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BulletSim: make llBuoyancy work. For some reason, Bullet resets an 

object's individual gravity to the world gravity when the object
is added to the physical world.
0.7.5-pf-bulletsim
Robert Adams 2012-12-25 23:55:25 -08:00
parent 5f71ee57c4
commit d1ede1df3a
3 changed files with 13 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -573,6 +573,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr);
Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy);
BulletSimAPI.SetGravity2(Prim.PhysBody.ptr, grav);
VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}", VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}",
Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping); Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping);
} }

12
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -422,20 +422,24 @@ public sealed class BSPrim : BSPhysObject
BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
} }
float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
// center of mass is at the zero of the object // center of mass is at the zero of the object
// DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, Inertia); DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},inWorld={3}", LocalID, physMass, Inertia, inWorld);
if (inWorld) if (inWorld)
{ {
BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
} }
// Must set gravity after it has been added to the world because, for unknown reasons,
// adding the object resets the object's gravity to world gravity
OMV.Vector3 grav = PhysicsScene.DefaultGravity * (1f - Buoyancy);
BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
} }
} }
} }

3
OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
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@ -58,7 +58,6 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
BULLETSIM TODO LIST: BULLETSIM TODO LIST:
================================================= =================================================
In SL, perfect spheres don't seem to have rolling friction. Add special case.
Avatar density is WAY off. Compare and calibrate with what's in SL. Avatar density is WAY off. Compare and calibrate with what's in SL.
Revisit CollisionMargin. Builders notice the 0.04 spacing between prims. Revisit CollisionMargin. Builders notice the 0.04 spacing between prims.
Duplicating a physical prim causes old prim to jump away Duplicating a physical prim causes old prim to jump away
@ -146,6 +145,8 @@ Is there are more efficient method of implementing pre and post step actions?
See http://www.codeproject.com/Articles/29922/Weak-Events-in-C See http://www.codeproject.com/Articles/29922/Weak-Events-in-C
Physics Arena central pyramid: why is one side permiable? Physics Arena central pyramid: why is one side permiable?
In SL, perfect spheres don't seem to have rolling friction. Add special case.
Enforce physical parameter min/max: Enforce physical parameter min/max:
Gravity: [-1, 28] Gravity: [-1, 28]
Friction: [0, 255] Friction: [0, 255]