BulletSim: first attempt at reporting top colliders
Robert Adams
parent
dd08e1fba6
commit
ddef8f16e5
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@ -597,8 +597,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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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.SetAngularDamping(Prim.PhysBody, BSParam.VehicleAngularDamping);
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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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@ -615,8 +614,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
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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, Prim.Inertia, angularDamping, m_VehicleGravity);
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VDetailLog("{0},BSDynamics.Refresh,mass={1},inert={2},grav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
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Prim.LocalID, m_vehicleMass, Prim.Inertia, m_VehicleGravity,
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BSParam.VehicleAngularDamping, BSParam.VehicleFriction, BSParam.VehicleRestitution,
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BSParam.VehicleLinearFactor, BSParam.VehicleAngularFactor
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);
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}
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else
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{
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@ -95,6 +95,8 @@ public abstract class BSPhysObject : PhysicsActor
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SubscribedEventsMs = 0;
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CollidingStep = 0;
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CollidingGroundStep = 0;
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CollisionAccumulation = 0;
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CollisionScore = 0;
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}
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// Tell the object to clean up.
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@ -239,6 +241,9 @@ public abstract class BSPhysObject : PhysicsActor
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// The collision flags we think are set in Bullet
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protected CollisionFlags CurrentCollisionFlags { get; set; }
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// Count of collisions for this object
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protected long CollisionAccumulation { get; set; }
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public override bool IsColliding {
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get { return (CollidingStep == PhysicsScene.SimulationStep); }
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set {
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@ -300,6 +305,8 @@ public abstract class BSPhysObject : PhysicsActor
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return ret;
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}
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CollisionAccumulation++;
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// if someone has subscribed for collision events....
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if (SubscribedEvents()) {
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CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth));
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@ -386,6 +393,16 @@ public abstract class BSPhysObject : PhysicsActor
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public override bool SubscribedEvents() {
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return (SubscribedEventsMs > 0);
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}
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// Because 'CollisionScore' is calls many times while sorting it should not be recomputed
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// each time called. So this is built to be light weight for each collision and to do
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// all the processing when the user asks for the info.
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public void ComputeCollisionScore()
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{
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// Scale the collision count by the time since the last collision
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long timeAgo = PhysicsScene.SimulationStep - CollidingStep + 1;
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CollisionScore = CollisionAccumulation / timeAgo;
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}
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public override float CollisionScore { get; set; }
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#endregion // Collisions
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@ -59,7 +59,6 @@ public sealed class BSPrim : BSPhysObject
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private OMV.Vector3 _force;
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private OMV.Vector3 _velocity;
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private OMV.Vector3 _torque;
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private float _collisionScore;
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private OMV.Vector3 _acceleration;
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private OMV.Quaternion _orientation;
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private int _physicsActorType;
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@ -644,11 +643,6 @@ public sealed class BSPrim : BSPhysObject
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// DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
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}
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}
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public override float CollisionScore {
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get { return _collisionScore; }
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set { _collisionScore = value;
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}
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}
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public override OMV.Vector3 Acceleration {
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get { return _acceleration; }
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set { _acceleration = value; }
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@ -26,6 +26,7 @@
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*/
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using System;
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using System.Collections.Generic;
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using System.Linq;
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using System.Reflection;
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using System.Runtime.InteropServices;
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using System.Text;
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@ -697,7 +698,21 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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public override Dictionary<uint, float> GetTopColliders()
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{
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return new Dictionary<uint, float>();
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Dictionary<uint, float> topColliders;
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lock (PhysObjects)
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{
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foreach (KeyValuePair<uint, BSPhysObject> kvp in PhysObjects)
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{
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kvp.Value.ComputeCollisionScore();
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}
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List<BSPhysObject> orderedPrims = new List<BSPhysObject>(PhysObjects.Values);
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orderedPrims.OrderByDescending(p => p.CollisionScore).Take(25);
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topColliders = orderedPrims.ToDictionary(p => p.LocalID, p => p.CollisionScore);
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}
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return topColliders;
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}
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public override bool IsThreaded { get { return false; } }
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@ -1,5 +1,9 @@
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CURRENT PRIORITIES
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=================================================
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One sided meshes? Should terrain be built into a closed shape?
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When meshes get partially wedged into the terrain, they cannot push themselves out.
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It is possible that Bullet processes collisions whether entering or leaving a mesh.
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Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869
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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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Vehicle angular vertical attraction
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