BulletSim: make sure vehicle physical properties are set when going
physical by delaying setting until pre-step time. Change vehicle.Refresh() to schedule the pre-step setting. Comments and updating of TODO list.user_profiles
Robert Adams
parent
371449db2f
commit
ed71c939fc
|
|
@ -581,9 +581,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
}
|
||||
#endregion // Vehicle parameter setting
|
||||
|
||||
public void Refresh()
|
||||
{
|
||||
// If asking for a refresh, reset the physical parameters before the next simulation step.
|
||||
PhysicsScene.PostTaintObject("BSDynamics.Refresh", Prim.LocalID, delegate()
|
||||
{
|
||||
SetPhysicalParameters();
|
||||
});
|
||||
}
|
||||
|
||||
// Some of the properties of this prim may have changed.
|
||||
// Do any updating needed for a vehicle
|
||||
public void Refresh()
|
||||
private void SetPhysicalParameters()
|
||||
{
|
||||
if (IsActive)
|
||||
{
|
||||
|
|
@ -614,7 +623,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
// The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
|
||||
PhysicsScene.PE.SetGravity(Prim.PhysBody, Vector3.Zero);
|
||||
|
||||
VDetailLog("{0},BSDynamics.Refresh,mass={1},inert={2},grav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
|
||||
VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
|
||||
Prim.LocalID, m_vehicleMass, Prim.Inertia, m_VehicleGravity,
|
||||
BSParam.VehicleAngularDamping, BSParam.VehicleFriction, BSParam.VehicleRestitution,
|
||||
BSParam.VehicleLinearFactor, BSParam.VehicleAngularFactor
|
||||
|
|
@ -622,26 +631,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
}
|
||||
else
|
||||
{
|
||||
PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
|
||||
if (Prim.PhysBody.HasPhysicalBody)
|
||||
PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
|
||||
}
|
||||
}
|
||||
|
||||
public bool RemoveBodyDependencies(BSPhysObject prim)
|
||||
{
|
||||
// If active, we need to add our properties back when the body is rebuilt.
|
||||
return IsActive;
|
||||
}
|
||||
|
||||
public void RestoreBodyDependencies(BSPhysObject prim)
|
||||
{
|
||||
if (Prim.LocalID != prim.LocalID)
|
||||
{
|
||||
// The call should be on us by our prim. Error if not.
|
||||
PhysicsScene.Logger.ErrorFormat("{0} RestoreBodyDependencies: called by not my prim. passedLocalID={1}, vehiclePrimLocalID={2}",
|
||||
LogHeader, prim.LocalID, Prim.LocalID);
|
||||
return;
|
||||
}
|
||||
Refresh();
|
||||
return IsActive;
|
||||
}
|
||||
|
||||
#region Known vehicle value functions
|
||||
|
|
|
|||
|
|
@ -274,7 +274,7 @@ public sealed class BSLinksetCompound : BSLinkset
|
|||
bool ret = false;
|
||||
|
||||
DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
|
||||
child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, IsRoot(child));
|
||||
child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child));
|
||||
|
||||
if (!IsRoot(child))
|
||||
{
|
||||
|
|
@ -382,11 +382,11 @@ public sealed class BSLinksetCompound : BSLinkset
|
|||
{
|
||||
try
|
||||
{
|
||||
// Suppress rebuilding while rebuilding
|
||||
// Suppress rebuilding while rebuilding. (We know rebuilding is on only one thread.)
|
||||
Rebuilding = true;
|
||||
|
||||
// Cause the root shape to be rebuilt as a compound object with just the root in it
|
||||
LinksetRoot.ForceBodyShapeRebuild(true);
|
||||
LinksetRoot.ForceBodyShapeRebuild(true /* inTaintTime */);
|
||||
|
||||
// The center of mass for the linkset is the geometric center of the group.
|
||||
// Compute a displacement for each component so it is relative to the center-of-mass.
|
||||
|
|
|
|||
|
|
@ -1597,9 +1597,9 @@ public sealed class BSPrim : BSPhysObject
|
|||
public void CreateGeomAndObject(bool forceRebuild)
|
||||
{
|
||||
// Create the correct physical representation for this type of object.
|
||||
// Updates PhysBody and PhysShape with the new information.
|
||||
// Updates base.PhysBody and base.PhysShape with the new information.
|
||||
// Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
|
||||
PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
|
||||
PhysicsScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysicsScene.World, this, null, delegate(BulletBody dBody)
|
||||
{
|
||||
// Called if the current prim body is about to be destroyed.
|
||||
// Remove all the physical dependencies on the old body.
|
||||
|
|
|
|||
|
|
@ -116,8 +116,7 @@ public sealed class BSShapeCollection : IDisposable
|
|||
// rebuild the body around it.
|
||||
// Updates prim.BSBody with information/pointers to requested body
|
||||
// Returns 'true' if BSBody was changed.
|
||||
bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World,
|
||||
prim.PhysShape, bodyCallback);
|
||||
bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, bodyCallback);
|
||||
ret = newGeom || newBody;
|
||||
}
|
||||
DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
|
||||
|
|
@ -933,8 +932,7 @@ public sealed class BSShapeCollection : IDisposable
|
|||
// Updates prim.BSBody with the information about the new body if one is created.
|
||||
// Returns 'true' if an object was actually created.
|
||||
// Called at taint-time.
|
||||
private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BulletShape shape,
|
||||
BodyDestructionCallback bodyCallback)
|
||||
private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BodyDestructionCallback bodyCallback)
|
||||
{
|
||||
bool ret = false;
|
||||
|
||||
|
|
@ -951,6 +949,7 @@ public sealed class BSShapeCollection : IDisposable
|
|||
{
|
||||
// If the collisionObject is not the correct type for solidness, rebuild what's there
|
||||
mustRebuild = true;
|
||||
if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,forceRebuildBecauseChangingBodyType,bodyType={1}", prim.LocalID, bodyType);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -962,12 +961,12 @@ public sealed class BSShapeCollection : IDisposable
|
|||
BulletBody aBody;
|
||||
if (prim.IsSolid)
|
||||
{
|
||||
aBody = PhysicsScene.PE.CreateBodyFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
|
||||
aBody = PhysicsScene.PE.CreateBodyFromShape(sim, prim.PhysShape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
|
||||
if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,body={1}", prim.LocalID, aBody);
|
||||
}
|
||||
else
|
||||
{
|
||||
aBody = PhysicsScene.PE.CreateGhostFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
|
||||
aBody = PhysicsScene.PE.CreateGhostFromShape(sim, prim.PhysShape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
|
||||
if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody);
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -6,6 +6,7 @@ One sided meshes? Should terrain be built into a closed shape?
|
|||
Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869
|
||||
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.
|
||||
Terrain detail: double terrain mesh detail
|
||||
Vehicle angular vertical attraction
|
||||
vehicle angular banking
|
||||
Center-of-gravity
|
||||
|
|
@ -34,34 +35,20 @@ Vehicle script tuning/debugging
|
|||
Weapon shooter script
|
||||
Add material densities to the material types
|
||||
|
||||
CRASHES
|
||||
=================================================
|
||||
Crazyness during 20130115 office hours was PositionAdjustUnderground for both char and prim
|
||||
m1:logs/20130115.0934/physics-BulletSim-20130115083613.log
|
||||
Creation of Neb's terrain made the terrain "disappear". Everything started to fall
|
||||
and then get restored to be above terrain.
|
||||
20121129.1411: editting/moving phys object across region boundries causes crash
|
||||
getPos-> btRigidBody::upcast -> getBodyType -> BOOM
|
||||
20121128.1600: mesh object not rezzing (no physics mesh).
|
||||
Causes many errors. Doesn't stop after first error with box shape.
|
||||
Eventually crashes when deleting the object.
|
||||
20121206.1434: rez Sam-pan into OSGrid BulletSim11 region
|
||||
Immediate simulator crash. Mono does not output any stacktrace and
|
||||
log just stops after reporting taint-time linking of the linkset.
|
||||
|
||||
VEHICLES TODO LIST:
|
||||
=================================================
|
||||
Border crossing with linked vehicle causes crash
|
||||
20121129.1411: editting/moving phys object across region boundries causes crash
|
||||
getPos-> btRigidBody::upcast -> getBodyType -> BOOM
|
||||
Vehicles (Move smoothly)
|
||||
Some vehicles should not be able to turn if no speed or off ground.
|
||||
What to do if vehicle and prim buoyancy differ?
|
||||
Cannot edit/move a vehicle being ridden: it jumps back to the origional position.
|
||||
Neb car jiggling left and right
|
||||
Happens on terrain and any other mesh object. Flat cubes are much smoother.
|
||||
This has been reduced but not eliminated.
|
||||
Implement referenceFrame for all the motion routines.
|
||||
For limitMotorUp, use raycast down to find if vehicle is in the air.
|
||||
Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
|
||||
Verify that angular motion specified around Z moves in the vehicle coordinates.
|
||||
Verify llGetVel() is returning a smooth and good value for vehicle movement.
|
||||
llGetVel() should return the root's velocity if requested in a child prim.
|
||||
Implement function efficiency for lineaar and angular motion.
|
||||
|
|
@ -73,10 +60,11 @@ Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties().
|
|||
Incorporate inter-relationship of angular corrections. For instance, angularDeflection
|
||||
and angularMotorUp will compute same X or Y correction. When added together
|
||||
creates over-correction and over-shoot and wabbling.
|
||||
Vehicle attributes are not restored when a vehicle is rezzed on region creation
|
||||
Create vehicle, setup vehicle properties, restart region, vehicle is not reinitialized.
|
||||
|
||||
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
|
||||
|
|
@ -331,3 +319,7 @@ 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))
|
||||
Avatar standing on a moving object should start to move with the object. (DONE 20130125)
|
||||
Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
|
||||
Verify that angular motion specified around Z moves in the vehicle coordinates.
|
||||
DONE 20130120: BulletSim properly applies force in vehicle relative coordinates.
|
||||
Loading…
Reference in New Issue