))
             {
@@ -1653,8 +1661,7 @@ public sealed class BSPrim : BSPhysObject
             }
 
             OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;   // DEBUG DEBUG DEBUG
-            DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
-                    LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
+            DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction);
 
             // remember the current and last set values
             LastEntityProperties = CurrentEntityProperties;

OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt

@@ -1,5 +1,7 @@
 CURRENT PRIORITIES
 =================================================
+Deleting a linkset while standing on the root will leave the physical shape of the root behind.
+	Not sure if it is because standing on it. Done with large prim linksets.
 Child movement in linkset (don't rebuild linkset)
 Vehicle angular vertical attraction
 vehicle angular banking