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

OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs

@@ -583,8 +583,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
         // Some of the properties of this prim may have changed.
         // Do any updating needed for a vehicle
-        Vector3 m_physicsLinearFactor = new Vector3(0.2f, 0.2f, 0.2f);   // DEBUG DEBUG
-        Vector3 m_physicsAngularFactor = new Vector3(0.2f, 0.2f, 0.2f);   // DEBUG DEBUG
         public void Refresh()
         {
             if (IsActive)
@@ -593,16 +591,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 m_vehicleMass = Prim.Linkset.LinksetMass;
 
                 // Friction affects are handled by this vehicle code
-                float friction = 0f;
+                PhysicsScene.PE.SetFriction(Prim.PhysBody, BSParam.VehicleFriction);
-                PhysicsScene.PE.SetFriction(Prim.PhysBody, friction);
+                PhysicsScene.PE.SetRestitution(Prim.PhysBody, BSParam.VehicleRestitution);
 
                 // Moderate angular movement introduced by Bullet.
                 // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
                 //     Maybe compute linear and angular factor and damping from params.
                 float angularDamping = BSParam.VehicleAngularDamping;
                 PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, angularDamping);
-                PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, m_physicsLinearFactor);   // DEBUG DEBUG
+                PhysicsScene.PE.SetLinearFactor(Prim.PhysBody, BSParam.VehicleLinearFactorV);
-                PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, m_physicsAngularFactor);   // DEBUG DEBUG
+                PhysicsScene.PE.SetAngularFactorV(Prim.PhysBody, BSParam.VehicleAngularFactorV);
 
                 // Vehicles report collision events so we know when it's on the ground
                 PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
@@ -618,7 +616,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 PhysicsScene.PE.SetGravity(Prim.PhysBody, Vector3.Zero);
 
                 VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4},grav={5}",
-                        Prim.LocalID, m_vehicleMass, friction, Prim.Inertia, angularDamping, m_VehicleGravity);
+                        Prim.LocalID, m_vehicleMass, Prim.Inertia, angularDamping, m_VehicleGravity);
             }
             else
             {

OpenSim/Region/Physics/BulletSPlugin/BSParam.cs

@@ -82,9 +82,34 @@ public static class BSParam
 	public static float AvatarStepApproachFactor { get; private set; }
 	public static float AvatarStepForceFactor { get; private set; }
 
+    // Vehicle parameters
     public static float VehicleMaxLinearVelocity { get; private set; }
     public static float VehicleMaxAngularVelocity { get; private set; }
     public static float VehicleAngularDamping { get; private set; }
+    public static float VehicleFriction { get; private set; }
+    public static float VehicleRestitution { get; private set; }
+    public static float VehicleLinearFactor { get; private set; }
+    private static Vector3? vehicleLinearFactorV;
+    public static Vector3 VehicleLinearFactorV
+    {
+        get
+        {
+            if (!vehicleLinearFactorV.HasValue)
+                vehicleLinearFactorV = new Vector3(VehicleLinearFactor, VehicleLinearFactor, VehicleLinearFactor);
+            return (Vector3)vehicleLinearFactorV;
+        }
+    }
+    public static float VehicleAngularFactor { get; private set; }
+    private static Vector3? vehicleAngularFactorV;
+    public static Vector3 VehicleAngularFactorV
+    {
+        get
+        {
+            if (!vehicleAngularFactorV.HasValue)
+                vehicleAngularFactorV = new Vector3(VehicleAngularFactor, VehicleAngularFactor, VehicleAngularFactor);
+            return (Vector3)vehicleAngularFactorV;
+        }
+    }
     public static float VehicleDebuggingEnabled { get; private set; }
 
     public static float LinksetImplementation { get; private set; }
@@ -454,6 +479,26 @@ public static class BSParam
             (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
             (s) => { return VehicleAngularDamping; },
             (s,p,l,v) => { VehicleAngularDamping = v; } ),
+        new ParameterDefn("VehicleLinearFactor", "Fraction of physical linear changes applied to vehicle (0.0 - 1.0)",
+            0.2f,
+            (s,cf,p,v) => { VehicleLinearFactor = cf.GetFloat(p, v); },
+            (s) => { return VehicleLinearFactor; },
+            (s,p,l,v) => { VehicleLinearFactor = v; } ),
+        new ParameterDefn("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (0.0 - 1.0)",
+            0.2f,
+            (s,cf,p,v) => { VehicleAngularFactor = cf.GetFloat(p, v); },
+            (s) => { return VehicleAngularFactor; },
+            (s,p,l,v) => { VehicleAngularFactor = v; } ),
+        new ParameterDefn("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)",
+            0.0f,
+            (s,cf,p,v) => { VehicleFriction = cf.GetFloat(p, v); },
+            (s) => { return VehicleFriction; },
+            (s,p,l,v) => { VehicleFriction = v; } ),
+        new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
+            0.0f,
+            (s,cf,p,v) => { VehicleRestitution = cf.GetFloat(p, v); },
+            (s) => { return VehicleRestitution; },
+            (s,p,l,v) => { VehicleRestitution = v; } ),
         new ParameterDefn("VehicleDebuggingEnable", "Turn on/off vehicle debugging",
             ConfigurationParameters.numericFalse,
             (s,cf,p,v) => { VehicleDebuggingEnabled = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },

OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt

@@ -2,7 +2,6 @@ CURRENT PRIORITIES
 =================================================
 Deleting a linkset while standing on the root will leave the physical shape of the root behind.
 	Not sure if it is because standing on it. Done with large prim linksets.
-Child movement in linkset (don't rebuild linkset)
 Vehicle angular vertical attraction
 vehicle angular banking
 Center-of-gravity
@@ -12,6 +11,7 @@ when should angular and linear motor targets be zeroed? when selected?
 	Need a vehicle.clear()? Or an 'else' in prestep if not physical.
 Teravus llMoveToTarget script debug
 	Mixing of hover, buoyancy/gravity, moveToTarget, into one force
+	Setting hover height to zero disables hover even if hover flags are on (from SL wiki)
 Nebadon vehicles turning funny in arena
 limitMotorUp calibration (more down?)
 llRotLookAt
@@ -72,7 +72,11 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
 
 GENERAL TODO LIST:
 =================================================
+Avatar standing on a moving object should start to move with the object.
 llMoveToTarget objects are not effected by gravity until target is removed.
+Compute CCD parameters based on body size
+Can solver iterations be changed per body/shape? Can be for constraints but what
+	about regular vehicles?
 Implement llSetPhysicalMaterial.
 	extend it with Center-of-mass, rolling friction, density
 Implement llSetForceAndTorque.
@@ -322,3 +326,4 @@ Boats float low in the water (DONE)
 Boats floating at proper level (DONE)
 When is force introduced by SetForce removed? The prestep action could go forever. (DONE)
 	(Resolution: setForce registers a prestep action which keeps applying the force)
+Child movement in linkset (don't rebuild linkset) (DONE 20130122))