6dbf9c8ed4
BulletSim: repair vehicle problems introduced in previous 'improvements'. Fix line endings in BSParams.
2012-12-21 15:21:32 -08:00
ae4d932e7f
BulletSim: Move all the parameter variables, tables and get and fetch logic to a separate, static class for easier addition and to remove all that bulk from the BSScene class.
2012-12-21 13:35:44 -08:00
750492796d
BulletSim: begin movement of parameters from pinned memory block to variables all in managed code. Add note to TODO list to remember to do the rest. Other updates to TODO list.
2012-12-21 09:55:20 -08:00
8653ea93b2
BulletSim: apply friction to linear and angular motion before returning advanced motor value. This seems to be the problem with BulletSim vehicles turning too quickly. Also removed the configuration parameter that controlled the timestep scaling kludge for angular velocity that was added to research the question of quick turning.
2012-12-17 13:51:39 -08:00
11532a4390
BulletSim: fix vehicles going underground when unsat. Problem was that, when doing unsit, the order of operations on the prims and the vehicle is very chaotic and not in a good order so the root prim was being left physical and thus it fell for a bit. Also changed default of velocity scaling to be closer to the movement standard.
2012-12-17 13:22:04 -08:00
2b8efa24dd
BulletSim: add parameter to UpdateProperties call into the linkset so changes from the physics engine can be differentiated from changes made by the user. This eliminates a linkset rebuild loop. Also add logic to not rebuild or freak out when the object/linkset crosses a terrain boundry.
2012-12-16 21:19:13 -08:00
f3b1efd889
BulletSim: remove some errors on shutdown by moving terrain destruction until after physical object destruction. TerrainManager also made disposable and that feature used.
2012-12-16 21:19:11 -08:00
6f1f7f0206
BulletSim: non-functional commenting and reorganization of material attribute specifications.
2012-12-12 16:51:36 -08:00
8b861e880a
BulletSim: add ini file and command line parameters to control
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dumping of physical vehicle parameters (out of Bullet) on each
simulation step and to optionally scale vehicle angular velocity
by the time step. The latter looks to be part of a difference
between angular parameters for ODE and BulletSim. SL docs say
angular velocity is measured in radians/timeScale. Not sure if this
is different than what ODE does.
2012-12-11 00:13:13 -08:00
93393fb975
BulletSim: comment out some chatty debug logging. Rearrange some code in BSDynamics to make velocity vs force calculation clearer.
2012-12-10 16:46:12 -08:00
41f1c5b7f7
BulletSim: rework angular corrections to remove any hybrid code and compute absolute collections.
2012-12-03 07:59:56 -08:00
2586bab2dd
BulletSim: add stubs for generalization of preStep actions. Will eventually replace the specialized vehicle processing with preStep event processing. Add TODO comments about this feature. Redo line endings in TODO file to be all Linux.
2012-12-03 07:59:52 -08:00
b124aae05e
BulletSim: Add DumpActivationInfo2 function. Change static objects from DISABLE_SIMULATION to ISLAND_SLEEPING. Update DLLs and SOs to add DumpActivationInfo2 function.
2012-12-01 15:39:13 -08:00
0a66317fa6
BulletSim: move GetWaterLevelAtXYZ from BSScene to BSPhysTerrain.
2012-11-28 09:48:33 -08:00
5685b33071
BulletSim: increase vehicle stability by suppressing Bullet's update to angular velocity.
2012-11-26 10:47:34 -08:00
d7126a14e1
BulletSim: up the vehicle angular damping to 0.95. Still trying to overcome the movement added by Bullet.
2012-11-25 20:04:33 -08:00
980edabc2e
BulletSim: clean up TODO list. It is kept somewhere wlse that should be more public. Add error logging for the detail log writer so a message is output when it cannot write to the specified logging directory. Modify friction defaults to be closer to ODE's values. Add new collision margin and vehicle angular damping parameters.
2012-11-25 20:04:29 -08:00
4ae30873ad
BulletSim: Add tables and initialization for different attributes for different materials. For the moment, the per material tables are not used.
2012-11-25 20:04:26 -08:00
cbc7e7bf85
BulletSim: Make avatar capsule so it is not circular.
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Simple attempt to make avatars better shaped.
Replace parameter 'avatarCapsuleRadius' with 'avatarCapsuleWidth'
and 'avatarCapsuleDepth'.
More tweeking to avatar height calculation. A little better but
short avatar's feet are above the terrain and tall avatar's feet
are a little below the ground.
2012-11-21 16:43:53 -08:00
a59368c4a1
BulletSim: add terrainImplementation parameter with default to Mesh.
2012-11-21 16:43:37 -08:00
2f5fe4b88e
BulletSim: tweek avatar capsule parameters so avatar feet don't go below ground. This solves the bouncing, short avatar problem (Mantis 6403).
2012-11-21 16:42:34 -08:00
6c961d8add
BulletSim: Use base class constructors for initialization of BSShape and other classes.
2012-11-18 22:58:36 -08:00
e2130817e5
BulletSim: remove limit on taints that can happen before a step. Remove some debugging code (detail log flushing).
2012-11-06 18:16:23 -08:00
79f7c466a1
BulletSim: fix compound linkset crash by not freeing shape of child prims.
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Remove all compilation warnings (mostly 'protected' in sealed classes.)
Add the dynamicAabbEnable parameter to creation of compound shapes.
2012-11-03 21:16:02 -07:00
894bb4893b
BulletSim: search the mesh and hull lists to find shapes if type is not known. This makes sure the correct accounting is done for the particular shape.
2012-11-03 21:15:54 -07:00
498ea76e63
BulletSim: Move construction of compound linkset from ShapeCollection
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into LinksetCompound where it should be.
Create meshes for native shapes when part of a compound linkset because
scale is currently per object and not per collision shape.
Don't schedule a LinksetCompound refresh if just changing properties.
2012-11-03 21:15:46 -07:00
1dc23b2b97
BulletSim: parameterize selection of linkset implementation
2012-11-03 21:15:39 -07:00
b0eccd5044
BulletSim: debugging of compound shape implementation of linksets.
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Add compound shape creation and freeing in shape manager.
Add optional taint-time execution method and update code to use it.
Add API2 linkage for more compound shape methods (get num, get/remove by index, ...)
Modify perferred shape return so linkset children can have differet shapes than root.
Add Position and Orientation calls to linksets so children can be moved around by
the linkset by its own calculation. Allows for very general linkset implementations.
2012-11-03 21:15:30 -07:00
364a7c3088
BulletSim: rename BSBody and BSShape to PhysBody and PhysShape. Add skeleton of BSLinksetCompound.
2012-11-03 21:15:06 -07:00
dae038a117
BulletSim: fix problem with multiple linksets stepping on each other if they are built at the same time.
2012-11-03 21:14:25 -07:00
9568f24c26
BulletSim: add post taint taints and post step taints. The post taints operation is most useful and is used by linksets to build and rebuild only once before the simulation step.
2012-11-03 21:13:52 -07:00
804b332d45
BulletSim: Add banking and other new code to vechile dynamics. Add third party license and contributor in for for Aurora-Sim project for physics code.
2012-11-03 21:12:46 -07:00
b6fc5bad00
BulletSim: fix problem with avatars sinking into the ground.
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Change terrain activation state to DISABLE_SIMULATION for better performance.
2012-10-23 17:30:43 -07:00
36bfd3667c
BulletSim: remove chatty debug message.
2012-10-22 22:25:06 -07:00
14eeb8b31b
BulletSim: fix bug that caused error (and a crash on 32 bit Linux) when mesh assets weren't already in the cache. Comment cleanups.
2012-10-22 22:24:59 -07:00
65c131c4a3
BulletSim: remove trailing spaces to make git happy.
2012-10-22 22:24:44 -07:00
f422b9b388
BulletSim: reorder avatar collision checking to eliminate double collision_end.
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Various tweekings to avatar shape/mass/inertia/etc.
Remove change from avatar radius to diameter. But still the avatar sinks.
Collision_end now happens immediately rather than at the next subscription time.
2012-10-19 10:52:31 -07:00
e87a179c89
BulletSim: change nonimal physics frame rate to 55 to give same numbers as ODE.
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Change character scaling to represent size of capsule (diameter rather than radius)
Modify create capsule call to pass radius and height.
Eliminate errors when calculating shape inertia (should have some type checking).
2012-10-19 10:52:23 -07:00
fc33afddd3
BulletSim: remove code in ShapeCollection that hinted at shape sharing.
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Add new function to ParameterDefn for calling BulletSimAPI to set values.
Tweaking to BSCharacter parameter setting to try and have avatars stand.
2012-10-19 10:52:14 -07:00
eaccfa6d99
BulletSim: Fix small problems with last patch: BSScene.World properly initialized and setting of C++ parameters commented out. Comments and logging added.
2012-10-19 10:52:06 -07:00
fd7a097849
BulletSim: Update BSCharacter to use API2 interface.
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Add capsule shape to BSShapeCollection().
Remember last updated values so inter frame diffs can be computed.
Parameterize avatarStandingFriction and reduce to 10 from 999.
The latter high value made avatars very hard to push.
Set CCD parameters for prims and characters of specified.
2012-10-19 10:51:58 -07:00
5b82f18d64
BulletSim: normalize physics FPS to 45 (for real this time).
2012-10-11 14:01:25 -07:00
a86fedd25f
BulletSim: normalize physics FPS to 45.
2012-10-11 14:01:22 -07:00
919569f6ec
BulletSim: Change defaults for constraint CFM and ERP to make large linksets more rigid. Remove mass calculation for terrain (it should stay a static object).
2012-10-11 14:01:14 -07:00
a791620622
BulletSim: cosmetic changes (comments and renaming). Give mass to terrain to improve interactions.
2012-10-11 14:01:10 -07:00
68698975f1
BulletSim: Add Force* operations to objects to allow direct push to engine.
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Update BSDynamics to use same (don't want to delay updates til next taint-time.
Suppress queuing a taint update for position and orientation calls if value
does not change.
Move Bullet timing statistics call from C# back to C++ code.
Throttle taints per simulation step and add parameter to set.
By default, don't create hulls for physical objects. Add a
parameter to turn on and off.
2012-10-11 14:01:07 -07:00
87825b0abe
BulletSim: Fix crash when linking large physical linksets.
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Properly remove and restore linkage constraints when upgrading
a prim's mesh to a hull.
Lots more debug logging.
Definitions and use of Bullet structure dumping.
Centralize detail logging so a Flush() can be added for debugging.
2012-10-11 14:01:03 -07:00
210f227fe6
BulletSim: Make parameter value defaults match what should be the default and what is in OpenSimDefaults.ini. Comment and debug printout changes.
2012-10-02 11:14:15 -07:00
7b65985047
BulletSim: remove the trailing spaces from lines to make git happier
2012-09-27 22:02:03 -07:00
f82b903dee
BulletSim: Fix linkset crash. Caused by the different body and shape
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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.
2012-09-27 22:01:52 -07:00
Robert Adams