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BulletSim: Add PID variables to physical scene. Not PIDing yet, but soon. 

Cleaned up code and got rid of compile warnings.
0.7.4.1
Robert Adams 2012-07-12 15:34:25 -07:00
parent f9913b6ef7
commit c400918c84
3 changed files with 97 additions and 101 deletions
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69
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -41,7 +41,7 @@ public class BSCharacter : PhysicsActor
private BSScene _scene; private BSScene _scene;
private String _avName; private String _avName;
private bool _stopped; // private bool _stopped;
private Vector3 _size; private Vector3 _size;
private Vector3 _scale; private Vector3 _scale;
private PrimitiveBaseShape _pbs; private PrimitiveBaseShape _pbs;
@ -134,9 +134,9 @@ public class BSCharacter : PhysicsActor
{ {
base.RequestPhysicsterseUpdate(); base.RequestPhysicsterseUpdate();
} }
// No one calls this method so I don't know what it could possibly mean
public override bool Stopped { public override bool Stopped {
get { return _stopped; } get { return false; }
} }
public override Vector3 Size { public override Vector3 Size {
get { return _size; } get { return _size; }
@ -391,52 +391,47 @@ public class BSCharacter : PhysicsActor
_mass = _density * _avatarVolume; _mass = _density * _avatarVolume;
} }
// Set to 'true' if the individual changed items should be checked
// (someday RequestPhysicsTerseUpdate() will take a bitmap of changed properties)
const bool SHOULD_CHECK_FOR_INDIVIDUAL_CHANGES = false;
// The physics engine says that properties have updated. Update same and inform // The physics engine says that properties have updated. Update same and inform
// the world that things have changed. // the world that things have changed.
public void UpdateProperties(EntityProperties entprop) public void UpdateProperties(EntityProperties entprop)
{ {
/*
bool changed = false; bool changed = false;
if (SHOULD_CHECK_FOR_INDIVIDUAL_CHANGES) { // we assign to the local variables so the normal set action does not happen
// we assign to the local variables so the normal set action does not happen if (_position != entprop.Position) {
if (_position != entprop.Position) {
_position = entprop.Position;
changed = true;
}
if (_orientation != entprop.Rotation) {
_orientation = entprop.Rotation;
changed = true;
}
if (_velocity != entprop.Velocity) {
_velocity = entprop.Velocity;
changed = true;
}
if (_acceleration != entprop.Acceleration) {
_acceleration = entprop.Acceleration;
changed = true;
}
if (_rotationalVelocity != entprop.RotationalVelocity) {
_rotationalVelocity = entprop.RotationalVelocity;
changed = true;
}
if (changed) {
// m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
// Avatar movement is not done by generating this event. There is code in the heartbeat
// loop that updates avatars.
// base.RequestPhysicsterseUpdate();
}
}
else {
_position = entprop.Position; _position = entprop.Position;
changed = true;
}
if (_orientation != entprop.Rotation) {
_orientation = entprop.Rotation; _orientation = entprop.Rotation;
changed = true;
}
if (_velocity != entprop.Velocity) {
_velocity = entprop.Velocity; _velocity = entprop.Velocity;
changed = true;
}
if (_acceleration != entprop.Acceleration) {
_acceleration = entprop.Acceleration; _acceleration = entprop.Acceleration;
changed = true;
}
if (_rotationalVelocity != entprop.RotationalVelocity) {
_rotationalVelocity = entprop.RotationalVelocity; _rotationalVelocity = entprop.RotationalVelocity;
changed = true;
}
if (changed) {
// m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
// Avatar movement is not done by generating this event. There is code in the heartbeat
// loop that updates avatars.
// base.RequestPhysicsterseUpdate(); // base.RequestPhysicsterseUpdate();
} }
*/
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// Avatars don't report theirr changes the usual way. Changes are checked for in the heartbeat loop.
// base.RequestPhysicsterseUpdate();
} }
// Called by the scene when a collision with this object is reported // Called by the scene when a collision with this object is reported

116
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
View File

@ -148,7 +148,7 @@ public sealed class BSPrim : PhysicsActor
{ {
// m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID);
// Undo any vehicle properties // Undo any vehicle properties
_vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE, 1f);
_scene.RemoveVehiclePrim(this); // just to make sure _scene.RemoveVehiclePrim(this); // just to make sure
// undo any dependance with/on other objects // undo any dependance with/on other objects
@ -353,7 +353,7 @@ public sealed class BSPrim : PhysicsActor
} }
set { set {
Vehicle type = (Vehicle)value; Vehicle type = (Vehicle)value;
_vehicle.ProcessTypeChange(type); _vehicle.ProcessTypeChange(type, _scene.LastSimulatedTimestep);
_scene.TaintedObject(delegate() _scene.TaintedObject(delegate()
{ {
if (type == Vehicle.TYPE_NONE) if (type == Vehicle.TYPE_NONE)
@ -371,11 +371,11 @@ public sealed class BSPrim : PhysicsActor
} }
public override void VehicleFloatParam(int param, float value) public override void VehicleFloatParam(int param, float value)
{ {
_vehicle.ProcessFloatVehicleParam((Vehicle)param, value); _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
} }
public override void VehicleVectorParam(int param, OMV.Vector3 value) public override void VehicleVectorParam(int param, OMV.Vector3 value)
{ {
_vehicle.ProcessVectorVehicleParam((Vehicle)param, value); _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep);
} }
public override void VehicleRotationParam(int param, OMV.Quaternion rotation) public override void VehicleRotationParam(int param, OMV.Quaternion rotation)
{ {
@ -1262,78 +1262,66 @@ public sealed class BSPrim : PhysicsActor
const float POSITION_TOLERANCE = 0.05f; const float POSITION_TOLERANCE = 0.05f;
const float ACCELERATION_TOLERANCE = 0.01f; const float ACCELERATION_TOLERANCE = 0.01f;
const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f;
const bool SHOULD_DAMP_UPDATES = false;
public void UpdateProperties(EntityProperties entprop) public void UpdateProperties(EntityProperties entprop)
{ {
/*
UpdatedProperties changed = 0; UpdatedProperties changed = 0;
if (SHOULD_DAMP_UPDATES) // assign to the local variables so the normal set action does not happen
// if (_position != entprop.Position)
if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE))
{ {
// assign to the local variables so the normal set action does not happen _position = entprop.Position;
// if (_position != entprop.Position) changed |= UpdatedProperties.Position;
if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE))
{
_position = entprop.Position;
// m_log.DebugFormat("{0}: UpdateProperties: id={1}, pos = {2}", LogHeader, LocalID, _position);
changed |= UpdatedProperties.Position;
}
// if (_orientation != entprop.Rotation)
if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE))
{
_orientation = entprop.Rotation;
// m_log.DebugFormat("{0}: UpdateProperties: id={1}, rot = {2}", LogHeader, LocalID, _orientation);
changed |= UpdatedProperties.Rotation;
}
// if (_velocity != entprop.Velocity)
if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE))
{
_velocity = entprop.Velocity;
// m_log.DebugFormat("{0}: UpdateProperties: velocity = {1}", LogHeader, _velocity);
changed |= UpdatedProperties.Velocity;
}
// if (_acceleration != entprop.Acceleration)
if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE))
{
_acceleration = entprop.Acceleration;
// m_log.DebugFormat("{0}: UpdateProperties: acceleration = {1}", LogHeader, _acceleration);
changed |= UpdatedProperties.Acceleration;
}
// if (_rotationalVelocity != entprop.RotationalVelocity)
if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE))
{
_rotationalVelocity = entprop.RotationalVelocity;
// m_log.DebugFormat("{0}: UpdateProperties: rotationalVelocity = {1}", LogHeader, _rotationalVelocity);
changed |= UpdatedProperties.RotationalVel;
}
if (changed != 0)
{
// m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
// Only update the position of single objects and linkset roots
if (this._parentPrim == null)
{
// m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation);
base.RequestPhysicsterseUpdate();
}
}
} }
else // if (_orientation != entprop.Rotation)
if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE))
{ {
// Don't check for damping here -- it's done in BulletSim and SceneObjectPart. _orientation = entprop.Rotation;
changed |= UpdatedProperties.Rotation;
// Only updates only for individual prims and for the root object of a linkset. }
// if (_velocity != entprop.Velocity)
if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE))
{
_velocity = entprop.Velocity;
changed |= UpdatedProperties.Velocity;
}
// if (_acceleration != entprop.Acceleration)
if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE))
{
_acceleration = entprop.Acceleration;
changed |= UpdatedProperties.Acceleration;
}
// if (_rotationalVelocity != entprop.RotationalVelocity)
if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE))
{
_rotationalVelocity = entprop.RotationalVelocity;
changed |= UpdatedProperties.RotationalVel;
}
if (changed != 0)
{
// Only update the position of single objects and linkset roots
if (this._parentPrim == null) if (this._parentPrim == null)
{ {
// Assign to the local variables so the normal set action does not happen
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}",
// LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
base.RequestPhysicsterseUpdate(); base.RequestPhysicsterseUpdate();
} }
} }
*/
// Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
// Updates only for individual prims and for the root object of a linkset.
if (this._parentPrim == null)
{
// Assign to the local variables so the normal set action does not happen
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
// m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}",
// LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
base.RequestPhysicsterseUpdate();
}
} }
// I've collided with something // I've collided with something

13
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -107,6 +107,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
private long m_simulationStep = 0; private long m_simulationStep = 0;
public long SimulationStep { get { return m_simulationStep; } } public long SimulationStep { get { return m_simulationStep; } }
public float LastSimulatedTimestep { get; private set; }
// A value of the time now so all the collision and update routines do not have to get their own // A value of the time now so all the collision and update routines do not have to get their own
// Set to 'now' just before all the prims and actors are called for collisions and updates // Set to 'now' just before all the prims and actors are called for collisions and updates
private int m_simulationNowTime; private int m_simulationNowTime;
@ -123,6 +125,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed
private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes
public float PID_D { get; private set; } // derivative
public float PID_P { get; private set; } // proportional
public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero
public const uint GROUNDPLANE_ID = 1; public const uint GROUNDPLANE_ID = 1;
@ -222,6 +227,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
m_maxUpdatesPerFrame = 2048; m_maxUpdatesPerFrame = 2048;
m_maximumObjectMass = 10000.01f; m_maximumObjectMass = 10000.01f;
PID_D = 2200f;
PID_P = 900f;
parms.defaultFriction = 0.5f; parms.defaultFriction = 0.5f;
parms.defaultDensity = 10.000006836f; // Aluminum g/cm3 parms.defaultDensity = 10.000006836f; // Aluminum g/cm3
parms.defaultRestitution = 0f; parms.defaultRestitution = 0f;
@ -278,6 +286,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters
m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame); m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame);
m_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", m_maximumObjectMass); m_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", m_maximumObjectMass);
PID_D = pConfig.GetFloat("PIDDerivative", PID_D);
PID_P = pConfig.GetFloat("PIDProportional", PID_P);
parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction); parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction);
parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity); parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity);
parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution); parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution);
@ -415,6 +426,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters
int collidersCount; int collidersCount;
IntPtr collidersPtr; IntPtr collidersPtr;
LastSimulatedTimestep = timeStep;
// prevent simulation until we've been initialized // prevent simulation until we've been initialized
if (!m_initialized) return 10.0f; if (!m_initialized) return 10.0f;