BulletSim: add OutOfBounds logic and some position sanity checking
to eliminate some of the "cannot find terrain height" warning messages.user_profiles
Robert Adams
parent
681653ca13
commit
efb5da0aa6
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@ -443,6 +443,7 @@ public sealed class BSCharacter : BSPhysObject
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PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
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{
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DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
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PositionSanityCheck();
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ForcePosition = _position;
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});
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}
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@ -456,7 +457,6 @@ public sealed class BSCharacter : BSPhysObject
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_position = value;
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if (PhysBody.HasPhysicalBody)
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{
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PositionSanityCheck();
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PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
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}
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}
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@ -512,9 +512,8 @@ public sealed class BSCharacter : BSPhysObject
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// just assign to "Position" because of potential call loops.
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PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
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{
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DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
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if (PhysBody.HasPhysicalBody)
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PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
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DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
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ForcePosition = _position;
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});
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ret = true;
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}
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@ -46,6 +46,8 @@ public static class BSParam
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public static float MeshMegaPrimThreshold { get; private set; }
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public static float SculptLOD { get; private set; }
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public static int CrossingFailuresBeforeOutOfBounds { get; private set; }
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public static float MinimumObjectMass { get; private set; }
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public static float MaximumObjectMass { get; private set; }
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public static float MaxLinearVelocity { get; private set; }
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@ -73,23 +75,23 @@ public static class BSParam
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public static float TerrainRestitution { get; private set; }
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public static float TerrainCollisionMargin { get; private set; }
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public static float DefaultFriction;
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public static float DefaultDensity;
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public static float DefaultRestitution;
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public static float CollisionMargin;
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public static float Gravity;
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public static float DefaultFriction { get; private set; }
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public static float DefaultDensity { get; private set; }
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public static float DefaultRestitution { get; private set; }
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public static float CollisionMargin { get; private set; }
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public static float Gravity { get; private set; }
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// Physics Engine operation
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public static float MaxPersistantManifoldPoolSize;
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public static float MaxCollisionAlgorithmPoolSize;
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public static bool ShouldDisableContactPoolDynamicAllocation;
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public static bool ShouldForceUpdateAllAabbs;
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public static bool ShouldRandomizeSolverOrder;
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public static bool ShouldSplitSimulationIslands;
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public static bool ShouldEnableFrictionCaching;
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public static float NumberOfSolverIterations;
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public static bool UseSingleSidedMeshes;
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public static float GlobalContactBreakingThreshold;
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public static float MaxPersistantManifoldPoolSize { get; private set; }
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public static float MaxCollisionAlgorithmPoolSize { get; private set; }
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public static bool ShouldDisableContactPoolDynamicAllocation { get; private set; }
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public static bool ShouldForceUpdateAllAabbs { get; private set; }
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public static bool ShouldRandomizeSolverOrder { get; private set; }
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public static bool ShouldSplitSimulationIslands { get; private set; }
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public static bool ShouldEnableFrictionCaching { get; private set; }
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public static float NumberOfSolverIterations { get; private set; }
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public static bool UseSingleSidedMeshes { get; private set; }
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public static float GlobalContactBreakingThreshold { get; private set; }
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// Avatar parameters
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public static float AvatarFriction { get; private set; }
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@ -118,6 +120,7 @@ public static class BSParam
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public static float VehicleGroundGravityFudge { get; private set; }
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public static bool VehicleDebuggingEnabled { get; private set; }
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// Linkset implementation parameters
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public static float LinksetImplementation { get; private set; }
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public static bool LinkConstraintUseFrameOffset { get; private set; }
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public static bool LinkConstraintEnableTransMotor { get; private set; }
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@ -282,6 +285,11 @@ public static class BSParam
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(s) => { return ShouldRemoveZeroWidthTriangles; },
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(s,v) => { ShouldRemoveZeroWidthTriangles = v; } ),
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new ParameterDefn<int>("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions",
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5,
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(s) => { return CrossingFailuresBeforeOutOfBounds; },
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(s,v) => { CrossingFailuresBeforeOutOfBounds = v; } ),
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new ParameterDefn<float>("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
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32f,
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(s) => { return MeshLOD; },
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@ -695,6 +703,10 @@ public static class BSParam
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}
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}
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// =====================================================================
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// =====================================================================
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// There are parameters that, when set, cause things to happen in the physics engine.
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// This causes the broadphase collision cache to be cleared.
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private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v)
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{
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BSScene physScene = pPhysScene;
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@ -704,6 +716,7 @@ public static class BSParam
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});
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}
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// This causes the constraint solver cache to be cleared and reset.
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private static void ResetConstraintSolverTainted(BSScene pPhysScene, float v)
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{
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BSScene physScene = pPhysScene;
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@ -70,6 +70,8 @@ public class BSPrim : BSPhysObject
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private bool _kinematic;
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private float _buoyancy;
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private int CrossingFailures { get; set; }
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public BSDynamics VehicleController { get; private set; }
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private BSVMotor _targetMotor;
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@ -197,7 +199,20 @@ public class BSPrim : BSPhysObject
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{
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get { return _isSelected; }
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}
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public override void CrossingFailure() { return; }
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public override void CrossingFailure()
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{
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CrossingFailures++;
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if (CrossingFailures > BSParam.CrossingFailuresBeforeOutOfBounds)
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{
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base.RaiseOutOfBounds(RawPosition);
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}
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else if (CrossingFailures == BSParam.CrossingFailuresBeforeOutOfBounds)
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{
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m_log.WarnFormat("{0} Too many crossing failures for {1}", LogHeader, Name);
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}
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return;
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}
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// link me to the specified parent
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public override void link(PhysicsActor obj) {
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@ -1123,7 +1138,11 @@ public class BSPrim : BSPhysObject
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// Used for MoveTo
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public override OMV.Vector3 PIDTarget {
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set { _PIDTarget = value; }
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set
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{
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// TODO: add a sanity check -- don't move more than a region or something like that.
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_PIDTarget = value;
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}
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}
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public override float PIDTau {
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set { _PIDTau = value; }
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@ -1177,7 +1196,9 @@ public class BSPrim : BSPhysObject
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}
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else
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{
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ForcePosition = movePosition;
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_position = movePosition;
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PositionSanityCheck(true /* intaintTime */);
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ForcePosition = _position;
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}
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DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", LocalID, origPosition, movePosition);
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});
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@ -568,7 +568,7 @@ public sealed class BSShapeCollection : IDisposable
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{
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newShape = PhysicsScene.PE.BuildCapsuleShape(PhysicsScene.World, 1f, 1f, prim.Scale);
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if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
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if (DDetail) DetailLog("{0},BSShapeCollection.BuildPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
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}
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else
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{
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@ -1,17 +1,16 @@
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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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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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Vehicle angular deflection
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Preferred orientation angular correction fix
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Enable vehicle border crossings (at least as poorly as ODE)
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Terrain skirts
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Avatar created in previous region and not new region when crossing border
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Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
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when should angular and linear motor targets be zeroed? when selected?
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Need a vehicle.clear()? Or an 'else' in prestep if not physical.
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Teravus llMoveToTarget script debug
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@ -26,14 +25,16 @@ Avatar movement
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flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
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walking up stairs is not calibrated correctly (stairs out of Kepler cabin)
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avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution)
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Enable vehicle border crossings (at least as poorly as ODE)
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Terrain skirts
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Avatar created in previous region and not new region when crossing border
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Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
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Vehicle script tuning/debugging
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Avanti speed script
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Weapon shooter script
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Add material densities to the material types
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Move material definitions (friction, ...) into simulator.
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Add material densities to the material types.
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Terrain detail: double terrain mesh detail
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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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VEHICLES TODO LIST:
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=================================================
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@ -65,6 +66,7 @@ Vehicle attributes are not restored when a vehicle is rezzed on region creation
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GENERAL TODO LIST:
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=================================================
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Add a sanity check for PIDTarget location.
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Level-of-detail for mesh creation. Prims with circular interiors require lod of 32.
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Is much saved with lower LODs? At the moment, all set to 32.
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Collisions are inconsistant: arrows are supposed to hit and report collision. Often don't.
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