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
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@ -581,9 +581,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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}
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#endregion // Vehicle parameter setting
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public void Refresh()
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{
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// If asking for a refresh, reset the physical parameters before the next simulation step.
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PhysicsScene.PostTaintObject("BSDynamics.Refresh", Prim.LocalID, delegate()
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{
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SetPhysicalParameters();
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});
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}
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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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public void Refresh()
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private void SetPhysicalParameters()
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{
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if (IsActive)
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{
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@ -614,7 +623,7 @@ 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},inert={2},grav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
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VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={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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@ -622,26 +631,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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}
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else
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{
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PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
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if (Prim.PhysBody.HasPhysicalBody)
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PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
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}
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}
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public bool RemoveBodyDependencies(BSPhysObject prim)
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{
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// If active, we need to add our properties back when the body is rebuilt.
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return IsActive;
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}
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public void RestoreBodyDependencies(BSPhysObject prim)
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{
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if (Prim.LocalID != prim.LocalID)
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{
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// The call should be on us by our prim. Error if not.
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PhysicsScene.Logger.ErrorFormat("{0} RestoreBodyDependencies: called by not my prim. passedLocalID={1}, vehiclePrimLocalID={2}",
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LogHeader, prim.LocalID, Prim.LocalID);
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return;
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}
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Refresh();
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return IsActive;
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}
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#region Known vehicle value functions
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@ -274,7 +274,7 @@ public sealed class BSLinksetCompound : BSLinkset
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bool ret = false;
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DetailLog("{0},BSLinksetCompound.RemoveBodyDependencies,refreshIfChild,rID={1},rBody={2},isRoot={3}",
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child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody.AddrString, IsRoot(child));
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child.LocalID, LinksetRoot.LocalID, LinksetRoot.PhysBody, IsRoot(child));
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if (!IsRoot(child))
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{
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@ -382,11 +382,11 @@ public sealed class BSLinksetCompound : BSLinkset
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{
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try
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{
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// Suppress rebuilding while rebuilding
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// Suppress rebuilding while rebuilding. (We know rebuilding is on only one thread.)
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Rebuilding = true;
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// Cause the root shape to be rebuilt as a compound object with just the root in it
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LinksetRoot.ForceBodyShapeRebuild(true);
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LinksetRoot.ForceBodyShapeRebuild(true /* inTaintTime */);
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// The center of mass for the linkset is the geometric center of the group.
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// Compute a displacement for each component so it is relative to the center-of-mass.
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@ -1597,9 +1597,9 @@ public sealed class BSPrim : BSPhysObject
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public void CreateGeomAndObject(bool forceRebuild)
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{
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// Create the correct physical representation for this type of object.
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// Updates PhysBody and PhysShape with the new information.
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// Updates base.PhysBody and base.PhysShape with the new information.
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// Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary.
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PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody)
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PhysicsScene.Shapes.GetBodyAndShape(false /*forceRebuild */, PhysicsScene.World, this, null, delegate(BulletBody dBody)
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{
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// Called if the current prim body is about to be destroyed.
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// Remove all the physical dependencies on the old body.
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@ -116,8 +116,7 @@ public sealed class BSShapeCollection : IDisposable
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// rebuild the body around it.
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// Updates prim.BSBody with information/pointers to requested body
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// Returns 'true' if BSBody was changed.
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bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World,
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prim.PhysShape, bodyCallback);
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bool newBody = CreateBody((newGeom || forceRebuild), prim, PhysicsScene.World, bodyCallback);
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ret = newGeom || newBody;
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}
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DetailLog("{0},BSShapeCollection.GetBodyAndShape,taintExit,force={1},ret={2},body={3},shape={4}",
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@ -933,8 +932,7 @@ public sealed class BSShapeCollection : IDisposable
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// Updates prim.BSBody with the information about the new body if one is created.
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// Returns 'true' if an object was actually created.
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// Called at taint-time.
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private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BulletShape shape,
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BodyDestructionCallback bodyCallback)
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private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BodyDestructionCallback bodyCallback)
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{
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bool ret = false;
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@ -951,6 +949,7 @@ public sealed class BSShapeCollection : IDisposable
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{
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// If the collisionObject is not the correct type for solidness, rebuild what's there
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mustRebuild = true;
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if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,forceRebuildBecauseChangingBodyType,bodyType={1}", prim.LocalID, bodyType);
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}
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}
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@ -962,12 +961,12 @@ public sealed class BSShapeCollection : IDisposable
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BulletBody aBody;
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if (prim.IsSolid)
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{
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aBody = PhysicsScene.PE.CreateBodyFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
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aBody = PhysicsScene.PE.CreateBodyFromShape(sim, prim.PhysShape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
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if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,mesh,body={1}", prim.LocalID, aBody);
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}
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else
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{
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aBody = PhysicsScene.PE.CreateGhostFromShape(sim, shape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
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aBody = PhysicsScene.PE.CreateGhostFromShape(sim, prim.PhysShape, prim.LocalID, prim.RawPosition, prim.RawOrientation);
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if (DDetail) DetailLog("{0},BSShapeCollection.CreateBody,ghost,body={1}", prim.LocalID, aBody);
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}
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@ -6,6 +6,7 @@ One sided meshes? Should terrain be built into a closed shape?
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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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Terrain detail: double terrain mesh detail
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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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@ -34,34 +35,20 @@ Vehicle script tuning/debugging
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Weapon shooter script
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Add material densities to the material types
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CRASHES
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=================================================
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Crazyness during 20130115 office hours was PositionAdjustUnderground for both char and prim
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m1:logs/20130115.0934/physics-BulletSim-20130115083613.log
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Creation of Neb's terrain made the terrain "disappear". Everything started to fall
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and then get restored to be above terrain.
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20121129.1411: editting/moving phys object across region boundries causes crash
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getPos-> btRigidBody::upcast -> getBodyType -> BOOM
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20121128.1600: mesh object not rezzing (no physics mesh).
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Causes many errors. Doesn't stop after first error with box shape.
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Eventually crashes when deleting the object.
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20121206.1434: rez Sam-pan into OSGrid BulletSim11 region
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Immediate simulator crash. Mono does not output any stacktrace and
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log just stops after reporting taint-time linking of the linkset.
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VEHICLES TODO LIST:
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=================================================
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Border crossing with linked vehicle causes crash
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20121129.1411: editting/moving phys object across region boundries causes crash
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getPos-> btRigidBody::upcast -> getBodyType -> BOOM
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Vehicles (Move smoothly)
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Some vehicles should not be able to turn if no speed or off ground.
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What to do if vehicle and prim buoyancy differ?
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Cannot edit/move a vehicle being ridden: it jumps back to the origional position.
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Neb car jiggling left and right
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Happens on terrain and any other mesh object. Flat cubes are much smoother.
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This has been reduced but not eliminated.
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Implement referenceFrame for all the motion routines.
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For limitMotorUp, use raycast down to find if vehicle is in the air.
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Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
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Verify that angular motion specified around Z moves in the vehicle coordinates.
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Verify llGetVel() is returning a smooth and good value for vehicle movement.
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llGetVel() should return the root's velocity if requested in a child prim.
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Implement function efficiency for lineaar and angular motion.
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@ -73,10 +60,11 @@ Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties().
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Incorporate inter-relationship of angular corrections. For instance, angularDeflection
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and angularMotorUp will compute same X or Y correction. When added together
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creates over-correction and over-shoot and wabbling.
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Vehicle attributes are not restored when a vehicle is rezzed on region creation
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Create vehicle, setup vehicle properties, restart region, vehicle is not reinitialized.
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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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@ -330,4 +318,8 @@ 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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Child movement in linkset (don't rebuild linkset) (DONE 20130122))
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Child movement in linkset (don't rebuild linkset) (DONE 20130122))
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Avatar standing on a moving object should start to move with the object. (DONE 20130125)
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Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
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Verify that angular motion specified around Z moves in the vehicle coordinates.
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DONE 20130120: BulletSim properly applies force in vehicle relative coordinates.
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