92ee288d66
BulletSim: remove trailing white space to make git happier. No functional changes.
2013-04-29 07:54:50 -07:00
ad1787770e
BulletSim: rename variable 'PhysicsScene' to be either 'PhysScene' or 'm_physicsScene' to match coding conventions and reduce confusion.
2013-04-29 07:38:55 -07:00
e5582939fd
BulletSim: massive refactor of shape classes. Removed shape specific code from BSShapeCollection. Using BSShape* classes to hold references to shape. Simplified shape dependency callbacks. Remove 'PreferredShape' methods and have each class specify shape type. Disable compound shape linkset for a later commit that will simplify linkset implementation.
2013-04-29 07:38:40 -07:00
522ab85045
BulletSim: improve avatar stair walking up. Add more parameters to control force
...
of both position change and up force that move avatars over barrier.
Default parameters are for steps up to 0.5m in height.
2013-04-23 18:31:12 -07:00
99f39836a1
BulletSim: moving comments around. No functional change.
2013-04-08 06:27:45 -07:00
a7a1b8b7e9
BulletSim: clean up actor code so routines use the same coding pattern.
...
Fix a few enabling problems.
2013-04-08 06:27:44 -07:00
fe16dc09da
BulletSim: complete movement of physical object action code out of the
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physical object and into actors for setForce, setTorque, hover, lock
axis and avatar move.
2013-04-08 06:27:43 -07:00
933ac60746
BulletSim: not quite functional axis lock code.
2013-03-31 22:19:43 -07:00
747ece59d2
BulletSim: convert BSDynamic to a BSActor and change BSPrim to set
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up the vehicle actor.
2013-03-31 22:19:41 -07:00
2c581cae2a
BulletSim: Add physical 'actors' that operate on the physical object.
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Add first 'actor' for locked axis.
2013-03-31 22:19:41 -07:00
953090fd62
BulletSim: fix possible race condition where an prim's asset can be requested quicker than the asset fetcher returns and thus falsely reporting that an asset was not fetched and defaulting the assset to a bounding box.
2013-03-25 15:40:43 -07:00
8510f57ad4
BulletSim: add terrain contact processing threshold parameter. Initialize contact processing threshold for static object as well as mesh terrain.
2013-03-19 00:00:02 -07:00
1c740798b4
BulletSim: add parameters, code cleanup around checking and enforcing
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maximum velocity and angular velocity values for prims.
2013-03-01 09:44:37 -08:00
bf9132e1c7
BulletSim: fix crash around race condition when a mesh asset cannot
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be fetched.
Update TODO list.
2013-02-26 11:32:01 -08:00
efb5da0aa6
BulletSim: add OutOfBounds logic and some position sanity checking
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to eliminate some of the "cannot find terrain height" warning messages.
2013-02-21 08:52:11 -08:00
26421294f6
BulletSim: experimental lock axis code using constraints. Not enabled
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by default. Like more debugging is needed.
2013-02-17 20:13:50 -08:00
e549c2922a
BulletSim: fix physical object appearing to slowly float off when
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they stop moving.
2013-02-16 19:28:38 -08:00
0194a3d890
BulletSim: fix density since the simulator/viewer track density in a
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funny unit that is 100 times real density (default 1000).
Fix avatar drifting slowly when stationary flying.
Fix for physical prims getting corrected for being under terrain when it was
just its geometric center that was below terrain.
Add PreUpdatePropertyAction allowing plugable modifiction of phys
parameters returned from Bullet.
Fix an exception setting GravityMultiplier on initialization.
Update DLLs and SOs for good measure (no functional change).
2013-02-12 15:52:10 -08:00
fb903ff490
BulletSim: More work on center-of-mass. Remove linksetinfo and rely on simulator to update info.
2013-02-12 15:52:08 -08:00
1b203601f4
BulletSim: include the linkage to the layered prim implementation. Separate layers for physical (vs simulator) location displacement and linksets.
2013-02-08 16:29:29 -08:00
913965256f
BulletSim: Adapt BulletSim to the newer physical properties. Viewer
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dialog setting of friction, restitution, ... working.
2013-02-07 17:13:28 -08:00
b545e13184
BulletSim: fix exceptions caused by setting physical properties before the prim body is initialized.
2013-02-07 17:13:27 -08:00
ebb63b55aa
BulletSim: add user setting of friction, density and restitution.
2013-02-07 17:13:27 -08:00
75a05c16c5
BulletSim: fix crash caused when linksets were rebuilt. A problem added
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when individual child pos/rot changes were implementated a week or so ago.
Remove some passing of inTaintTime flag when it was never false.
2013-01-31 15:56:10 -08:00
ed71c939fc
BulletSim: make sure vehicle physical properties are set when going
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physical by delaying setting until pre-step time. Change vehicle.Refresh()
to schedule the pre-step setting.
Comments and updating of TODO list.
2013-01-31 15:56:02 -08:00
a61ecee227
BulletSim: fix physics repositioning when under ground to only happen
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for physical objects. Non-physical objects can go anywhere they want.
2013-01-29 17:04:28 -08:00
531d0429d1
BulletSim: first unit test: vehicle angular attraction
2013-01-28 17:08:34 -08:00
26d4596080
BulletSim: reinstate the supression of rotational velocity for vehicles
2013-01-27 12:50:07 -08:00
ddef8f16e5
BulletSim: first attempt at reporting top colliders
2013-01-27 12:50:05 -08:00
c44a8e9f92
BulletSim: finish the post step event for physical object actions. Modify vehicle to use post step event for logging.
2013-01-27 12:50:04 -08:00
2cf29c87bc
BulletSim: zero motion on an object that we pop up because it is
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below terrain. If the position is being corrected because it is out
of bounds, all other movement rules are out the window.
2013-01-24 14:35:23 -08:00
a7b810ddee
BulletSim: remove setting of vehicle InterpolationRotationalVelocity.
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This doesn't seem to help the vehicle stability.
Rename vehicle internal variables adding a "V" or "W" so it is clear
when coordinates are vehicle or world relative.
2013-01-23 14:25:42 -08:00
13182904da
BulletSim: small change to center-of-mass computation left out last commit
2013-01-23 14:25:30 -08:00
a5e9c665f0
BulletSim: center-of-gravity linkset changes. Not working yet.
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Conflicts:
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
2013-01-23 14:25:18 -08:00
c1371ab786
BulletSim: working on COM
2013-01-23 14:25:06 -08:00
a0d460e6bf
BulletSim: remove the unused RestoreBodyDependencies used by linksets
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and vehicles and clean up code by removing their kludgyness.
2013-01-23 14:24:42 -08:00
80b1e32bfa
BulletSim: Tweeks to vehicle motion.
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Pass through old angular velocity making for smoother transitions.
Remove some old kludges for angular motion (damping and rotvel suppression).
2013-01-21 23:43:24 -08:00
471c477863
BulletSim: allow changing position and rotation of a child of a linkset
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without rebuilding the whole compound shape. Should make vehicles move
smoother.
2013-01-21 15:58:22 -08:00
52b341e2e2
BulletSim: More aggressive as setting character velocity to zero
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when should be standing.
Modify angular force routines to be the same pattern as linear force routines.
BulletSim vehicle turning is scaled like SL and is DIFFERENT THAN ODE!!
Fix some bugs in BSMotor dealing with the motor going to zero.
Add a bunch of parameters: MaxLinearVelocity, MaxAngularVelocity,
MaxAddForceMagnitude, VehicleMaxLinearVelocity, VehicleMaxAngularVelocity,
and most of the values are defaulted to values that are larger
than in SL.
Use the new parameters in BSPrim, BSCharacter and BSDynamic.
2013-01-20 23:09:54 -08:00
3b0df52d10
BulletSim: modify motors to return correction rather than current value
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to better use them for incremental updates.
Modify prim and character to use the new motors.
Simplify the vehicle linear movement code to just update the velocity
directly or the basic movement.
2013-01-20 23:09:53 -08:00
482c7b5368
BulletSim: add logic to turn off pre-step actions when object goes
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non-active. This turns off 'setForce', 'setTorque' and 'moveToTarget'
when the object is selected or made non-physical.
2013-01-18 11:37:36 -08:00
75f710f1e7
BulletSim: Add one function that all actors who act on the physical
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can use to know if the object is currently active.
Code cleaning including use of Util.ClampV function.
2013-01-17 14:47:35 -08:00
4e1ca890c2
BulletSim: fix not moving physical objects below terrain to over terrain.
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Add locking on register prestep action list preventing potential race conditions.
Little comment and formatting changes.
2013-01-14 15:46:46 -08:00
8bf0a9f85d
BulletSim: disable center-of-mass computation for linksets until debugged. Move physical prim above ground if it is underground. Previously tried to correct by applying and up force but the prim would never go through the ground.
2013-01-14 07:50:58 -08:00
459fcd81c9
BulletSim: move center of gravity of linkset to its geometric center.
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Necessitated allowing simulator and physical position of a body to
get out of sync since Bullet assumes that <0,0,0> is the center of mass.
Update DLLs and SOs for the UpdateChildTransform so positions of
individual prim in a linkset can be implemented.
2013-01-11 16:47:53 -08:00
93adc4cb66
BulletSim: Add IsSelected attribute to physical objects. Have vehicles check to see if physical before trying to step. Replace vehicle gravity application. Previously relying on Bullet to apply gravity but since vehicles over-ride the velocity calculation, gravity never had a chance to accelerate the body down. Added AddForceImpulse as well as AddForce for those who need to apply immediate velocity updates. Use the impulse to apply the linear motion.
2013-01-11 16:47:20 -08:00
98168edc29
BulletSim: remove double application of buoyancy. Centralize computation of buoyancy. Add motor angular debugging controls.
2013-01-11 16:46:38 -08:00
b592ec265b
BulletSim: fix the 'No recognised physics mesh found ...' error spew by remembering that the last asset fetch failed until the simulator resets the shape parameters.
2013-01-11 16:44:34 -08:00
8452c0a870
BulletSim: add function to push avatar up when hitting stairs.
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It looks like BulletSim and ODE rely on penetration correction to cause
the avatar to move up and thus allowing walking up stairs. Object
penetration was minimized for walking and flying (so one doesn't go
through walls) and this stopped stairs from working. This commit
introduces avatar movement code to check for collisions at the
feet while walking and attempts to raise the avatar for the steps.
Not yet perfect but movement is better.
2013-01-07 16:05:02 -08:00
48cfc6d089
BulletSim: implement llMoveToTarget by adding PIDActive, etc.
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Implementation of non-vehicle hover but haven't tested it a lot.
Update TODO list.
2013-01-04 17:06:51 -08:00
Robert Adams