* Committing more BulletDotNETPlugin work
* Tweak the LLSetStatus results in the ODEPlugin. Hopefully it's a little less unstable. * ODEPlugin is using experimental math for LLSetStatus, use with caution! :)0.6.5-rc1
Teravus Ovares
parent
4b85cbf0b6
commit
eac5d4015d
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@ -1289,7 +1289,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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else
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{
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Body.setCollisionFlags(0);
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Body.setCollisionFlags(0 | (int)ContactFlags.CF_CUSTOM_MATERIAL_CALLBACK);
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enableBodySoft();
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}
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m_isSelected = m_taintselected;
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@ -2140,6 +2140,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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((btGImpactMeshShape) prim_geom).setLocalScaling(new btVector3(1, 1, 1));
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((btGImpactMeshShape) prim_geom).updateBound();
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}
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Body.setCollisionFlags(Body.getCollisionFlags() | (int)ContactFlags.CF_CUSTOM_MATERIAL_CALLBACK);
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Body.setUserPointer((IntPtr) m_localID);
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_parent_scene.AddPrimToScene(this);
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}
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else
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@ -103,6 +103,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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private readonly btVector3 worldAabbMax = new btVector3((int)Constants.RegionSize + 10f, (int)Constants.RegionSize + 10f, 9000);
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public IMesher mesher;
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private ContactAddedCallbackHandler m_CollisionInterface;
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public BulletDotNETScene(string sceneIdentifier)
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{
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@ -112,6 +113,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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TransZero = new btTransform(QuatIdentity, VectorZero);
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m_gravity = new btVector3(0, 0, gravityz);
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_origheightmap = new float[(int)Constants.RegionSize * (int)Constants.RegionSize];
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}
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public override void Initialise(IMesher meshmerizer, IConfigSource config)
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@ -132,6 +134,9 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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m_dispatcher = new btCollisionDispatcher(m_collisionConfiguration);
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m_world = new btDiscreteDynamicsWorld(m_dispatcher, m_broadphase, m_solver, m_collisionConfiguration);
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m_world.setGravity(m_gravity);
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EnableCollisionInterface();
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}
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public override PhysicsActor AddAvatar(string avName, PhysicsVector position, PhysicsVector size, bool isFlying)
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@ -289,7 +294,19 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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*/
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prm.UpdatePositionAndVelocity();
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}
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if (m_CollisionInterface != null)
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{
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List<int> collisions = m_CollisionInterface.GetContactList();
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lock (collisions)
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{
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foreach (int pvalue in collisions)
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{
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System.Console.Write(string.Format("{0} ", pvalue));
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}
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}
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m_CollisionInterface.Clear();
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}
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return steps;
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}
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@ -675,5 +692,14 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin
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}
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}
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}
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internal void EnableCollisionInterface()
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{
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if (m_CollisionInterface == null)
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{
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m_CollisionInterface = new ContactAddedCallbackHandler();
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m_world.SetCollisionAddedCallback(m_CollisionInterface);
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}
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}
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}
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}
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@ -1512,8 +1512,20 @@ namespace OpenSim.Region.Physics.OdePlugin
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float fy = 0;
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float fz = 0;
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if (IsPhysical && Body != IntPtr.Zero && !m_isSelected)
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{
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if (d.BodyIsEnabled(Body) && !m_angularlock.IsIdentical(PhysicsVector.Zero, 0.003f))
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{
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d.Vector3 avel2 = d.BodyGetAngularVel(Body);
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if (m_angularlock.X == 1)
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avel2.X = 0;
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if (m_angularlock.Y == 1)
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avel2.Y = 0;
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if (m_angularlock.Z == 1)
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avel2.Z = 0;
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d.BodySetAngularVel(Body, avel2.X, avel2.Y, avel2.Z);
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}
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//float PID_P = 900.0f;
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float m_mass = CalculateMass();
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@ -2717,14 +2729,65 @@ namespace OpenSim.Region.Physics.OdePlugin
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axisnum = (axisnum - (axis.X + axis.Y + axis.Z));
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PhysicsVector totalSize = new PhysicsVector(_size.X, _size.Y, _size.Z);
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/*
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// Inverse Inertia Matrix, set the X, Y, and/r Z inertia to 0 then invert it again.
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d.Mass objMass;
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d.MassSetZero(out objMass);
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DMassCopy(ref pMass, ref objMass);
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m_log.DebugFormat("1-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22);
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Matrix4 dMassMat = FromDMass(objMass);
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Matrix4 mathmat = Inverse(dMassMat);
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m_log.DebugFormat("2-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", mathmat[0, 0], mathmat[0, 1], mathmat[0, 2], mathmat[1, 0], mathmat[1, 1], mathmat[1, 2], mathmat[2, 0], mathmat[2, 1], mathmat[2, 2]);
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mathmat = Inverse(mathmat);
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objMass = FromMatrix4(mathmat, ref objMass);
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m_log.DebugFormat("3-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22);
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mathmat = Inverse(mathmat);
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if (axis.X == 0)
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{
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mathmat.M33 = 50.0000001f;
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//objMass.I.M22 = 0;
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}
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if (axis.Y == 0)
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{
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mathmat.M22 = 50.0000001f;
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//objMass.I.M11 = 0;
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}
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if (axis.Z == 0)
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{
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mathmat.M11 = 50.0000001f;
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//objMass.I.M00 = 0;
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}
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mathmat = Inverse(mathmat);
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objMass = FromMatrix4(mathmat, ref objMass);
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m_log.DebugFormat("4-{0}, {1}, {2}, {3}, {4}, {5}, {6}, {7}, {8}, ", objMass.I.M00, objMass.I.M01, objMass.I.M02, objMass.I.M10, objMass.I.M11, objMass.I.M12, objMass.I.M20, objMass.I.M21, objMass.I.M22);
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//return;
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d.BodySetMass(Body, ref objMass);
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*/
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if (axisnum <= 0)
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return;
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int dAMotorEuler = 1;
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Amotor = d.JointCreateAMotor(_parent_scene.world, IntPtr.Zero);
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d.JointAttach(Amotor, Body, IntPtr.Zero);
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d.JointSetAMotorMode(Amotor, dAMotorEuler);
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d.JointSetAMotorMode(Amotor, 0);
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d.JointSetAMotorNumAxes(Amotor,(int)axisnum);
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int i = 0;
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@ -2756,15 +2819,52 @@ namespace OpenSim.Region.Physics.OdePlugin
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//d.JointSetAMotorAngle(Amotor, 2, 0);
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// These lowstops and high stops are effectively (no wiggle room)
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d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0.000000000001f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LowStop, -0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop3, -0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.LoStop2, -0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop, 0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop3, 0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.HiStop2, 0f);
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//d.JointSetAMotorParam(Amotor, (int) dParam.Vel, 9000f);
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d.JointSetAMotorParam(Amotor, (int)dParam.FudgeFactor, 0f);
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d.JointSetAMotorParam(Amotor, (int)dParam.FMax, m_tensor * 5);//
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d.JointSetAMotorParam(Amotor, (int)dParam.FMax, Mass * 50f);//
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}
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public Matrix4 FromDMass(d.Mass pMass)
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{
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Matrix4 obj;
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obj.M11 = pMass.I.M00;
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obj.M12 = pMass.I.M01;
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obj.M13 = pMass.I.M02;
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obj.M14 = 0;
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obj.M21 = pMass.I.M10;
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obj.M22 = pMass.I.M11;
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obj.M23 = pMass.I.M12;
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obj.M24 = 0;
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obj.M31 = pMass.I.M20;
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obj.M32 = pMass.I.M21;
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obj.M33 = pMass.I.M22;
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obj.M34 = 0;
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obj.M41 = 0;
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obj.M42 = 0;
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obj.M43 = 0;
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obj.M44 = 1;
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return obj;
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}
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public d.Mass FromMatrix4(Matrix4 pMat, ref d.Mass obj)
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{
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obj.I.M00 = pMat[0, 0];
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obj.I.M01 = pMat[0, 1];
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obj.I.M02 = pMat[0, 2];
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obj.I.M10 = pMat[1, 0];
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obj.I.M11 = pMat[1, 1];
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obj.I.M12 = pMat[1, 2];
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obj.I.M20 = pMat[2, 0];
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obj.I.M21 = pMat[2, 1];
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obj.I.M22 = pMat[2, 2];
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return obj;
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}
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public override void SubscribeEvents(int ms)
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@ -2805,5 +2905,182 @@ namespace OpenSim.Region.Physics.OdePlugin
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return true;
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return false;
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}
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public static Matrix4 Inverse(Matrix4 pMat)
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{
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if (determinant3x3(pMat) == 0)
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{
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return Matrix4.Identity; // should probably throw an error. singluar matrix inverse not possible
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}
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return (Adjoint(pMat) / determinant3x3(pMat));
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}
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public static Matrix4 Adjoint(Matrix4 pMat)
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{
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Matrix4 adjointMatrix = new Matrix4();
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for (int i=0; i<4; i++)
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{
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for (int j=0; j<4; j++)
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{
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Matrix4SetValue(ref adjointMatrix, i, j, (float)(Math.Pow(-1, i + j) * (determinant3x3(Minor(pMat, i, j)))));
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}
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}
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adjointMatrix = Transpose(adjointMatrix);
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return adjointMatrix;
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}
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public static Matrix4 Minor(Matrix4 matrix, int iRow, int iCol)
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{
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Matrix4 minor = new Matrix4();
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int m = 0, n = 0;
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for (int i = 0; i < 4; i++)
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{
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if (i == iRow)
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continue;
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n = 0;
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for (int j = 0; j < 4; j++)
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{
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if (j == iCol)
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continue;
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Matrix4SetValue(ref minor, m,n, matrix[i, j]);
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n++;
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}
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m++;
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}
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return minor;
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}
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public static Matrix4 Transpose(Matrix4 pMat)
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{
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Matrix4 transposeMatrix = new Matrix4();
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for (int i = 0; i < 4; i++)
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for (int j = 0; j < 4; j++)
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Matrix4SetValue( ref transposeMatrix, i, j, pMat[j, i]);
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return transposeMatrix;
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}
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public static void Matrix4SetValue(ref Matrix4 pMat, int r, int c, float val)
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{
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switch (r)
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{
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case 0:
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switch (c)
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{
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case 0:
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pMat.M11 = val;
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break;
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case 1:
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pMat.M12 = val;
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break;
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case 2:
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pMat.M13 = val;
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break;
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case 3:
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pMat.M14 = val;
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break;
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}
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break;
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case 1:
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switch (c)
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{
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case 0:
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pMat.M21 = val;
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break;
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case 1:
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pMat.M22 = val;
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break;
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case 2:
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pMat.M23 = val;
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break;
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case 3:
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pMat.M24 = val;
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break;
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}
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break;
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case 2:
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switch (c)
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{
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case 0:
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pMat.M31 = val;
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break;
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case 1:
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pMat.M32 = val;
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break;
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case 2:
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pMat.M33 = val;
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break;
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case 3:
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pMat.M34 = val;
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break;
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}
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break;
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case 3:
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switch (c)
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{
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case 0:
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pMat.M41 = val;
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break;
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case 1:
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pMat.M42 = val;
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break;
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case 2:
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pMat.M43 = val;
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break;
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case 3:
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pMat.M44 = val;
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break;
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}
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break;
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}
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}
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private static float determinant3x3(Matrix4 pMat)
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{
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float det = 0;
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float diag1 = pMat[0, 0]*pMat[1, 1]*pMat[2, 2];
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float diag2 = pMat[0, 1]*pMat[2, 1]*pMat[2, 0];
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float diag3 = pMat[0, 2]*pMat[1, 0]*pMat[2, 1];
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float diag4 = pMat[2, 0]*pMat[1, 1]*pMat[0, 2];
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float diag5 = pMat[2, 1]*pMat[1, 2]*pMat[0, 0];
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float diag6 = pMat[2, 2]*pMat[1, 0]*pMat[0, 1];
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det = diag1 + diag2 + diag3 - (diag4 + diag5 + diag6);
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return det;
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}
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private static float Determinant(Matrix4 matrix)
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{
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float det = 0;
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for (int j = 0; j < 4; j++)
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det += (matrix[0, j] * Determinant(Minor(matrix, 0, j)) * (int)System.Math.Pow(-1, 0 + j));
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return det;
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}
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private static void DMassCopy(ref d.Mass src, ref d.Mass dst)
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{
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dst.c.W = src.c.W;
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dst.c.X = src.c.X;
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dst.c.Y = src.c.Y;
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dst.c.Z = src.c.Z;
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dst.mass = src.mass;
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dst.I.M00 = src.I.M00;
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dst.I.M01 = src.I.M01;
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dst.I.M02 = src.I.M02;
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dst.I.M10 = src.I.M10;
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dst.I.M11 = src.I.M11;
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dst.I.M12 = src.I.M12;
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dst.I.M20 = src.I.M20;
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dst.I.M21 = src.I.M21;
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dst.I.M22 = src.I.M22;
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}
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}
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}
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