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BulletSim: fix problem with avatar velocity going to zero when flying across 

region boundries.
Move code for Velocity, ForceVelocity and SetMomentum to BSPhysObject and
   have both BSPrim and BSCharacter share the code.
melanie
Robert Adams 2016-09-30 19:35:44 -07:00
parent 46dd899d9e
commit c7e4b14a26
3 changed files with 58 additions and 59 deletions
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19
OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
View File

@ -52,7 +52,6 @@ public sealed class BSCharacter : BSPhysObject
private bool _setAlwaysRun;
private bool _throttleUpdates;
private bool _floatOnWater;
private OMV.Vector3 _rotationalVelocity;
private bool _kinematic;
private float _buoyancy;
@ -291,7 +290,7 @@ public sealed class BSCharacter : BSPhysObject
{
RawVelocity = OMV.Vector3.Zero;
_acceleration = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero;
RawRotationalVelocity = OMV.Vector3.Zero;
// Zero some other properties directly into the physics engine
PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate()
@ -303,7 +302,7 @@ public sealed class BSCharacter : BSPhysObject
public override void ZeroAngularMotion(bool inTaintTime)
{
_rotationalVelocity = OMV.Vector3.Zero;
RawRotationalVelocity = OMV.Vector3.Zero;
PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.ZeroMotion", delegate()
{
@ -618,14 +617,6 @@ public sealed class BSCharacter : BSPhysObject
});
}
}
public override OMV.Vector3 RotationalVelocity {
get { return _rotationalVelocity; }
set { _rotationalVelocity = value; }
}
public override OMV.Vector3 ForceRotationalVelocity {
get { return _rotationalVelocity; }
set { _rotationalVelocity = value; }
}
public override bool Kinematic {
get { return _kinematic; }
set { _kinematic = value; }
@ -716,8 +707,6 @@ public sealed class BSCharacter : BSPhysObject
public override void AddAngularForce(bool inTaintTime, OMV.Vector3 force) {
}
public override void SetMomentum(OMV.Vector3 momentum) {
}
// The avatar's physical shape (whether capsule or cube) is unit sized. BulletSim sets
// the scale of that unit shape to create the avatars full size.
@ -841,7 +830,7 @@ public sealed class BSCharacter : BSPhysObject
RawVelocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
RawRotationalVelocity = entprop.RotationalVelocity;
// Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
if (PositionSanityCheck(true))
@ -861,7 +850,7 @@ public sealed class BSCharacter : BSPhysObject
// PhysScene.PostUpdate(this);
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, RawPosition, RawOrientation, RawVelocity, _acceleration, _rotationalVelocity);
LocalID, RawPosition, RawOrientation, RawVelocity, _acceleration, RawRotationalVelocity);
}
}
}

45
OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs
View File

@ -239,6 +239,8 @@ public abstract class BSPhysObject : PhysicsActor
public virtual OMV.Vector3 RawVelocity { get; set; }
public abstract OMV.Vector3 ForceVelocity { get; set; }
public OMV.Vector3 RawRotationalVelocity { get; set; }
// RawForce is a constant force applied to object (see Force { set; } )
public OMV.Vector3 RawForce { get; set; }
public OMV.Vector3 RawTorque { get; set; }
@ -250,7 +252,48 @@ public abstract class BSPhysObject : PhysicsActor
public abstract void AddAngularForce(bool inTaintTime, OMV.Vector3 force);
public abstract void AddForce(bool inTaintTime, OMV.Vector3 force);
public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
// PhysicsActor.SetMomentum
// All the physics engined use this as a way of forcing the velocity to something.
public override void SetMomentum(OMV.Vector3 momentum)
{
// This doesn't just set Velocity=momentum because velocity is ramped up to (see MoveActor)
RawVelocity = momentum;
PhysScene.TaintedObject(LocalID, TypeName + ".SetMomentum", delegate()
{
// DetailLog("{0},BSPrim.SetMomentum,taint,vel={1}", LocalID, RawVelocity);
ForceVelocity = RawVelocity;
});
}
public override OMV.Vector3 RotationalVelocity {
get {
return RawRotationalVelocity;
}
set {
RawRotationalVelocity = value;
Util.ClampV(RawRotationalVelocity, BSParam.MaxAngularVelocity);
// m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
PhysScene.TaintedObject(LocalID, TypeName + ".setRotationalVelocity", delegate()
{
ForceRotationalVelocity = RawRotationalVelocity;
});
}
}
public OMV.Vector3 ForceRotationalVelocity {
get {
return RawRotationalVelocity;
}
set {
RawRotationalVelocity = Util.ClampV(value, BSParam.MaxAngularVelocity);
if (PhysBody.HasPhysicalBody)
{
DetailLog("{0},{1}.ForceRotationalVel,taint,rotvel={2}", LocalID, TypeName, RawRotationalVelocity);
PhysScene.PE.SetAngularVelocity(PhysBody, RawRotationalVelocity);
// PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
ActivateIfPhysical(false);
}
}
}
public abstract float ForceBuoyancy { get; set; }

53
OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
View File

@ -59,7 +59,6 @@ public class BSPrim : BSPhysObject
private bool _setAlwaysRun;
private bool _throttleUpdates;
private bool _floatOnWater;
private OMV.Vector3 _rotationalVelocity;
private bool _kinematic;
private float _buoyancy;
@ -90,7 +89,7 @@ public class BSPrim : BSPhysObject
RawOrientation = rotation;
_buoyancy = 0f;
RawVelocity = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero;
RawRotationalVelocity = OMV.Vector3.Zero;
BaseShape = pbs;
_isPhysical = pisPhysical;
_isVolumeDetect = false;
@ -256,7 +255,7 @@ public class BSPrim : BSPhysObject
{
RawVelocity = OMV.Vector3.Zero;
_acceleration = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero;
RawRotationalVelocity = OMV.Vector3.Zero;
// Zero some other properties in the physics engine
PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ZeroMotion", delegate()
@ -267,15 +266,15 @@ public class BSPrim : BSPhysObject
}
public override void ZeroAngularMotion(bool inTaintTime)
{
_rotationalVelocity = OMV.Vector3.Zero;
RawRotationalVelocity = OMV.Vector3.Zero;
// Zero some other properties in the physics engine
PhysScene.TaintedObject(inTaintTime, LocalID, "BSPrim.ZeroMotion", delegate()
{
// DetailLog("{0},BSPrim.ZeroAngularMotion,call,rotVel={1}", LocalID, _rotationalVelocity);
if (PhysBody.HasPhysicalBody)
{
PhysScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
PhysScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
PhysScene.PE.SetInterpolationAngularVelocity(PhysBody, RawRotationalVelocity);
PhysScene.PE.SetAngularVelocity(PhysBody, RawRotationalVelocity);
}
});
}
@ -426,9 +425,9 @@ public class BSPrim : BSPhysObject
RawVelocity = Util.ClampV(RawVelocity, BSParam.MaxLinearVelocity);
ret = true;
}
if (_rotationalVelocity.LengthSquared() > BSParam.MaxAngularVelocitySquared)
if (RawRotationalVelocity.LengthSquared() > BSParam.MaxAngularVelocitySquared)
{
_rotationalVelocity = Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
RawRotationalVelocity = Util.ClampV(RawRotationalVelocity, BSParam.MaxAngularVelocity);
ret = true;
}
@ -1008,7 +1007,7 @@ public class BSPrim : BSPhysObject
// For good measure, make sure the transform is set through to the motion state
ForcePosition = RawPosition;
ForceVelocity = RawVelocity;
ForceRotationalVelocity = _rotationalVelocity;
ForceRotationalVelocity = RawRotationalVelocity;
// A dynamic object has mass
UpdatePhysicalMassProperties(RawMass, false);
@ -1128,35 +1127,6 @@ public class BSPrim : BSPhysObject
});
}
}
public override OMV.Vector3 RotationalVelocity {
get {
return _rotationalVelocity;
}
set {
_rotationalVelocity = value;
Util.ClampV(_rotationalVelocity, BSParam.MaxAngularVelocity);
// m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
PhysScene.TaintedObject(LocalID, "BSPrim.setRotationalVelocity", delegate()
{
ForceRotationalVelocity = _rotationalVelocity;
});
}
}
public override OMV.Vector3 ForceRotationalVelocity {
get {
return _rotationalVelocity;
}
set {
_rotationalVelocity = Util.ClampV(value, BSParam.MaxAngularVelocity);
if (PhysBody.HasPhysicalBody)
{
DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
PhysScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
// PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
ActivateIfPhysical(false);
}
}
}
public override bool Kinematic {
get { return _kinematic; }
set { _kinematic = value;
@ -1358,9 +1328,6 @@ public class BSPrim : BSPhysObject
});
}
public override void SetMomentum(OMV.Vector3 momentum) {
// DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
}
#region Mass Calculation
private float CalculateMass()
@ -1930,7 +1897,7 @@ public class BSPrim : BSPhysObject
if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(RawVelocity, BSParam.UpdateVelocityChangeThreshold))
RawVelocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
RawRotationalVelocity = entprop.RotationalVelocity;
// DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG
@ -1939,7 +1906,7 @@ public class BSPrim : BSPhysObject
{
entprop.Position = RawPosition;
entprop.Velocity = RawVelocity;
entprop.RotationalVelocity = _rotationalVelocity;
entprop.RotationalVelocity = RawRotationalVelocity;
entprop.Acceleration = _acceleration;
}