BulletSim: parameterize several vehicle debugging values: physical linear and angular force factors now default to less than 1 (0.2) vehicle friction and restitution now default to low values
Robert Adams
parent
c44a8e9f92
commit
dd08e1fba6
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@ -583,8 +583,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// Some of the properties of this prim may have changed.
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// Do any updating needed for a vehicle
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Vector3 m_physicsLinearFactor = new Vector3(0.2f, 0.2f, 0.2f); // DEBUG DEBUG
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Vector3 m_physicsAngularFactor = new Vector3(0.2f, 0.2f, 0.2f); // DEBUG DEBUG
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public void Refresh()
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{
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if (IsActive)
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@ -593,16 +591,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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m_vehicleMass = Prim.Linkset.LinksetMass;
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// Friction affects are handled by this vehicle code
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float friction = 0f;
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PhysicsScene.PE.SetFriction(Prim.PhysBody, friction);
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PhysicsScene.PE.SetFriction(Prim.PhysBody, BSParam.VehicleFriction);
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PhysicsScene.PE.SetRestitution(Prim.PhysBody, BSParam.VehicleRestitution);
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// Moderate angular movement introduced by Bullet.
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// TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
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// Maybe compute linear and angular factor and damping from params.
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float angularDamping = BSParam.VehicleAngularDamping;
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PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, angularDamping);
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PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, m_physicsLinearFactor); // DEBUG DEBUG
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PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, m_physicsAngularFactor); // DEBUG DEBUG
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PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, BSParam.VehicleLinearFactorV);
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PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, BSParam.VehicleAngularFactorV);
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// Vehicles report collision events so we know when it's on the ground
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PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
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@ -618,7 +616,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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PhysicsScene.PE.SetGravity(Prim.PhysBody, Vector3.Zero);
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VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4},grav={5}",
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Prim.LocalID, m_vehicleMass, friction, Prim.Inertia, angularDamping, m_VehicleGravity);
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Prim.LocalID, m_vehicleMass, Prim.Inertia, angularDamping, m_VehicleGravity);
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}
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else
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{
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@ -82,9 +82,34 @@ public static class BSParam
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public static float AvatarStepApproachFactor { get; private set; }
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public static float AvatarStepForceFactor { get; private set; }
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// Vehicle parameters
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public static float VehicleMaxLinearVelocity { get; private set; }
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public static float VehicleMaxAngularVelocity { get; private set; }
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public static float VehicleAngularDamping { get; private set; }
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public static float VehicleFriction { get; private set; }
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public static float VehicleRestitution { get; private set; }
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public static float VehicleLinearFactor { get; private set; }
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private static Vector3? vehicleLinearFactorV;
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public static Vector3 VehicleLinearFactorV
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{
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get
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{
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if (!vehicleLinearFactorV.HasValue)
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vehicleLinearFactorV = new Vector3(VehicleLinearFactor, VehicleLinearFactor, VehicleLinearFactor);
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return (Vector3)vehicleLinearFactorV;
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}
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}
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public static float VehicleAngularFactor { get; private set; }
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private static Vector3? vehicleAngularFactorV;
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public static Vector3 VehicleAngularFactorV
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{
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get
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{
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if (!vehicleAngularFactorV.HasValue)
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vehicleAngularFactorV = new Vector3(VehicleAngularFactor, VehicleAngularFactor, VehicleAngularFactor);
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return (Vector3)vehicleAngularFactorV;
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}
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}
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public static float VehicleDebuggingEnabled { get; private set; }
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public static float LinksetImplementation { get; private set; }
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@ -454,6 +479,26 @@ public static class BSParam
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(s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
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(s) => { return VehicleAngularDamping; },
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(s,p,l,v) => { VehicleAngularDamping = v; } ),
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new ParameterDefn("VehicleLinearFactor", "Fraction of physical linear changes applied to vehicle (0.0 - 1.0)",
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0.2f,
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(s,cf,p,v) => { VehicleLinearFactor = cf.GetFloat(p, v); },
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(s) => { return VehicleLinearFactor; },
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(s,p,l,v) => { VehicleLinearFactor = v; } ),
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new ParameterDefn("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (0.0 - 1.0)",
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0.2f,
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(s,cf,p,v) => { VehicleAngularFactor = cf.GetFloat(p, v); },
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(s) => { return VehicleAngularFactor; },
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(s,p,l,v) => { VehicleAngularFactor = v; } ),
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new ParameterDefn("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)",
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0.0f,
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(s,cf,p,v) => { VehicleFriction = cf.GetFloat(p, v); },
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(s) => { return VehicleFriction; },
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(s,p,l,v) => { VehicleFriction = v; } ),
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new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
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0.0f,
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(s,cf,p,v) => { VehicleRestitution = cf.GetFloat(p, v); },
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(s) => { return VehicleRestitution; },
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(s,p,l,v) => { VehicleRestitution = v; } ),
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new ParameterDefn("VehicleDebuggingEnable", "Turn on/off vehicle debugging",
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ConfigurationParameters.numericFalse,
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(s,cf,p,v) => { VehicleDebuggingEnabled = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
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@ -2,7 +2,6 @@ CURRENT PRIORITIES
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=================================================
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Deleting a linkset while standing on the root will leave the physical shape of the root behind.
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Not sure if it is because standing on it. Done with large prim linksets.
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Child movement in linkset (don't rebuild linkset)
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Vehicle angular vertical attraction
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vehicle angular banking
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Center-of-gravity
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@ -12,6 +11,7 @@ when should angular and linear motor targets be zeroed? when selected?
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Need a vehicle.clear()? Or an 'else' in prestep if not physical.
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Teravus llMoveToTarget script debug
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Mixing of hover, buoyancy/gravity, moveToTarget, into one force
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Setting hover height to zero disables hover even if hover flags are on (from SL wiki)
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Nebadon vehicles turning funny in arena
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limitMotorUp calibration (more down?)
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llRotLookAt
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@ -72,7 +72,11 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
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GENERAL TODO LIST:
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=================================================
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Avatar standing on a moving object should start to move with the object.
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llMoveToTarget objects are not effected by gravity until target is removed.
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Compute CCD parameters based on body size
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Can solver iterations be changed per body/shape? Can be for constraints but what
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about regular vehicles?
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Implement llSetPhysicalMaterial.
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extend it with Center-of-mass, rolling friction, density
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Implement llSetForceAndTorque.
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@ -321,4 +325,5 @@ Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 (DONE)
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Boats float low in the water (DONE)
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Boats floating at proper level (DONE)
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When is force introduced by SetForce removed? The prestep action could go forever. (DONE)
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(Resolution: setForce registers a prestep action which keeps applying the force)
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(Resolution: setForce registers a prestep action which keeps applying the force)
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Child movement in linkset (don't rebuild linkset) (DONE 20130122))
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