From b8178f5a509caf897dac0660db47ea9a5224194a Mon Sep 17 00:00:00 2001 From: Diva Canto Date: Sun, 9 Dec 2012 22:03:21 -0800 Subject: [PATCH 01/13] Switched the order by which foreign inventory and foreign assets are brought in, to avoid race conditions on the client. --- OpenSim/Region/Framework/Scenes/Scene.Inventory.cs | 10 ++++------ 1 file changed, 4 insertions(+), 6 deletions(-) diff --git a/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs b/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs index e0f3c99bd1..5c8b097216 100644 --- a/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs +++ b/OpenSim/Region/Framework/Scenes/Scene.Inventory.cs @@ -688,12 +688,10 @@ namespace OpenSim.Region.Framework.Scenes itemCopy.SalePrice = item.SalePrice; itemCopy.SaleType = item.SaleType; - if (AddInventoryItem(itemCopy)) - { - IInventoryAccessModule invAccess = RequestModuleInterface(); - if (invAccess != null) - invAccess.TransferInventoryAssets(itemCopy, senderId, recipient); - } + IInventoryAccessModule invAccess = RequestModuleInterface(); + if (invAccess != null) + invAccess.TransferInventoryAssets(itemCopy, senderId, recipient); + AddInventoryItem(itemCopy); if (!Permissions.BypassPermissions()) { From af8d53657d581404e4719a4f2e75eff3c56f524a Mon Sep 17 00:00:00 2001 From: Diva Canto Date: Sun, 9 Dec 2012 22:05:12 -0800 Subject: [PATCH 02/13] HGAssetMapper: Get wasn't really working. It's true that some assets are copied in the process of being gathered their UUID, but not all. Specifically, terminal assets like textures aren't copied. We have to go one more time through the ids. --- .../InventoryAccess/HGAssetMapper.cs | 36 +++++++++++++++++-- 1 file changed, 34 insertions(+), 2 deletions(-) diff --git a/OpenSim/Region/CoreModules/Framework/InventoryAccess/HGAssetMapper.cs b/OpenSim/Region/CoreModules/Framework/InventoryAccess/HGAssetMapper.cs index f8ec6de85d..7871eda5b6 100644 --- a/OpenSim/Region/CoreModules/Framework/InventoryAccess/HGAssetMapper.cs +++ b/OpenSim/Region/CoreModules/Framework/InventoryAccess/HGAssetMapper.cs @@ -71,7 +71,7 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess #region Internal functions - public AssetMetadata FetchMetadata(string url, UUID assetID) + private AssetMetadata FetchMetadata(string url, UUID assetID) { if (!url.EndsWith("/") && !url.EndsWith("=")) url = url + "/"; @@ -86,6 +86,27 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess return meta; } + private AssetBase FetchAsset(string url, UUID assetID) + { + // Test if it's already here + AssetBase asset = m_scene.AssetService.Get(assetID.ToString()); + if (asset == null) + { + if (!url.EndsWith("/") && !url.EndsWith("=")) + url = url + "/"; + + asset = m_scene.AssetService.Get(url + assetID.ToString()); + + //if (asset != null) + // m_log.DebugFormat("[HG ASSET MAPPER]: Fetched asset {0} of type {1} from {2} ", assetID, asset.Metadata.Type, url); + //else + // m_log.DebugFormat("[HG ASSET MAPPER]: Unable to fetch asset {0} from {1} ", assetID, url); + + } + + return asset; + } + public bool PostAsset(string url, AssetBase asset) { if (asset != null) @@ -228,11 +249,22 @@ namespace OpenSim.Region.CoreModules.Framework.InventoryAccess if (meta == null) return; - // The act of gathering UUIDs downloads the assets from the remote server + // The act of gathering UUIDs downloads some assets from the remote server + // but not all... Dictionary ids = new Dictionary(); HGUuidGatherer uuidGatherer = new HGUuidGatherer(m_scene.AssetService, userAssetURL); uuidGatherer.GatherAssetUuids(assetID, (AssetType)meta.Type, ids); + m_log.DebugFormat("[HG ASSET MAPPER]: Preparing to get {0} assets", ids.Count); + bool success = true; + foreach (UUID uuid in ids.Keys) + if (FetchAsset(userAssetURL, uuid) == null) + success = false; + // maybe all pieces got here... + if (!success) + m_log.DebugFormat("[HG ASSET MAPPER]: Problems getting item {0} from asset server {1}", assetID, userAssetURL); + else + m_log.DebugFormat("[HG ASSET MAPPER]: Successfully got item {0} from asset server {1}", assetID, userAssetURL); } From ce5083a504a82712149f5e3dab622d42e260bba3 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 9 Dec 2012 22:10:32 -0800 Subject: [PATCH 03/13] BulletSim: adjust friction and restitution based on material type. --- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 10 ++++++++++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 12 +++++++----- 2 files changed, 17 insertions(+), 5 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index f6a890e7bf..b05d4eeb9e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -60,6 +60,9 @@ public abstract class BSPhysObject : PhysicsActor Linkset = BSLinkset.Factory(PhysicsScene, this); LastAssetBuildFailed = false; + // Default material type + Material = MaterialAttributes.Material.Wood; + CollisionCollection = new CollisionEventUpdate(); SubscribedEventsMs = 0; CollidingStep = 0; @@ -109,6 +112,13 @@ public abstract class BSPhysObject : PhysicsActor public abstract bool IsSolid { get; } public abstract bool IsStatic { get; } + // Materialness + public MaterialAttributes.Material Material { get; private set; } + public override void SetMaterial(int material) + { + Material = (MaterialAttributes.Material)material; + } + // Stop all physical motion. public abstract void ZeroMotion(bool inTaintTime); public abstract void ZeroAngularMotion(bool inTaintTime); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 4d203ffc48..627393a982 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -683,8 +683,9 @@ public sealed class BSPrim : BSPhysObject ZeroMotion(true); // Set various physical properties so other object interact properly - BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction); - BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution); + MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); + BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction); + BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); // Mass is zero which disables a bunch of physics stuff in Bullet UpdatePhysicalMassProperties(0f); @@ -711,9 +712,10 @@ public sealed class BSPrim : BSPhysObject // Not a Bullet static object CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - // Set various physical properties so internal dynamic properties will get computed correctly as they are set - BulletSimAPI.SetFriction2(PhysBody.ptr, PhysicsScene.Params.defaultFriction); - BulletSimAPI.SetRestitution2(PhysBody.ptr, PhysicsScene.Params.defaultRestitution); + // Set various physical properties so other object interact properly + MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true); + BulletSimAPI.SetFriction2(PhysBody.ptr, matAttrib.friction); + BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 // Since this can be called multiple times, only zero forces when becoming physical From a19896cc569c037436ad8e65f044224f169d63d4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 9 Dec 2012 22:32:13 -0800 Subject: [PATCH 04/13] BulletSim: some comments about rebuilding linksets (having to recompute and restore a child's position in the world based on its position in the moved linkset). --- .../Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 1f7c398396..bc9f9be56e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -192,6 +192,8 @@ public sealed class BSLinksetCompound : BSLinkset child.LocalID, child.PhysBody.ptr.ToString("X")); // Cause the child's body to be rebuilt and thus restored to normal operation + // TODO: position and rotation must be restored because the child could have moved + // based on the linkset. child.ForceBodyShapeRebuild(false); if (!HasAnyChildren) @@ -236,9 +238,10 @@ public sealed class BSLinksetCompound : BSLinkset if (cPrim.PhysShape.isNativeShape) { - // Native shapes are not shared so we need to create a new one. - // A mesh or hull is created because scale is not available on a native shape. - // (TODO: Bullet does have a btScaledCollisionShape. Can that be used?) + // A native shape is turning into a null collision shape because native + // shapes are not shared so we have to hullify it so it will be tracked + // and freed at the correct time. This also solves the scaling problem + // (native shapes scaled but hull/meshes are assumed to not be). BulletShape saveShape = cPrim.PhysShape; cPrim.PhysShape.ptr = IntPtr.Zero; // Don't let the create free the child's shape PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); From 9df85eadf4b3719a898fda8769313ae023962c25 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 10 Dec 2012 15:35:53 -0800 Subject: [PATCH 05/13] BulletSim: Fix crash on the destruction of physical linksets. While fixing the above, add methods to physical body and shape pointer wrapper so routines won't have to know that IntPtr.Zero means no physical instance. Fix problem with physical linksets failing after a few sits and unsits by properly restoring child prom positions for compound linksets after multiple selection and deselections. --- .../Physics/BulletSPlugin/BSCharacter.cs | 2 + .../Physics/BulletSPlugin/BSConstraint.cs | 4 +- .../Physics/BulletSPlugin/BSConstraint6Dof.cs | 4 +- .../Region/Physics/BulletSPlugin/BSLinkset.cs | 8 ++ .../BulletSPlugin/BSLinksetCompound.cs | 113 +++++++++++++++--- .../Physics/BulletSPlugin/BSPhysObject.cs | 5 +- .../Region/Physics/BulletSPlugin/BSPrim.cs | 6 +- .../BulletSPlugin/BSShapeCollection.cs | 16 +-- .../BulletSPlugin/BSTerrainHeightmap.cs | 2 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 4 +- .../Physics/BulletSPlugin/BSTerrainMesh.cs | 6 +- .../Physics/BulletSPlugin/BulletSimAPI.cs | 23 ++++ 12 files changed, 155 insertions(+), 38 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 21aa9be78b..88460cc900 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -124,7 +124,9 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() { PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); + PhysBody.Clear(); PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); + PhysShape.Clear(); }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs index 65fac00316..6b1e304207 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint.cs @@ -57,7 +57,7 @@ public abstract class BSConstraint : IDisposable if (m_enabled) { m_enabled = false; - if (m_constraint.ptr != IntPtr.Zero) + if (m_constraint.HasPhysicalConstraint) { bool success = BulletSimAPI.DestroyConstraint2(m_world.ptr, m_constraint.ptr); m_world.physicsScene.DetailLog("{0},BSConstraint.Dispose,taint,id1={1},body1={2},id2={3},body2={4},success={5}", @@ -65,7 +65,7 @@ public abstract class BSConstraint : IDisposable m_body1.ID, m_body1.ptr.ToString("X"), m_body2.ID, m_body2.ptr.ToString("X"), success); - m_constraint.ptr = System.IntPtr.Zero; + m_constraint.Clear(); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs index 23ef0523d8..b07355555f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraint6Dof.cs @@ -65,7 +65,7 @@ public sealed class BSConstraint6Dof : BSConstraint m_world = world; m_body1 = obj1; m_body2 = obj2; - if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero) + if (!obj1.HasPhysicalBody || !obj2.HasPhysicalBody) { world.physicsScene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}", BSScene.DetailLogZero, world.worldID, @@ -83,7 +83,7 @@ public sealed class BSConstraint6Dof : BSConstraint world.physicsScene.DetailLog("{0},BS6DofConstraint,createMidPoint,wID={1}, csrt={2}, rID={3}, rBody={4}, cID={5}, cBody={6}", BSScene.DetailLogZero, world.worldID, m_constraint.ptr.ToString("X"), obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X")); - if (m_constraint.ptr == IntPtr.Zero) + if (!m_constraint.HasPhysicalConstraint) { world.physicsScene.Logger.ErrorFormat("{0} Failed creation of 6Dof constraint. rootID={1}, childID={2}", LogHeader, obj1.ID, obj2.ID); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 0df43108b6..777c5cb33a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -32,6 +32,14 @@ using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { + +// A BSPrim can get individual information about its linkedness attached +// to it through an instance of a subclass of LinksetInfo. +// Each type of linkset will define the information needed for its type. +public abstract class BSLinksetInfo +{ +} + public abstract class BSLinkset { // private static string LogHeader = "[BULLETSIM LINKSET]"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index bc9f9be56e..fe5b5e3ecb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -32,6 +32,31 @@ using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { + +// When a child is linked, the relationship position of the child to the parent +// is remembered so the child's world position can be recomputed when it is +// removed from the linkset. +sealed class BSLinksetCompoundInfo : BSLinksetInfo +{ + public OMV.Vector3 OffsetPos; + public OMV.Quaternion OffsetRot; + public BSLinksetCompoundInfo(OMV.Vector3 p, OMV.Quaternion r) + { + OffsetPos = p; + OffsetRot = r; + } + public override string ToString() + { + StringBuilder buff = new StringBuilder(); + buff.Append(""); + return buff.ToString(); + } +}; + public sealed class BSLinksetCompound : BSLinkset { private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; @@ -44,6 +69,7 @@ public sealed class BSLinksetCompound : BSLinkset // For compound implimented linksets, if there are children, use compound shape for the root. public override BSPhysicsShapeType PreferredPhysicalShape(BSPhysObject requestor) { + // Returning 'unknown' means we don't have a preference. BSPhysicsShapeType ret = BSPhysicsShapeType.SHAPE_UNKNOWN; if (IsRoot(requestor) && HasAnyChildren) { @@ -63,10 +89,10 @@ public sealed class BSLinksetCompound : BSLinkset // InternalRefresh(requestor); } + // Schedule a refresh to happen after all the other taint processing. private void InternalRefresh(BSPhysObject requestor) { DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,requestor={1}", LinksetRoot.LocalID, requestor.LocalID); - // Queue to happen after all the other taint processing PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", requestor.LocalID, delegate() { if (IsRoot(requestor) && HasAnyChildren) @@ -108,7 +134,7 @@ public sealed class BSLinksetCompound : BSLinkset { // The non-physical children can come back to life. BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); - // Don't force activation so setting of DISABLE_SIMULATION can stay. + // Don't force activation so setting of DISABLE_SIMULATION can stay if used. BulletSimAPI.Activate2(child.PhysBody.ptr, false); ret = true; } @@ -146,6 +172,10 @@ public sealed class BSLinksetCompound : BSLinkset if (!IsRoot(child)) { + // Because it is a convenient time, recompute child world position and rotation based on + // its position in the linkset. + RecomputeChildWorldPosition(child, true); + // Cause the current shape to be freed and the new one to be built. InternalRefresh(LinksetRoot); ret = true; @@ -154,6 +184,42 @@ public sealed class BSLinksetCompound : BSLinkset return ret; } + // When the linkset is built, the child shape is added + // to the compound shape relative to the root shape. The linkset then moves around but + // this does not move the actual child prim. The child prim's location must be recomputed + // based on the location of the root shape. + private void RecomputeChildWorldPosition(BSPhysObject child, bool inTaintTime) + { + BSLinksetCompoundInfo lci = child.LinksetInfo as BSLinksetCompoundInfo; + if (lci != null) + { + if (inTaintTime) + { + OMV.Vector3 oldPos = child.RawPosition; + child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetPos; + child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot; + DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}", + child.LocalID, oldPos, lci, child.RawPosition); + } + else + { + // TaintedObject is not used here so the raw position is set now and not at taint-time. + child.Position = LinksetRoot.RawPosition + lci.OffsetPos; + child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot; + } + } + else + { + // This happens when children have been added to the linkset but the linkset + // has not been constructed yet. So like, at taint time, adding children to a linkset + // and then changing properties of the children (makePhysical, for instance) + // but the post-print action of actually rebuilding the linkset has not yet happened. + // PhysicsScene.Logger.WarnFormat("{0} Restoring linkset child position failed because of no relative position computed. ID={1}", + // LogHeader, child.LocalID); + DetailLog("{0},BSLinksetCompound.recomputeChildWorldPosition,noRelativePositonInfo", child.LocalID); + } + } + // Companion to RemoveBodyDependencies(). If RemoveBodyDependencies() returns 'true', // this routine will restore the removed constraints. // Called at taint-time!! @@ -192,8 +258,7 @@ public sealed class BSLinksetCompound : BSLinkset child.LocalID, child.PhysBody.ptr.ToString("X")); // Cause the child's body to be rebuilt and thus restored to normal operation - // TODO: position and rotation must be restored because the child could have moved - // based on the linkset. + RecomputeChildWorldPosition(child, false); child.ForceBodyShapeRebuild(false); if (!HasAnyChildren) @@ -228,43 +293,57 @@ public sealed class BSLinksetCompound : BSLinkset { if (!IsRoot(cPrim)) { - // Each child position and rotation is given relative to the root. - OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); - OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; - OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; + // Compute the displacement of the child from the root of the linkset. + // This info is saved in the child prim so the relationship does not + // change over time and the new child position can be computed + // when the linkset is being disassembled (the linkset may have moved). + BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo; + if (lci == null) + { + // Each child position and rotation is given relative to the root. + OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); + OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; + OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; + + // Save relative position for recomputing child's world position after moving linkset. + lci = new BSLinksetCompoundInfo(displacementPos, displacementRot); + cPrim.LinksetInfo = lci; + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); + } DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}", - LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, displacementPos, displacementRot); + LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); if (cPrim.PhysShape.isNativeShape) { - // A native shape is turning into a null collision shape because native + // A native shape is turning into a hull collision shape because native // shapes are not shared so we have to hullify it so it will be tracked // and freed at the correct time. This also solves the scaling problem // (native shapes scaled but hull/meshes are assumed to not be). + // TODO: decide of the native shape can just be used in the compound shape. + // Use call to CreateGeomNonSpecial(). BulletShape saveShape = cPrim.PhysShape; - cPrim.PhysShape.ptr = IntPtr.Zero; // Don't let the create free the child's shape + cPrim.PhysShape.Clear(); // Don't let the create free the child's shape + // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null); PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); BulletShape newShape = cPrim.PhysShape; cPrim.PhysShape = saveShape; - BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, displacementPos, displacementRot); + BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, newShape.ptr, lci.OffsetPos , lci.OffsetRot); } else { // For the shared shapes (meshes and hulls), just use the shape in the child. + // The reference count added here will be decremented when the compound shape + // is destroyed in BSShapeCollection (the child shapes are looped over and dereferenced). if (PhysicsScene.Shapes.ReferenceShape(cPrim.PhysShape)) { PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); } - BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, displacementPos, displacementRot); + BulletSimAPI.AddChildShapeToCompoundShape2(LinksetRoot.PhysShape.ptr, cPrim.PhysShape.ptr, lci.OffsetPos , lci.OffsetRot); } } - // TODO: need to phantomize the child prims left behind. - // Maybe just destroy the children bodies and shapes and have them rebuild on unlink. - // Selection/deselection might cause way too many build/destructions esp. for LARGE linksets. - return false; // 'false' says to move onto the next child in the list }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index b05d4eeb9e..d2fc15c7ae 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -75,6 +75,7 @@ public abstract class BSPhysObject : PhysicsActor public string TypeName { get; protected set; } public BSLinkset Linkset { get; set; } + public BSLinksetInfo LinksetInfo { get; set; } // Return the object mass without calculating it or having side effects public abstract float RawMass { get; } @@ -253,7 +254,9 @@ public abstract class BSPhysObject : PhysicsActor SubscribedEventsMs = 0; PhysicsScene.TaintedObject(TypeName+".UnSubscribeEvents", delegate() { - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); + // Make sure there is a body there because sometimes destruction happens in an un-ideal order. + if (PhysBody.HasPhysicalBody) + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); }); } // Return 'true' if the simulator wants collision events diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 627393a982..d1d100d777 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -108,8 +108,8 @@ public sealed class BSPrim : BSPhysObject _mass = CalculateMass(); // No body or shape yet - PhysBody = new BulletBody(LocalID, IntPtr.Zero); - PhysShape = new BulletShape(IntPtr.Zero); + PhysBody = new BulletBody(LocalID); + PhysShape = new BulletShape(); DetailLog("{0},BSPrim.constructor,call", LocalID); // do the actual object creation at taint time @@ -143,7 +143,9 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.Destroy,taint,", LocalID); // If there are physical body and shape, release my use of same. PhysicsScene.Shapes.DereferenceBody(PhysBody, true, null); + PhysBody.Clear(); PhysicsScene.Shapes.DereferenceShape(PhysShape, true, null); + PhysShape.Clear(); }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 933f573e78..74b4371efc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -149,7 +149,7 @@ public sealed class BSShapeCollection : IDisposable // Called when releasing use of a BSBody. BSShape is handled separately. public void DereferenceBody(BulletBody body, bool inTaintTime, BodyDestructionCallback bodyCallback ) { - if (body.ptr == IntPtr.Zero) + if (!body.HasPhysicalBody) return; lock (m_collectionActivityLock) @@ -243,12 +243,12 @@ public sealed class BSShapeCollection : IDisposable // Release the usage of a shape. public void DereferenceShape(BulletShape shape, bool inTaintTime, ShapeDestructionCallback shapeCallback) { - if (shape.ptr == IntPtr.Zero) + if (!shape.HasPhysicalShape) return; PhysicsScene.TaintedObject(inTaintTime, "BSShapeCollection.DereferenceShape", delegate() { - if (shape.ptr != IntPtr.Zero) + if (shape.HasPhysicalShape) { if (shape.isNativeShape) { @@ -440,7 +440,7 @@ public sealed class BSShapeCollection : IDisposable } // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'. - private bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) + public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) { bool ret = false; bool haveShape = false; @@ -573,7 +573,7 @@ public sealed class BSShapeCollection : IDisposable // Native shapes are scaled in Bullet so set the scaling to the size newShape = new BulletShape(BulletSimAPI.BuildNativeShape2(PhysicsScene.World.ptr, nativeShapeData), shapeType); } - if (newShape.ptr == IntPtr.Zero) + if (!newShape.HasPhysicalShape) { PhysicsScene.Logger.ErrorFormat("{0} BuildPhysicalNativeShape failed. ID={1}, shape={2}", LogHeader, prim.LocalID, shapeType); @@ -590,7 +590,7 @@ public sealed class BSShapeCollection : IDisposable // Called at taint-time! private bool GetReferenceToMesh(BSPhysObject prim, ShapeDestructionCallback shapeCallback) { - BulletShape newShape = new BulletShape(IntPtr.Zero); + BulletShape newShape = new BulletShape(); float lod; System.UInt64 newMeshKey = ComputeShapeKey(prim.Size, prim.BaseShape, out lod); @@ -860,7 +860,7 @@ public sealed class BSShapeCollection : IDisposable private BulletShape VerifyMeshCreated(BulletShape newShape, BSPhysObject prim) { // If the shape was successfully created, nothing more to do - if (newShape.ptr != IntPtr.Zero) + if (newShape.HasPhysicalShape) return newShape; // If this mesh has an underlying asset and we have not failed getting it before, fetch the asset @@ -919,7 +919,7 @@ public sealed class BSShapeCollection : IDisposable bool ret = false; // the mesh, hull or native shape must have already been created in Bullet - bool mustRebuild = (prim.PhysBody.ptr == IntPtr.Zero); + bool mustRebuild = !prim.PhysBody.HasPhysicalBody; // If there is an existing body, verify it's of an acceptable type. // If not a solid object, body is a GhostObject. Otherwise a RigidBody. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs index 83b9c37104..2d379bb110 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainHeightmap.cs @@ -136,7 +136,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys { if (m_mapInfo != null) { - if (m_mapInfo.terrainBody.ptr != IntPtr.Zero) + if (m_mapInfo.terrainBody.HasPhysicalBody) { BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_mapInfo.terrainBody.ptr); // Frees both the body and the shape. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 83df360434..c28d69d934 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -151,13 +151,13 @@ public sealed class BSTerrainManager // Release all the terrain structures we might have allocated public void ReleaseGroundPlaneAndTerrain() { - if (m_groundPlane.ptr != IntPtr.Zero) + if (m_groundPlane.HasPhysicalBody) { if (BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr)) { BulletSimAPI.DestroyObject2(PhysicsScene.World.ptr, m_groundPlane.ptr); } - m_groundPlane.ptr = IntPtr.Zero; + m_groundPlane.Clear(); } ReleaseTerrain(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 6ce767ddad..34730063b7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs @@ -94,7 +94,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys m_terrainShape = new BulletShape(BulletSimAPI.CreateMeshShape2(PhysicsScene.World.ptr, indicesCount, indices, verticesCount, vertices), BSPhysicsShapeType.SHAPE_MESH); - if (m_terrainShape.ptr == IntPtr.Zero) + if (!m_terrainShape.HasPhysicalShape) { // DISASTER!! PhysicsScene.DetailLog("{0},BSTerrainMesh.create,failedCreationOfShape", ID); @@ -107,7 +107,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys Quaternion rot = Quaternion.Identity; m_terrainBody = new BulletBody(id, BulletSimAPI.CreateBodyWithDefaultMotionState2( m_terrainShape.ptr, ID, pos, rot)); - if (m_terrainBody.ptr == IntPtr.Zero) + if (!m_terrainBody.HasPhysicalBody) { // DISASTER!! physicsScene.Logger.ErrorFormat("{0} Failed creation of terrain body! base={1}", LogHeader, TerrainBase); @@ -140,7 +140,7 @@ public sealed class BSTerrainMesh : BSTerrainPhys public override void Dispose() { - if (m_terrainBody.ptr != IntPtr.Zero) + if (m_terrainBody.HasPhysicalBody) { BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, m_terrainBody.ptr); // Frees both the body and the shape. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 2671995dd2..1559025ad5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -53,6 +53,9 @@ public struct BulletSim // An allocated Bullet btRigidBody public struct BulletBody { + public BulletBody(uint id) : this(id, IntPtr.Zero) + { + } public BulletBody(uint id, IntPtr xx) { ID = id; @@ -64,6 +67,13 @@ public struct BulletBody public uint ID; public CollisionFilterGroups collisionGroup; public CollisionFilterGroups collisionMask; + + public void Clear() + { + ptr = IntPtr.Zero; + } + public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } } + public override string ToString() { StringBuilder buff = new StringBuilder(); @@ -103,6 +113,13 @@ public struct BulletShape public BSPhysicsShapeType type; public System.UInt64 shapeKey; public bool isNativeShape; + + public void Clear() + { + ptr = IntPtr.Zero; + } + public bool HasPhysicalShape { get { return ptr != IntPtr.Zero; } } + public override string ToString() { StringBuilder buff = new StringBuilder(); @@ -140,6 +157,12 @@ public struct BulletConstraint ptr = xx; } public IntPtr ptr; + + public void Clear() + { + ptr = IntPtr.Zero; + } + public bool HasPhysicalConstraint { get { return ptr != IntPtr.Zero; } } } // An allocated HeightMapThing which holds various heightmap info. From 93393fb975f3886c448b6f945705304552fe8875 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 10 Dec 2012 16:46:12 -0800 Subject: [PATCH 06/13] BulletSim: comment out some chatty debug logging. Rearrange some code in BSDynamics to make velocity vs force calculation clearer. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 8 +++++--- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 ++-- 2 files changed, 7 insertions(+), 5 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index fa3110c39f..cb844564ce 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -818,6 +818,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin + hoverContribution + limitMotorUpContribution; + Vector3 newForce = buoyancyContribution; + // If not changing some axis, reduce out velocity if ((m_flags & (VehicleFlag.NO_X)) != 0) newVelocity.X = 0; @@ -845,7 +847,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin VehicleVelocity = newVelocity; // Other linear forces are applied as forces. - Vector3 totalDownForce = buoyancyContribution * m_vehicleMass; + Vector3 totalDownForce = newForce * m_vehicleMass; if (!totalDownForce.ApproxEquals(Vector3.Zero, 0.01f)) { VehicleAddForce(totalDownForce); @@ -1005,8 +1007,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // has a decay factor. This says this force should // be computed with a motor. // TODO: add interaction with banking. - VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},downForce={2}", - Prim.LocalID, distanceAboveGround, ret); + VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}", + Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret); } return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index f72bd74476..17cc7b4634 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -501,7 +501,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters try { - if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG + // if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, @@ -510,7 +510,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}", DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); - if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG + // if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG } catch (Exception e) { From ebf30e7ba66446d7018346c12111d65a030d2786 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 11 Dec 2012 00:02:20 -0800 Subject: [PATCH 07/13] BulletSim: set mass for single prim linksets when going physical. This fixes single prim vehicles not working (the surf board now zooms). --- .../Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 9 ++++++++- 1 file changed, 8 insertions(+), 1 deletion(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index fe5b5e3ecb..d2abdb4290 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -110,12 +110,19 @@ public sealed class BSLinksetCompound : BSLinkset { bool ret = false; DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); - if (!IsRoot(child)) + if (IsRoot(child)) + { + // The root is going dynamic. Make sure mass is properly set. + m_mass = ComputeLinksetMass(); + } + else { // The origional prims are removed from the world as the shape of the root compound // shape takes over. BulletSimAPI.AddToCollisionFlags2(child.PhysBody.ptr, CollisionFlags.CF_NO_CONTACT_RESPONSE); BulletSimAPI.ForceActivationState2(child.PhysBody.ptr, ActivationState.DISABLE_SIMULATION); + // We don't want collisions from the old linkset children. + BulletSimAPI.RemoveFromCollisionFlags2(child.PhysBody.ptr, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); ret = true; } return ret; From 8b861e880ad128edc0267b8e2d5931cfc8a142bc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 11 Dec 2012 00:13:13 -0800 Subject: [PATCH 08/13] BulletSim: add ini file and command line parameters to control dumping of physical vehicle parameters (out of Bullet) on each simulation step and to optionally scale vehicle angular velocity by the time step. The latter looks to be part of a difference between angular parameters for ODE and BulletSim. SL docs say angular velocity is measured in radians/timeScale. Not sure if this is different than what ODE does. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 9 ++++++--- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 12 ++++++++++-- .../Physics/BulletSPlugin/BSShapeCollection.cs | 2 +- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 7 +++++-- 4 files changed, 22 insertions(+), 8 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index cb844564ce..acddc0986b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -570,8 +570,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); - VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}", - Prim.LocalID, friction, localInertia, angularDamping); + VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}", + Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping); } else { @@ -1057,7 +1057,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin // TODO: Should this be applied as an angular force (torque)? if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f)) { - Vector3 scaledCorrection = m_lastAngularCorrection * pTimestep; + // DEBUG DEBUG DEBUG: optionally scale the angular velocity. Debugging SL vs ODE turning functions. + Vector3 scaledCorrection = m_lastAngularCorrection; + if (PhysicsScene.VehicleScaleAngularVelocityByTimestep) + scaledCorrection *= pTimestep; VehicleRotationalVelocity = scaledCorrection; VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 17cc7b4634..f4f2801be5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -188,6 +188,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters private bool m_physicsLoggingDoFlush; // 'true' of the vehicle code is to log lots of details public bool VehicleLoggingEnabled { get; private set; } + public bool VehiclePhysicalLoggingEnabled { get; private set; } + public bool VehicleScaleAngularVelocityByTimestep { get; private set; } #region Construction and Initialization public BSScene(string identifier) @@ -297,6 +299,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false); // Very detailed logging for vehicle debugging VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); + VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false); // Do any replacements in the parameters m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName); @@ -501,7 +504,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters try { - // if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG + if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, @@ -510,7 +513,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}", DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); - // if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG + if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG } catch (Exception e) { @@ -1226,6 +1229,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters (s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); }, (s) => { return s.m_params[0].vehicleAngularDamping; }, (s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ), + new ParameterDefn("VehicleScaleAngularVelocityByTimestep", "If true, scale angular turning by timestep", + ConfigurationParameters.numericFalse, + (s,cf,p,v) => { s.VehicleScaleAngularVelocityByTimestep = cf.GetBoolean(p, s.BoolNumeric(v)); }, + (s) => { return s.NumericBool(s.VehicleScaleAngularVelocityByTimestep); }, + (s,p,l,v) => { s.VehicleScaleAngularVelocityByTimestep = s.BoolNumeric(v); } ), new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", 0f, diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 74b4371efc..4ab9a9921c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -793,7 +793,7 @@ public sealed class BSShapeCollection : IDisposable BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL); newShape.shapeKey = newHullKey; - return newShape; // 'true' means a new shape has been added to this prim + return newShape; } // Callback from convex hull creater with a newly created hull. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index a2161c3460..4b6e9a4dc4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -38,7 +38,8 @@ Disable activity of passive linkset children. Scenes with hundred of thousands of static objects take a lot of physics CPU time. BSPrim.Force should set a continious force on the prim. The force should be applied each tick. Some limits? -Single prim vehicles don't seem to properly vehiclize. +Linksets should allow collisions to individual children + Add LocalID to children shapes in LinksetCompound and create events for individuals Gun sending shooter flying. Collision margin (gap between physical objects lying on each other) Boundry checking (crashes related to crossing boundry) @@ -145,4 +146,6 @@ Linkset implementation using compound shapes. (Resolution: implemented LinksetCo Light cycle falling over when driving (Resolution: implemented VerticalAttractor) Light cycle not banking (Resolution: It doesn't. Banking is roll adding yaw.) Package Bullet source mods for Bullet internal stats output - (Resolution: move code into WorldData.h rather than relying on patches) \ No newline at end of file + (Resolution: move code into WorldData.h rather than relying on patches) +Single prim vehicles don't seem to properly vehiclize. + (Resolution: mass was not getting set properly for single prim linksets) From 905d7c43ad34869df03b21fcd24eb8ea8c6beeae Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 11 Dec 2012 00:35:16 -0800 Subject: [PATCH 09/13] BulletSim: modify LIMIT_MOTOR_UP to limit BOAT types to be at water rather than ground level. This makes boats float at water level better but not perfectly. There probably needs to be some interaction between HOVER and LIMIT_MOTOR_UP. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index acddc0986b..82e829e700 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -993,8 +993,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) { - // If the vehicle is motoring into the sky, get it going back down. - float distanceAboveGround = VehiclePosition.Z - GetTerrainHeight(VehiclePosition); + float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition); + float distanceAboveGround = VehiclePosition.Z - targetHeight; // Not colliding if the vehicle is off the ground if (!Prim.IsColliding) { From 63099184dbd2c1c5bcee2c3c87802f78444e7008 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 11 Dec 2012 13:42:23 -0800 Subject: [PATCH 10/13] BulletSim: protect prim property setting to remove crash from taints setting properties after the destroy object taint has happened. --- .../Region/Physics/BulletSPlugin/BSMotors.cs | 2 +- .../Region/Physics/BulletSPlugin/BSPrim.cs | 54 +++++++++++++------ .../Physics/BulletSPlugin/BulletSimTODO.txt | 9 +++- 3 files changed, 45 insertions(+), 20 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 851d5081ef..cf0a9dc4ab 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -65,7 +65,7 @@ public abstract class BSMotor // Can all the incremental stepping be replaced with motor classes? // Motor which moves CurrentValue to TargetValue over TimeScale seconds. -// The TargetValue is decays in TargetValueDecayTimeScale and +// The TargetValue decays in TargetValueDecayTimeScale and // the CurrentValue will be held back by FrictionTimeScale. // TimeScale and TargetDelayTimeScale may be 'infinite' which means go decay. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index d1d100d777..1280c252e2 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -249,7 +249,8 @@ public sealed class BSPrim : BSPhysObject // Zero some other properties in the physics engine PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() { - BulletSimAPI.ClearAllForces2(PhysBody.ptr); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.ClearAllForces2(PhysBody.ptr); }); } public override void ZeroAngularMotion(bool inTaintTime) @@ -259,8 +260,11 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ZeroMotion", delegate() { // DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity); - BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity); - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + if (PhysBody.HasPhysicalBody) + { + BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + } }); } @@ -297,8 +301,11 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() { // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); - ActivateIfPhysical(false); + if (PhysBody.HasPhysicalBody) + { + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + ActivateIfPhysical(false); + } }); } } @@ -415,7 +422,8 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setForce", delegate() { // DetailLog("{0},BSPrim.setForce,taint,force={1}", LocalID, _force); - BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); }); } } @@ -509,7 +517,8 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setVelocity", delegate() { // DetailLog("{0},BSPrim.SetVelocity,taint,vel={1}", LocalID, _velocity); - BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); }); } } @@ -558,9 +567,12 @@ public sealed class BSPrim : BSPhysObject // TODO: what does it mean if a child in a linkset changes its orientation? Rebuild the constraint? PhysicsScene.TaintedObject("BSPrim.setOrientation", delegate() { - // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); - // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + if (PhysBody.HasPhysicalBody) + { + // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); + // DetailLog("{0},BSPrim.setOrientation,taint,pos={1},orient={2}", LocalID, _position, _orientation); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + } }); } } @@ -865,7 +877,8 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() { DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); }); } } @@ -900,8 +913,11 @@ public sealed class BSPrim : BSPhysObject _buoyancy = value; // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); // Buoyancy is faked by changing the gravity applied to the object - float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); - BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); + if (PhysBody.HasPhysicalBody) + { + float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); + BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); + } } } @@ -969,7 +985,8 @@ public sealed class BSPrim : BSPhysObject } DetailLog("{0},BSPrim.AddForce,taint,force={1}", LocalID, fSum); if (fSum != OMV.Vector3.Zero) - BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, fSum); }); } @@ -980,7 +997,8 @@ public sealed class BSPrim : BSPhysObject PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyForceImpulse", delegate() { DetailLog("{0},BSPrim.ApplyForceImpulse,taint,tImpulse={1}", LocalID, applyImpulse); - BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.ApplyCentralImpulse2(PhysBody.ptr, applyImpulse); }); } @@ -1016,7 +1034,8 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum); if (fSum != OMV.Vector3.Zero) { - BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.ApplyTorque2(PhysBody.ptr, fSum); _torque = fSum; } }); @@ -1030,7 +1049,8 @@ public sealed class BSPrim : BSPhysObject OMV.Vector3 applyImpulse = impulse; PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate() { - BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 4b6e9a4dc4..1c7b577d55 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -11,12 +11,14 @@ CRASHES VEHICLES TODO LIST: ================================================= -Neb car jiggling left and right - Happens on terrain and any other mesh object. Flat cubes are much smoother. +Neb vehicle taking > 25ms of physics time!! Vehicles (Move smoothly) Add vehicle collisions so IsColliding is properly reported. Needed for banking, limitMotorUp, movementLimiting, ... Some vehicles should not be able to turn if no speed or off ground. +Neb car jiggling left and right + Happens on terrain and any other mesh object. Flat cubes are much smoother. + This has been reduced but not eliminated. For limitMotorUp, use raycast down to find if vehicle is in the air. Implement function efficiency for lineaar and angular motion. Should vehicle angular/linear movement friction happen after all the components @@ -30,6 +32,9 @@ Border crossing with linked vehicle causes crash BULLETSIM TODO LIST: ================================================= +Avatar height off after unsitting (float off ground) + Editting appearance then moving restores. + Must not be initializing height when recreating capsule after unsit. Duplicating a physical prim causes old prim to jump away Dup a phys prim and the original become unselected and thus interacts w/ selected prim. Disable activity of passive linkset children. From d4e0e98c001c3501ac17849ab78e7ac5a59a5c26 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 11 Dec 2012 13:54:26 -0800 Subject: [PATCH 11/13] BulletSim: protect character property setting to remove crash from taints setting properties after the destroy character taint. --- .../Physics/BulletSPlugin/BSCharacter.cs | 60 ++++++++++++------- .../Region/Physics/BulletSPlugin/BSPrim.cs | 3 +- 2 files changed, 42 insertions(+), 21 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 88460cc900..83c78f654d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -196,8 +196,11 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { - BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); - UpdatePhysicalMassProperties(RawMass); + if (PhysShape.HasPhysicalShape) + { + BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); + UpdatePhysicalMassProperties(RawMass); + } }); } @@ -238,7 +241,8 @@ public sealed class BSCharacter : BSPhysObject // Zero some other properties directly into the physics engine PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() { - BulletSimAPI.ClearAllForces2(PhysBody.ptr); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.ClearAllForces2(PhysBody.ptr); }); } public override void ZeroAngularMotion(bool inTaintTime) @@ -247,10 +251,13 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.ZeroMotion", delegate() { - BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); - BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); - // The next also get rid of applied linear force but the linear velocity is untouched. - BulletSimAPI.ClearForces2(PhysBody.ptr); + if (PhysBody.HasPhysicalBody) + { + BulletSimAPI.SetInterpolationAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, OMV.Vector3.Zero); + // The next also get rid of applied linear force but the linear velocity is untouched. + BulletSimAPI.ClearForces2(PhysBody.ptr); + } }); } @@ -275,7 +282,8 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() { DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); }); } } @@ -334,7 +342,8 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() { DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); }); ret = true; } @@ -361,7 +370,8 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate() { DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); - BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); }); } } @@ -400,7 +410,8 @@ public sealed class BSCharacter : BSPhysObject if (_currentFriction != PhysicsScene.Params.avatarStandingFriction) { _currentFriction = PhysicsScene.Params.avatarStandingFriction; - BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); } } else @@ -408,7 +419,8 @@ public sealed class BSCharacter : BSPhysObject if (_currentFriction != PhysicsScene.Params.avatarFriction) { _currentFriction = PhysicsScene.Params.avatarFriction; - BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); } } _velocity = value; @@ -445,8 +457,11 @@ public sealed class BSCharacter : BSPhysObject // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() { - // _position = BulletSimAPI.GetPosition2(BSBody.ptr); - BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + if (PhysBody.HasPhysicalBody) + { + // _position = BulletSimAPI.GetPosition2(BSBody.ptr); + BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); + } }); } } @@ -519,10 +534,13 @@ public sealed class BSCharacter : BSPhysObject _floatOnWater = value; PhysicsScene.TaintedObject("BSCharacter.setFloatOnWater", delegate() { - if (_floatOnWater) - CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); - else - CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + if (PhysBody.HasPhysicalBody) + { + if (_floatOnWater) + CurrentCollisionFlags = BulletSimAPI.AddToCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + else + CurrentCollisionFlags = BulletSimAPI.RemoveFromCollisionFlags2(PhysBody.ptr, CollisionFlags.BS_FLOATS_ON_WATER); + } }); } } @@ -555,7 +573,8 @@ public sealed class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); // Buoyancy is faked by changing the gravity applied to the object float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); - BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); } } @@ -601,7 +620,8 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate() { DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); - BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); + if (PhysBody.HasPhysicalBody) + BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); }); } else diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 1280c252e2..446e44c487 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -191,7 +191,8 @@ public sealed class BSPrim : BSPhysObject } } public override bool Selected { - set { + set + { if (value != _isSelected) { _isSelected = value; From a082ce9da78ffb50454834fde4e3dd19e3b5bc74 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 11 Dec 2012 14:27:09 -0800 Subject: [PATCH 12/13] BulletSim: fix crash caused by the creation of a linkset child that is under the terrain. Users can sure find some interesting corner conditions. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 446e44c487..35d22c0627 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -332,12 +332,12 @@ public sealed class BSPrim : BSPhysObject float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); OMV.Vector3 upForce = OMV.Vector3.Zero; - if (Position.Z < terrainHeight) + if (RawPosition.Z < terrainHeight) { DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); float targetHeight = terrainHeight + (Size.Z / 2f); // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec. - upForce.Z = (terrainHeight - Position.Z) * 1f; + upForce.Z = (terrainHeight - RawPosition.Z) * 1f; ret = true; } @@ -345,10 +345,10 @@ public sealed class BSPrim : BSPhysObject { float waterHeight = PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(_position); // TODO: a floating motor so object will bob in the water - if (Math.Abs(Position.Z - waterHeight) > 0.1f) + if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f) { // Upforce proportional to the distance away from the water. Correct the error in 1 sec. - upForce.Z = (waterHeight - Position.Z) * 1f; + upForce.Z = (waterHeight - RawPosition.Z) * 1f; ret = true; } } From bb6eeb54296246e26594bc06edc3a42c0e5824e9 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 12 Dec 2012 11:01:36 -0800 Subject: [PATCH 13/13] BulletSim: do not return the current velocity for targetVelocity. --- OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index d2fc15c7ae..f3b699326a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -139,6 +139,17 @@ public abstract class BSPhysObject : PhysicsActor public abstract OMV.Quaternion RawOrientation { get; set; } public abstract OMV.Quaternion ForceOrientation { get; set; } + // The system is telling us the velocity it wants to move at. + protected OMV.Vector3 m_targetVelocity; + public override OMV.Vector3 TargetVelocity + { + get { return m_targetVelocity; } + set + { + m_targetVelocity = value; + Velocity = value; + } + } public abstract OMV.Vector3 ForceVelocity { get; set; } public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }