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authorRobert Adams2012-12-21 23:03:27 -0800
committerRobert Adams2012-12-21 23:03:27 -0800
commit37fb691ba56a72b95eeeacc13fb16c1f03af6006 (patch)
tree130cd3fbf9fddc7b26e6c1e53a330849d4622dbc
parentBulletSim: add BSPhysObject code to manage registrations of preStep events. U... (diff)
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BulletSim: Fix llApplyImpulse so it works after the first impulse. The problem was Bullet deactivating the object between the pushes (when, as far as the physics engine is concerned, it isn't moving).
Diffstat (limited to '')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs5
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs28
2 files changed, 29 insertions, 4 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 9525a11..19de1e5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -304,17 +304,21 @@ public abstract class BSPhysObject : PhysicsActor
304 string identifier = op + "-" + id.ToString(); 304 string identifier = op + "-" + id.ToString();
305 RegisteredActions[identifier] = actn; 305 RegisteredActions[identifier] = actn;
306 PhysicsScene.BeforeStep += actn; 306 PhysicsScene.BeforeStep += actn;
307 DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
307 } 308 }
308 309
309 // Unregister a pre step action. Safe to call if the action has not been registered. 310 // Unregister a pre step action. Safe to call if the action has not been registered.
310 protected void UnRegisterPreStepAction(string op, uint id) 311 protected void UnRegisterPreStepAction(string op, uint id)
311 { 312 {
312 string identifier = op + "-" + id.ToString(); 313 string identifier = op + "-" + id.ToString();
314 bool removed = false;
313 if (RegisteredActions.ContainsKey(identifier)) 315 if (RegisteredActions.ContainsKey(identifier))
314 { 316 {
315 PhysicsScene.BeforeStep -= RegisteredActions[identifier]; 317 PhysicsScene.BeforeStep -= RegisteredActions[identifier];
316 RegisteredActions.Remove(identifier); 318 RegisteredActions.Remove(identifier);
319 removed = true;
317 } 320 }
321 DetailLog("{0},BSPhysObject.UnRegisterPreStepAction,id={1},removed={2}", LocalID, identifier, removed);
318 } 322 }
319 323
320 protected void UnRegisterAllPreStepActions() 324 protected void UnRegisterAllPreStepActions()
@@ -324,6 +328,7 @@ public abstract class BSPhysObject : PhysicsActor
324 PhysicsScene.BeforeStep -= kvp.Value; 328 PhysicsScene.BeforeStep -= kvp.Value;
325 } 329 }
326 RegisteredActions.Clear(); 330 RegisteredActions.Clear();
331 DetailLog("{0},BSPhysObject.UnRegisterAllPreStepActions,", LocalID);
327 } 332 }
328 333
329 334
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index e6aeebb..d137b2a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -442,8 +442,12 @@ public sealed class BSPrim : BSPhysObject
442 RegisterPreStepAction("BSPrim.setForce", LocalID, 442 RegisterPreStepAction("BSPrim.setForce", LocalID,
443 delegate(float timeStep) 443 delegate(float timeStep)
444 { 444 {
445 DetailLog("{0},BSPrim.setForce,preStep,force={1}", LocalID, _force);
445 if (PhysBody.HasPhysicalBody) 446 if (PhysBody.HasPhysicalBody)
447 {
446 BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force); 448 BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, _force);
449 ActivateIfPhysical(false);
450 }
447 } 451 }
448 ); 452 );
449 } 453 }
@@ -554,7 +558,10 @@ public sealed class BSPrim : BSPhysObject
554 558
555 _velocity = value; 559 _velocity = value;
556 if (PhysBody.HasPhysicalBody) 560 if (PhysBody.HasPhysicalBody)
561 {
557 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity); 562 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
563 ActivateIfPhysical(false);
564 }
558 } 565 }
559 } 566 }
560 public override OMV.Vector3 Torque { 567 public override OMV.Vector3 Torque {
@@ -845,7 +852,7 @@ public sealed class BSPrim : BSPhysObject
845 // Called in taint-time!! 852 // Called in taint-time!!
846 private void ActivateIfPhysical(bool forceIt) 853 private void ActivateIfPhysical(bool forceIt)
847 { 854 {
848 if (IsPhysical) 855 if (IsPhysical && PhysBody.HasPhysicalBody)
849 BulletSimAPI.Activate2(PhysBody.ptr, forceIt); 856 BulletSimAPI.Activate2(PhysBody.ptr, forceIt);
850 } 857 }
851 858
@@ -919,8 +926,7 @@ public sealed class BSPrim : BSPhysObject
919 PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() 926 PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
920 { 927 {
921 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); 928 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
922 if (PhysBody.HasPhysicalBody) 929 ForceRotationalVelocity = _rotationalVelocity;
923 BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
924 }); 930 });
925 } 931 }
926 } 932 }
@@ -930,7 +936,11 @@ public sealed class BSPrim : BSPhysObject
930 } 936 }
931 set { 937 set {
932 _rotationalVelocity = value; 938 _rotationalVelocity = value;
933 BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity); 939 if (PhysBody.HasPhysicalBody)
940 {
941 BulletSimAPI.SetAngularVelocity2(PhysBody.ptr, _rotationalVelocity);
942 ActivateIfPhysical(false);
943 }
934 } 944 }
935 } 945 }
936 public override bool Kinematic { 946 public override bool Kinematic {
@@ -959,6 +969,7 @@ public sealed class BSPrim : BSPhysObject
959 { 969 {
960 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); 970 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
961 BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); 971 BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
972 ActivateIfPhysical(false);
962 } 973 }
963 } 974 }
964 } 975 }
@@ -1011,7 +1022,10 @@ public sealed class BSPrim : BSPhysObject
1011 // Bullet adds this central force to the total force for this tick 1022 // Bullet adds this central force to the total force for this tick
1012 DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); 1023 DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
1013 if (PhysBody.HasPhysicalBody) 1024 if (PhysBody.HasPhysicalBody)
1025 {
1014 BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce); 1026 BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce);
1027 ActivateIfPhysical(false);
1028 }
1015 }); 1029 });
1016 } 1030 }
1017 else 1031 else
@@ -1032,7 +1046,10 @@ public sealed class BSPrim : BSPhysObject
1032 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate() 1046 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddAngularForce", delegate()
1033 { 1047 {
1034 if (PhysBody.HasPhysicalBody) 1048 if (PhysBody.HasPhysicalBody)
1049 {
1035 BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce); 1050 BulletSimAPI.ApplyTorque2(PhysBody.ptr, angForce);
1051 ActivateIfPhysical(false);
1052 }
1036 }); 1053 });
1037 } 1054 }
1038 else 1055 else
@@ -1052,7 +1069,10 @@ public sealed class BSPrim : BSPhysObject
1052 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate() 1069 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.ApplyTorqueImpulse", delegate()
1053 { 1070 {
1054 if (PhysBody.HasPhysicalBody) 1071 if (PhysBody.HasPhysicalBody)
1072 {
1055 BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse); 1073 BulletSimAPI.ApplyTorqueImpulse2(PhysBody.ptr, applyImpulse);
1074 ActivateIfPhysical(false);
1075 }
1056 }); 1076 });
1057 } 1077 }
1058 1078