Merge branch 'master' into careminster
Melanie
commit
caea7601cb
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@ -87,7 +87,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate
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private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
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private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
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private Vector3 m_lastAngularCorrection = Vector3.Zero;
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private Vector3 m_lastAngularVelocity = Vector3.Zero;
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private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
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//Deflection properties
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@ -128,7 +128,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// Return 'true' if this vehicle is doing vehicle things
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public bool IsActive
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{
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get { return Type != Vehicle.TYPE_NONE; }
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get { return Type != Vehicle.TYPE_NONE && Prim.IsPhysical; }
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}
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internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
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@ -664,6 +664,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// an UpdateProperties event to send the changes up to the simulator.
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BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr);
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}
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m_knownChanged = 0;
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}
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// Since the computation of terrain height can be a little involved, this routine
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@ -993,11 +994,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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public Vector3 ComputeLinearMotorUp(float pTimestep)
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{
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Vector3 ret = Vector3.Zero;
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float distanceAboveGround = 0f;
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if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
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{
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float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
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float distanceAboveGround = VehiclePosition.Z - targetHeight;
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distanceAboveGround = VehiclePosition.Z - targetHeight;
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// Not colliding if the vehicle is off the ground
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if (!Prim.IsColliding)
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{
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@ -1010,9 +1012,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// has a decay factor. This says this force should
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// be computed with a motor.
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// TODO: add interaction with banking.
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}
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VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
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Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret);
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}
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return ret;
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}
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@ -1049,8 +1051,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// ==================================================================
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m_lastVertAttractor = verticalAttractionContribution;
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// Sum corrections
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m_lastAngularCorrection = angularMotorContribution
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m_lastAngularVelocity = angularMotorContribution
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+ verticalAttractionContribution
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+ deflectionContribution
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+ bankingContribution;
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@ -1058,19 +1059,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// ==================================================================
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// Apply the correction velocity.
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// TODO: Should this be applied as an angular force (torque)?
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if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f))
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if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
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{
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// DEBUG DEBUG DEBUG: optionally scale the angular velocity. Debugging SL vs ODE turning functions.
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Vector3 scaledCorrection = m_lastAngularCorrection;
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if (PhysicsScene.VehicleScaleAngularVelocityByTimestep)
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scaledCorrection *= pTimestep;
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VehicleRotationalVelocity = scaledCorrection;
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VehicleRotationalVelocity = m_lastAngularVelocity;
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VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}",
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VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}",
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Prim.LocalID,
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angularMotorContribution, verticalAttractionContribution,
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bankingContribution, deflectionContribution,
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m_lastAngularCorrection, scaledCorrection
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m_lastAngularVelocity
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);
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}
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else
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@ -1124,17 +1121,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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{
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Vector3 ret = Vector3.Zero;
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// If vertical attaction timescale is reasonable and we applied an angular force last time...
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// If vertical attaction timescale is reasonable
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if (m_verticalAttractionTimescale < m_verticalAttractionCutoff)
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{
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// Take a vector pointing up and convert it from world to vehicle relative coords.
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Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
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verticalError.Normalize();
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// If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
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// is now leaning to one side (rotated around the X axis) and the Y value will
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// go from zero (nearly straight up) to one (completely to the side) or leaning
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// front-to-back (rotated around the Y axis) and the value of X will be between
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// is now:
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// leaning to one side: rotated around the X axis with the Y value going
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// from zero (nearly straight up) to one (completely to the side)) or
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// leaning front-to-back: rotated around the Y axis with the value of X being between
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// zero and one.
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// The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
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@ -94,10 +94,10 @@ public sealed class BSLinksetCompound : BSLinkset
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}
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// Schedule a refresh to happen after all the other taint processing.
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private void ScheduleRebuild()
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private void ScheduleRebuild(BSPhysObject requestor)
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{
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DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,rebuilding={1}",
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LinksetRoot.LocalID, Rebuilding);
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requestor.LocalID, Rebuilding);
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// When rebuilding, it is possible to set properties that would normally require a rebuild.
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// If already rebuilding, don't request another rebuild.
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if (!Rebuilding)
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@ -124,7 +124,7 @@ public sealed class BSLinksetCompound : BSLinkset
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{
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// The root is going dynamic. Make sure mass is properly set.
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m_mass = ComputeLinksetMass();
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ScheduleRebuild();
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ScheduleRebuild(LinksetRoot);
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}
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else
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{
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@ -153,7 +153,7 @@ public sealed class BSLinksetCompound : BSLinkset
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DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child));
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if (IsRoot(child))
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{
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ScheduleRebuild();
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ScheduleRebuild(LinksetRoot);
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}
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else
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{
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@ -182,7 +182,7 @@ public sealed class BSLinksetCompound : BSLinkset
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&& PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
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{
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updated.LinksetInfo = null;
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ScheduleRebuild();
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ScheduleRebuild(updated);
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}
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}
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@ -266,7 +266,7 @@ public sealed class BSLinksetCompound : BSLinkset
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DetailLog("{0},BSLinksetCompound.AddChildToLinkset,call,child={1}", LinksetRoot.LocalID, child.LocalID);
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// Rebuild the compound shape with the new child shape included
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ScheduleRebuild();
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ScheduleRebuild(child);
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}
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return;
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}
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@ -294,7 +294,7 @@ public sealed class BSLinksetCompound : BSLinkset
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else
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{
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// Rebuild the compound shape with the child removed
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ScheduleRebuild();
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ScheduleRebuild(child);
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}
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}
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return;
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@ -134,8 +134,6 @@ public class BSVMotor : BSMotor
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Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep;
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CurrentValue += addAmount;
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returnCurrent = CurrentValue;
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// The desired value reduces to zero which also reduces the difference with current.
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// If the decay time is infinite, don't decay at all.
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float decayFactor = 0f;
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@ -156,6 +154,8 @@ public class BSVMotor : BSMotor
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CurrentValue *= (Vector3.One - frictionFactor);
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}
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returnCurrent = CurrentValue;
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MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}",
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BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
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timeStep, TimeScale, addAmount,
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@ -189,7 +189,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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// 'true' of the vehicle code is to log lots of details
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public bool VehicleLoggingEnabled { get; private set; }
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public bool VehiclePhysicalLoggingEnabled { get; private set; }
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public bool VehicleScaleAngularVelocityByTimestep { get; private set; }
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#region Construction and Initialization
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public BSScene(string identifier)
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@ -1239,11 +1238,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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(s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); },
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(s) => { return s.m_params[0].vehicleAngularDamping; },
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(s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ),
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new ParameterDefn("VehicleScaleAngularVelocityByTimestep", "If true, scale angular turning by timestep",
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ConfigurationParameters.numericFalse,
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(s,cf,p,v) => { s.VehicleScaleAngularVelocityByTimestep = cf.GetBoolean(p, s.BoolNumeric(v)); },
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(s) => { return s.NumericBool(s.VehicleScaleAngularVelocityByTimestep); },
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(s,p,l,v) => { s.VehicleScaleAngularVelocityByTimestep = s.BoolNumeric(v); } ),
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new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
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0f,
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@ -5,7 +5,7 @@ Eliminate all crashes (DONEish)
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Border crossing of physical linkset (DONE)
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Enable vehicle border crossings (at least as poorly as ODE)
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Avatar created in previous region and not new region when crossing border
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Vehicle recreated in new sim at small Z value (offset from root value?)
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Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
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Calibrate turning radius
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limitMotorUp calibration (more down?)
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study PID motors (include 'efficiency' implementation
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@ -147,7 +147,13 @@ namespace OpenSim.Region.ScriptEngine.Interfaces
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/// <summary>
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/// Stop the script instance.
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/// </summary>
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/// <remarks>
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/// This must not be called by a thread that is in the process of handling an event for this script. Otherwise
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/// there is a danger that it will self-abort and not complete the reset.
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/// </remarks>
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/// <param name="timeout"></param>
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/// How many milliseconds we will wait for an existing script event to finish before
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/// forcibly aborting that event.
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/// <returns>true if the script was successfully stopped, false otherwise</returns>
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bool Stop(int timeout);
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@ -169,8 +175,31 @@ namespace OpenSim.Region.ScriptEngine.Interfaces
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object EventProcessor();
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int EventTime();
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void ResetScript();
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/// <summary>
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/// Reset the script.
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/// </summary>
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/// <remarks>
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/// This must not be called by a thread that is in the process of handling an event for this script. Otherwise
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/// there is a danger that it will self-abort and not complete the reset. Such a thread must call
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/// ApiResetScript() instead.
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/// </remarks>
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/// <param name='timeout'>
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/// How many milliseconds we will wait for an existing script event to finish before
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/// forcibly aborting that event prior to script reset.
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/// </param>
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void ResetScript(int timeout);
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/// <summary>
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/// Reset the script.
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/// </summary>
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/// <remarks>
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/// This must not be called by any thread other than the one executing the scripts current event. This is
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/// because there is no wait or abort logic if another thread is in the middle of processing a script event.
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/// Such an external thread should use ResetScript() instead.
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/// </remarks>
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void ApiResetScript();
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Dictionary<string, object> GetVars();
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void SetVars(Dictionary<string, object> vars);
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DetectParams GetDetectParams(int idx);
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@ -880,7 +880,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
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return (DateTime.Now - m_EventStart).Seconds;
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}
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public void ResetScript()
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public void ResetScript(int timeout)
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{
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if (m_Script == null)
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return;
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@ -890,7 +890,7 @@ namespace OpenSim.Region.ScriptEngine.Shared.Instance
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RemoveState();
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ReleaseControls();
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Stop(0);
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Stop(timeout);
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SceneObjectPart part = Engine.World.GetSceneObjectPart(LocalID);
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part.Inventory.GetInventoryItem(ItemID).PermsMask = 0;
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part.Inventory.GetInventoryItem(ItemID).PermsGranter = UUID.Zero;
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@ -1783,7 +1783,7 @@ namespace OpenSim.Region.ScriptEngine.XEngine
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{
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IScriptInstance instance = GetInstance(itemID);
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if (instance != null)
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instance.ResetScript();
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instance.ResetScript(m_WaitForEventCompletionOnScriptStop);
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}
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public void StartScript(UUID itemID)
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