BulletSim: Fix linkset crash. Caused by the different body and shape
pointers at runtime and at taint-time. Now passes the body into the
taint.
Vehicles zero inertia when active to eliminate Bullet's contribution
to vehicle motion.
connector_plugin
Robert Adams
parent
4589bc84a3
commit
f82b903dee
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@ -58,10 +58,22 @@ public class BS6DofConstraint : BSConstraint
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m_world = world;
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m_body1 = obj1;
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m_body2 = obj2;
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m_constraint = new BulletConstraint(
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BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
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joinPoint,
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useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
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if (obj1.ptr == IntPtr.Zero || obj2.ptr == IntPtr.Zero)
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{
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world.scene.DetailLog("{0},BS6DOFConstraint,badBodyPtr,wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
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"[BULLETSIM 6DOF CONSTRAINT]", world.worldID,
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obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
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world.scene.Logger.ErrorFormat("{0} Attempt to build 6DOF constraint with missing bodies: wID={1}, rID={2}, rBody={3}, cID={4}, cBody={5}",
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"[BULLETSIM 6DOF CONSTRAINT]", world.worldID,
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obj1.ID, obj1.ptr.ToString("X"), obj2.ID, obj2.ptr.ToString("X"));
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}
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else
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{
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m_constraint = new BulletConstraint(
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BulletSimAPI.Create6DofConstraintToPoint2(m_world.ptr, m_body1.ptr, m_body2.ptr,
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joinPoint,
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useLinearReferenceFrameA, disableCollisionsBetweenLinkedBodies));
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}
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m_enabled = true;
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}
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@ -54,18 +54,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public class BSDynamics
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{
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private int frcount = 0; // Used to limit dynamics debug output to
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// every 100th frame
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private BSScene m_physicsScene;
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private BSPrim m_prim; // the prim this dynamic controller belongs to
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private BSScene PhysicsScene { get; set; }
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// the prim this dynamic controller belongs to
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private BSPrim Prim { get; set; }
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// Vehicle properties
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private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
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public Vehicle Type
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{
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get { return m_type; }
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}
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public Vehicle Type { get; set; }
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// private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
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private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
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// HOVER_TERRAIN_ONLY
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@ -126,14 +121,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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public BSDynamics(BSScene myScene, BSPrim myPrim)
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{
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m_physicsScene = myScene;
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m_prim = myPrim;
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m_type = Vehicle.TYPE_NONE;
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PhysicsScene = myScene;
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Prim = myPrim;
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Type = Vehicle.TYPE_NONE;
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}
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// Return 'true' if this vehicle is doing vehicle things
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public bool IsActive
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{
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get { return Type != Vehicle.TYPE_NONE; }
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}
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internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
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{
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VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
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VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
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switch (pParam)
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{
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case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
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@ -232,7 +233,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue)
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{
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VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
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VDetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
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switch (pParam)
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{
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case Vehicle.ANGULAR_FRICTION_TIMESCALE:
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@ -267,7 +268,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
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{
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VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
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VDetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", Prim.LocalID, pParam, pValue);
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switch (pParam)
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{
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case Vehicle.REFERENCE_FRAME:
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@ -281,7 +282,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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internal void ProcessVehicleFlags(int pParam, bool remove)
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{
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VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove);
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VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove);
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VehicleFlag parm = (VehicleFlag)pParam;
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if (remove)
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{
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@ -301,9 +302,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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internal void ProcessTypeChange(Vehicle pType)
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{
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VDetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType);
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VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType);
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// Set Defaults For Type
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m_type = pType;
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Type = pType;
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switch (pType)
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{
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case Vehicle.TYPE_NONE:
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@ -465,26 +466,37 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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}
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}//end SetDefaultsForType
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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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{
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if (Type == Vehicle.TYPE_NONE) return;
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// Set the prim's inertia to zero. The vehicle code handles that and this
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// removes the torque action introduced by Bullet.
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Vector3 inertia = Vector3.Zero;
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BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia);
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BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr);
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}
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// One step of the vehicle properties for the next 'pTimestep' seconds.
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internal void Step(float pTimestep)
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{
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if (m_type == Vehicle.TYPE_NONE) return;
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frcount++; // used to limit debug comment output
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if (frcount > 100)
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frcount = 0;
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if (!IsActive) return;
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MoveLinear(pTimestep);
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MoveAngular(pTimestep);
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LimitRotation(pTimestep);
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// remember the position so next step we can limit absolute movement effects
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m_lastPositionVector = m_prim.Position;
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m_lastPositionVector = Prim.Position;
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VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
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m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity);
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Prim.LocalID, Prim.Position, Prim.Force, Prim.Velocity, Prim.RotationalVelocity);
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}// end Step
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// Apply the effect of the linear motor.
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// Also does hover and float.
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private void MoveLinear(float pTimestep)
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{
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// m_linearMotorDirection is the direction we are moving relative to the vehicle coordinates
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@ -520,18 +532,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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m_linearMotorDirection *= keepfraction;
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VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},notDecay={4},dir={5},vel={6}",
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m_prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector);
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Prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector);
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}
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else
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{
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// if what remains of direction is very small, zero it.
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m_linearMotorDirection = Vector3.Zero;
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m_lastLinearVelocityVector = Vector3.Zero;
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VDetailLog("{0},MoveLinear,zeroed", m_prim.LocalID);
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VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);
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}
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// convert requested object velocity to object relative vector
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Quaternion rotq = m_prim.Orientation;
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Quaternion rotq = Prim.Orientation;
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m_newVelocity = m_lastLinearVelocityVector * rotq;
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// Add the various forces into m_dir which will be our new direction vector (velocity)
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@ -539,7 +551,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// add Gravity and Buoyancy
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// There is some gravity, make a gravity force vector that is applied after object velocity.
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// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
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Vector3 grav = m_prim.PhysicsScene.DefaultGravity * (m_prim.Mass * (1f - m_VehicleBuoyancy));
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Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Mass * (1f - m_VehicleBuoyancy));
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/*
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* RA: Not sure why one would do this
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@ -548,11 +560,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
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*/
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Vector3 pos = m_prim.Position;
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Vector3 pos = Prim.Position;
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// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
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// If below the terrain, move us above the ground a little.
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float terrainHeight = m_prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
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float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
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// Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset.
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// Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass.
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// Vector3 rotatedSize = m_prim.Size * m_prim.Orientation;
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@ -560,8 +572,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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if (pos.Z < terrainHeight)
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{
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pos.Z = terrainHeight + 2;
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m_prim.Position = pos;
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VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", m_prim.LocalID, terrainHeight, pos);
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Prim.Position = pos;
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VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos);
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}
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// Check if hovering
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@ -570,7 +582,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// We should hover, get the target height
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if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
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{
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m_VhoverTargetHeight = m_prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
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m_VhoverTargetHeight = Prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
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}
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if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
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{
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@ -590,7 +602,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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{
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if ((pos.Z - m_VhoverTargetHeight) > .2 || (pos.Z - m_VhoverTargetHeight) < -.2)
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{
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m_prim.Position = pos;
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Prim.Position = pos;
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}
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}
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else
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@ -608,7 +620,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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}
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}
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VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight);
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VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", Prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight);
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}
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Vector3 posChange = pos - m_lastPositionVector;
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@ -642,9 +654,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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}
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if (changed)
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{
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m_prim.Position = pos;
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Prim.Position = pos;
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VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
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m_prim.LocalID, m_BlockingEndPoint, posChange, pos);
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Prim.LocalID, m_BlockingEndPoint, posChange, pos);
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}
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}
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@ -664,7 +676,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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float postemp = (pos.Z - terrainHeight);
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if (postemp > 2.5f)
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grav.Z = (float)(grav.Z * 1.037125);
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VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav);
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VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", Prim.LocalID, grav);
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}
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if ((m_flags & (VehicleFlag.NO_X)) != 0)
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m_newVelocity.X = 0;
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@ -674,7 +686,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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m_newVelocity.Z = 0;
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// Apply velocity
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m_prim.Velocity = m_newVelocity;
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Prim.Velocity = m_newVelocity;
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// apply gravity force
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// Why is this set here? The physics engine already does gravity.
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// m_prim.AddForce(grav, false);
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@ -684,10 +696,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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m_lastLinearVelocityVector *= keepFraction;
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VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}",
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m_prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction);
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Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction);
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} // end MoveLinear()
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// Apply the effect of the angular motor.
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private void MoveAngular(float pTimestep)
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{
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// m_angularMotorDirection // angular velocity requested by LSL motor
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@ -699,7 +712,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// m_lastAngularVelocity // what was last applied to body
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// Get what the body is doing, this includes 'external' influences
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Vector3 angularVelocity = m_prim.RotationalVelocity;
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Vector3 angularVelocity = Prim.RotationalVelocity;
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if (m_angularMotorApply > 0)
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{
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@ -716,7 +729,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep);
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VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},dir={5},vel={6}",
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m_prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity);
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Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity);
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// This is done so that if script request rate is less than phys frame rate the expected
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// velocity may still be acheived.
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@ -737,7 +750,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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{
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float VAservo = 0.2f / (m_verticalAttractionTimescale / pTimestep);
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// get present body rotation
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Quaternion rotq = m_prim.Orientation;
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Quaternion rotq = Prim.Orientation;
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// make a vector pointing up
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Vector3 verterr = Vector3.Zero;
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verterr.Z = 1.0f;
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@ -767,7 +780,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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vertattr.Y += bounce * angularVelocity.Y;
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VDetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}",
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m_prim.LocalID, verterr, bounce, vertattr);
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Prim.LocalID, verterr, bounce, vertattr);
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} // else vertical attractor is off
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@ -784,13 +797,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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{
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m_lastAngularVelocity.X = 0;
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m_lastAngularVelocity.Y = 0;
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VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity);
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VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
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}
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if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
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{
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m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
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VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity);
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VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
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}
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// apply friction
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@ -798,14 +811,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
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// Apply to the body
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m_prim.RotationalVelocity = m_lastAngularVelocity;
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Prim.RotationalVelocity = m_lastAngularVelocity;
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VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity);
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VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity);
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} //end MoveAngular
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internal void LimitRotation(float timestep)
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{
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Quaternion rotq = m_prim.Orientation;
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Quaternion rotq = Prim.Orientation;
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Quaternion m_rot = rotq;
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bool changed = false;
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if (m_RollreferenceFrame != Quaternion.Identity)
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@ -840,8 +853,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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}
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if (changed)
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{
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m_prim.Orientation = m_rot;
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VDetailLog("{0},LimitRotation,done,orig={1},new={2}", m_prim.LocalID, rotq, m_rot);
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Prim.Orientation = m_rot;
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VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
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}
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}
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@ -849,8 +862,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// Invoke the detailed logger and output something if it's enabled.
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private void VDetailLog(string msg, params Object[] args)
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{
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if (m_prim.PhysicsScene.VehicleLoggingEnabled)
|
||||
m_prim.PhysicsScene.PhysicsLogging.Write(msg, args);
|
||||
if (Prim.PhysicsScene.VehicleLoggingEnabled)
|
||||
Prim.PhysicsScene.PhysicsLogging.Write(msg, args);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -92,7 +92,9 @@ public class BSLinkset
|
|||
{
|
||||
lock (m_linksetActivityLock)
|
||||
{
|
||||
AddChildToLinkset(child);
|
||||
// Don't add the root to its own linkset
|
||||
if (!IsRoot(child))
|
||||
AddChildToLinkset(child);
|
||||
}
|
||||
return this;
|
||||
}
|
||||
|
|
@ -105,6 +107,17 @@ public class BSLinkset
|
|||
lock (m_linksetActivityLock)
|
||||
{
|
||||
if (IsRoot(child))
|
||||
{
|
||||
// Cannot remove the root from a linkset.
|
||||
return this;
|
||||
}
|
||||
|
||||
RemoveChildFromLinkset(child);
|
||||
|
||||
/* Alternate implementation that destroys the linkset of the root is removed.
|
||||
* This fails because items are added and removed from linksets to build shapes.
|
||||
* Code left for reference.
|
||||
if (IsRoot(child))
|
||||
{
|
||||
// if root of linkset, take the linkset apart
|
||||
while (m_children.Count > 0)
|
||||
|
|
@ -120,6 +133,7 @@ public class BSLinkset
|
|||
// Just removing a child from an existing linkset
|
||||
RemoveChildFromLinkset(child);
|
||||
}
|
||||
*/
|
||||
}
|
||||
|
||||
// The child is down to a linkset of just itself
|
||||
|
|
@ -308,12 +322,16 @@ public class BSLinkset
|
|||
{
|
||||
m_children.Add(child);
|
||||
|
||||
BSPhysObject rootx = LinksetRoot; // capture the root as of now
|
||||
BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
|
||||
BulletBody rootBodyx = LinksetRoot.BSBody;
|
||||
BSPhysObject childx = child;
|
||||
BulletBody childBodyx = child.BSBody;
|
||||
|
||||
PhysicsScene.TaintedObject("AddChildToLinkset", delegate()
|
||||
{
|
||||
DetailLog("{0},AddChildToLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID);
|
||||
PhysicallyLinkAChildToRoot(rootx, childx); // build the physical binding between me and the child
|
||||
// build the physical binding between me and the child
|
||||
PhysicallyLinkAChildToRoot(rootx, rootBodyx, childx, childBodyx);
|
||||
});
|
||||
}
|
||||
return;
|
||||
|
|
@ -323,7 +341,7 @@ public class BSLinkset
|
|||
// This is not being called by the child so we have to make sure the child doesn't think
|
||||
// it's still connected to the linkset.
|
||||
// Normal OpenSimulator operation will never do this because other SceneObjectPart information
|
||||
// has to be updated also (like pointer to prim's parent).
|
||||
// also has to be updated (like pointer to prim's parent).
|
||||
private void RemoveChildFromOtherLinkset(BSPhysObject pchild)
|
||||
{
|
||||
pchild.Linkset = new BSLinkset(PhysicsScene, pchild);
|
||||
|
|
@ -336,13 +354,15 @@ public class BSLinkset
|
|||
{
|
||||
if (m_children.Remove(child))
|
||||
{
|
||||
BSPhysObject rootx = LinksetRoot; // capture the root as of now
|
||||
BSPhysObject rootx = LinksetRoot; // capture the root and body as of now
|
||||
BulletBody rootBodyx = LinksetRoot.BSBody;
|
||||
BSPhysObject childx = child;
|
||||
BulletBody childBodyx = child.BSBody;
|
||||
PhysicsScene.TaintedObject("RemoveChildFromLinkset", delegate()
|
||||
{
|
||||
DetailLog("{0},RemoveChildFromLinkset,taint,child={1}", LinksetRoot.LocalID, child.LocalID);
|
||||
|
||||
PhysicallyUnlinkAChildFromRoot(rootx, childx);
|
||||
PhysicallyUnlinkAChildFromRoot(rootx, rootBodyx, childx, childBodyx);
|
||||
RecomputeLinksetConstraintVariables();
|
||||
});
|
||||
|
||||
|
|
@ -357,7 +377,8 @@ public class BSLinkset
|
|||
|
||||
// Create a constraint between me (root of linkset) and the passed prim (the child).
|
||||
// Called at taint time!
|
||||
private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
|
||||
private void PhysicallyLinkAChildToRoot(BSPhysObject rootPrim, BulletBody rootBody,
|
||||
BSPhysObject childPrim, BulletBody childBody)
|
||||
{
|
||||
// Zero motion for children so they don't interpolate
|
||||
childPrim.ZeroMotion();
|
||||
|
|
@ -371,16 +392,32 @@ public class BSLinkset
|
|||
|
||||
// create a constraint that allows no freedom of movement between the two objects
|
||||
// http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4818
|
||||
DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},child={2},rLoc={3},cLoc={4},midLoc={5}",
|
||||
rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID, rootPrim.Position, childPrim.Position, midPoint);
|
||||
DetailLog("{0},PhysicallyLinkAChildToRoot,taint,root={1},rBody={2},child={3},cBody={4},rLoc={5},cLoc={6},midLoc={7}",
|
||||
rootPrim.LocalID,
|
||||
rootPrim.LocalID, rootBody.ptr.ToString("X"),
|
||||
childPrim.LocalID, childBody.ptr.ToString("X"),
|
||||
rootPrim.Position, childPrim.Position, midPoint);
|
||||
|
||||
// There is great subtlty in these paramters. Notice the check for a ptr of zero.
|
||||
// We pass the BulletBody structure into the taint in order to capture the pointer
|
||||
// of the body at the time of constraint creation. This doesn't work for the very first
|
||||
// construction because there is no body yet. The body
|
||||
// is constructed later at taint time. Thus we use the body address at time of the
|
||||
// taint creation but, if it is zero, use what's in the prim at the moment.
|
||||
// There is a possible race condition since shape can change without a taint call
|
||||
// (like changing to a mesh that is already constructed). The fix for that would be
|
||||
// to only change BSShape at taint time thus syncronizing these operations at
|
||||
// the cost of efficiency and lag.
|
||||
BS6DofConstraint constrain = new BS6DofConstraint(
|
||||
PhysicsScene.World, rootPrim.BSBody, childPrim.BSBody,
|
||||
PhysicsScene.World,
|
||||
rootBody.ptr == IntPtr.Zero ? rootPrim.BSBody : rootBody,
|
||||
childBody.ptr == IntPtr.Zero ? childPrim.BSBody : childBody,
|
||||
midPoint,
|
||||
true,
|
||||
true
|
||||
);
|
||||
/* NOTE: below is an attempt to build constraint with full frame computation, etc.
|
||||
* Using the midpoint is easier since it lets the Bullet code use the transforms
|
||||
* Using the midpoint is easier since it lets the Bullet code manipulate the transforms
|
||||
* of the objects.
|
||||
* Code left as a warning to future programmers.
|
||||
// ==================================================================================
|
||||
|
|
@ -433,19 +470,26 @@ public class BSLinkset
|
|||
}
|
||||
|
||||
// Remove linkage between myself and a particular child
|
||||
// The root and child bodies are passed in because we need to remove the constraint between
|
||||
// the bodies that were at unlink time.
|
||||
// Called at taint time!
|
||||
private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BSPhysObject childPrim)
|
||||
private void PhysicallyUnlinkAChildFromRoot(BSPhysObject rootPrim, BulletBody rootBody,
|
||||
BSPhysObject childPrim, BulletBody childBody)
|
||||
{
|
||||
DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},child={2}", rootPrim.LocalID, rootPrim.LocalID, childPrim.LocalID);
|
||||
DetailLog("{0},PhysicallyUnlinkAChildFromRoot,taint,root={1},rBody={2},child={3},cBody={4}",
|
||||
rootPrim.LocalID,
|
||||
rootPrim.LocalID, rootBody.ptr.ToString("X"),
|
||||
childPrim.LocalID, childBody.ptr.ToString("X"));
|
||||
|
||||
// Find the constraint for this link and get rid of it from the overall collection and from my list
|
||||
PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody, childPrim.BSBody);
|
||||
PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootBody, childBody);
|
||||
|
||||
// Make the child refresh its location
|
||||
BulletSimAPI.PushUpdate2(childPrim.BSBody.ptr);
|
||||
}
|
||||
|
||||
// Remove linkage between myself and any possible children I might have
|
||||
/*
|
||||
// Remove linkage between myself and any possible children I might have.
|
||||
// Called at taint time!
|
||||
private void PhysicallyUnlinkAllChildrenFromRoot(BSPhysObject rootPrim)
|
||||
{
|
||||
|
|
@ -453,6 +497,7 @@ public class BSLinkset
|
|||
|
||||
PhysicsScene.Constraints.RemoveAndDestroyConstraint(rootPrim.BSBody);
|
||||
}
|
||||
*/
|
||||
|
||||
// Invoke the detailed logger and output something if it's enabled.
|
||||
private void DetailLog(string msg, params Object[] args)
|
||||
|
|
|
|||
|
|
@ -135,8 +135,11 @@ public abstract class BSPhysObject : PhysicsActor
|
|||
// collision event to make collision_end work.
|
||||
// Called at taint time from within the Step() function thus no locking problems
|
||||
// with CollisionCollection and ObjectsWithNoMoreCollisions.
|
||||
public virtual void SendCollisions()
|
||||
// Return 'true' if there were some actual collisions passed up
|
||||
public virtual bool SendCollisions()
|
||||
{
|
||||
bool ret = true;
|
||||
|
||||
// throttle the collisions to the number of milliseconds specified in the subscription
|
||||
int nowTime = PhysicsScene.SimulationNowTime;
|
||||
if (nowTime >= NextCollisionOkTime)
|
||||
|
|
@ -148,7 +151,7 @@ public abstract class BSPhysObject : PhysicsActor
|
|||
if (CollisionCollection.Count == 0)
|
||||
{
|
||||
// If I have no collisions this time, remove me from the list of objects with collisions.
|
||||
PhysicsScene.ObjectsWithNoMoreCollisions.Add(this);
|
||||
ret = false;
|
||||
}
|
||||
|
||||
// DetailLog("{0},{1}.SendCollisionUpdate,call,numCollisions={2}", LocalID, TypeName, CollisionCollection.Count);
|
||||
|
|
@ -158,6 +161,7 @@ public abstract class BSPhysObject : PhysicsActor
|
|||
// Make sure we don't have a handle to that one and that a new one is used for next time.
|
||||
CollisionCollection = new CollisionEventUpdate();
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
// Subscribe for collision events.
|
||||
|
|
|
|||
|
|
@ -507,6 +507,9 @@ public sealed class BSPrim : BSPhysObject
|
|||
// Set up the object physicalness (does gravity and collisions move this object)
|
||||
MakeDynamic(IsStatic);
|
||||
|
||||
// Do any vehicle stuff
|
||||
_vehicle.Refresh();
|
||||
|
||||
// Arrange for collision events if the simulator wants them
|
||||
EnableCollisions(SubscribedEvents());
|
||||
|
||||
|
|
@ -556,9 +559,8 @@ public sealed class BSPrim : BSPhysObject
|
|||
BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
|
||||
// There can be special things needed for implementing linksets
|
||||
Linkset.MakeStatic(this);
|
||||
// The activation state is 'sleeping' so Bullet will not try to act on it
|
||||
BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
|
||||
// BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
|
||||
// The activation state is 'disabled' so Bullet will not try to act on it
|
||||
BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_SIMULATION);
|
||||
|
||||
BSBody.collisionFilter = CollisionFilterGroups.StaticObjectFilter;
|
||||
BSBody.collisionMask = CollisionFilterGroups.StaticObjectMask;
|
||||
|
|
@ -577,7 +579,8 @@ public sealed class BSPrim : BSPhysObject
|
|||
|
||||
// A dynamic object has mass
|
||||
IntPtr collisionShapePtr = BulletSimAPI.GetCollisionShape2(BSBody.ptr);
|
||||
OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Linkset.LinksetMass);
|
||||
OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(collisionShapePtr, Mass);
|
||||
// OMV.Vector3 inertia = OMV.Vector3.Zero;
|
||||
BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
|
||||
BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
|
||||
|
||||
|
|
@ -587,10 +590,12 @@ public sealed class BSPrim : BSPhysObject
|
|||
BulletSimAPI.SetSleepingThresholds2(BSBody.ptr, PhysicsScene.Params.linearSleepingThreshold, PhysicsScene.Params.angularSleepingThreshold);
|
||||
BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
|
||||
|
||||
// There can be special things needed for implementing linksets
|
||||
// There can be special things needed for implementing linksets.
|
||||
Linkset.MakeDynamic(this);
|
||||
|
||||
// Force activation of the object so Bullet will act on it.
|
||||
// Must do the ForceActivationState2() to overcome the DISABLE_SIMULATION from static objects.
|
||||
BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ISLAND_SLEEPING);
|
||||
BulletSimAPI.Activate2(BSBody.ptr, true);
|
||||
|
||||
BSBody.collisionFilter = CollisionFilterGroups.ObjectFilter;
|
||||
|
|
@ -1457,10 +1462,17 @@ public sealed class BSPrim : BSPhysObject
|
|||
ShapeData shapeData;
|
||||
FillShapeInfo(out shapeData);
|
||||
|
||||
// Undo me from any possible linkset so, if body is rebuilt, the link will get restored.
|
||||
// NOTE that the new linkset is not set. This saves the handle to the linkset
|
||||
// so we can add ourselves back when shape mangling is complete.
|
||||
Linkset.RemoveMeFromLinkset(this);
|
||||
|
||||
// Create the correct physical representation for this type of object.
|
||||
// Updates BSBody and BSShape with the new information.
|
||||
PhysicsScene.Shapes.GetBodyAndShape(forceRebuild, PhysicsScene.World, this, shapeData, _pbs);
|
||||
|
||||
Linkset = Linkset.AddMeToLinkset(this);
|
||||
|
||||
// Make sure the properties are set on the new object
|
||||
UpdatePhysicalParameters();
|
||||
#else
|
||||
|
|
|
|||
|
|
@ -544,12 +544,15 @@ public class BSScene : PhysicsScene, IPhysicsParameters
|
|||
|
||||
// The above SendCollision's batch up the collisions on the objects.
|
||||
// Now push the collisions into the simulator.
|
||||
// If the object is done colliding, it will add itself to the ObjectsWithNoMoreCollisions list.
|
||||
if (ObjectsWithCollisions.Count > 0)
|
||||
{
|
||||
foreach (BSPhysObject bsp in ObjectsWithCollisions)
|
||||
if (!m_avatars.Contains(bsp)) // don't call avatars twice
|
||||
bsp.SendCollisions();
|
||||
if (!bsp.SendCollisions())
|
||||
{
|
||||
// If the object is done colliding, see that it's removed from the colliding list
|
||||
ObjectsWithNoMoreCollisions.Add(bsp);
|
||||
}
|
||||
}
|
||||
|
||||
// Objects that are done colliding are removed from the ObjectsWithCollisions list.
|
||||
|
|
|
|||
|
|
@ -498,7 +498,8 @@ public class BSShapeCollection : IDisposable
|
|||
ulong newHullKey = ComputeShapeKey(shapeData, pbs, out lod);
|
||||
|
||||
// if the hull hasn't changed, don't rebuild it
|
||||
if (newHullKey == prim.BSShape.shapeKey) return false;
|
||||
if (newHullKey == prim.BSShape.shapeKey && prim.BSShape.type == ShapeData.PhysicsShapeType.SHAPE_HULL)
|
||||
return false;
|
||||
|
||||
DetailLog("{0},BSShapeCollection.CreateGeomHull,create,oldKey={1},newKey={2}",
|
||||
prim.LocalID, prim.BSShape.shapeKey.ToString("X"), newHullKey.ToString("X"));
|
||||
|
|
@ -508,11 +509,8 @@ public class BSShapeCollection : IDisposable
|
|||
|
||||
newShape = CreatePhysicalHull(prim.PhysObjectName, newHullKey, pbs, shapeData.Size, lod);
|
||||
|
||||
if (!ReferenceShape(newShape))
|
||||
{
|
||||
PhysicsScene.Logger.ErrorFormat("{0} Created new hull shape but one already exists: id={1}, key={2}, refCnt={3}",
|
||||
LogHeader, shapeData.ID, newHullKey.ToString("X"), Hulls[newHullKey].referenceCount);
|
||||
}
|
||||
ReferenceShape(newShape);
|
||||
|
||||
// hulls are already scaled by the meshmerizer
|
||||
prim.Scale = new OMV.Vector3(1f, 1f, 1f);
|
||||
prim.BSShape = newShape;
|
||||
|
|
|
|||
|
|
@ -334,7 +334,8 @@ public class BSTerrainManager
|
|||
(uint)CollisionFilterGroups.TerrainMask);
|
||||
|
||||
// Make sure the new shape is processed.
|
||||
BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true);
|
||||
// BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true);
|
||||
BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
|
||||
|
||||
m_terrainModified = true;
|
||||
};
|
||||
|
|
|
|||
|
|
@ -369,16 +369,16 @@ public enum CollisionFilterGroups : uint
|
|||
BSolidFilter = 1 << 13,
|
||||
|
||||
// The collsion filters and masked are defined in one place -- don't want them scattered
|
||||
AvatarFilter = BDefaultFilter | BCharacterFilter | BSolidFilter,
|
||||
AvatarFilter = BCharacterFilter,
|
||||
AvatarMask = BAllFilter,
|
||||
ObjectFilter = BDefaultFilter | BSolidFilter,
|
||||
ObjectFilter = BSolidFilter,
|
||||
ObjectMask = BAllFilter,
|
||||
StaticObjectFilter = BDefaultFilter | BStaticFilter | BSolidFilter,
|
||||
StaticObjectFilter = BStaticFilter,
|
||||
StaticObjectMask = BAllFilter,
|
||||
VolumeDetectFilter = BSensorTrigger,
|
||||
VolumeDetectMask = ~BSensorTrigger,
|
||||
TerrainFilter = BTerrainFilter,
|
||||
TerrainMask = BAllFilter,
|
||||
TerrainMask = BAllFilter & ~BStaticFilter,
|
||||
GroundPlaneFilter = BAllFilter,
|
||||
GroundPlaneMask = BAllFilter
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue