aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
diff options
context:
space:
mode:
authorRobert Adams2012-12-22 17:09:40 -0800
committerRobert Adams2012-12-22 17:09:40 -0800
commit30807b81cc9f91917fd3b4bf8dc24a1622013afa (patch)
treee3e4984f6f8af806c7da6801640e4832ecd88ff8 /OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
parentBulletSim: remove post step one-time taints (doesn't make any sense). Rename ... (diff)
downloadopensim-SC-30807b81cc9f91917fd3b4bf8dc24a1622013afa.zip
opensim-SC-30807b81cc9f91917fd3b4bf8dc24a1622013afa.tar.gz
opensim-SC-30807b81cc9f91917fd3b4bf8dc24a1622013afa.tar.bz2
opensim-SC-30807b81cc9f91917fd3b4bf8dc24a1622013afa.tar.xz
BulletSim: modify avatar motor code to make falling movement better. Clean up some usages. Disable motor when done.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs75
1 files changed, 41 insertions, 34 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 01cd279..8e059ee 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -158,6 +158,7 @@ public sealed class BSCharacter : BSPhysObject
158 _velocityMotor.Reset(); 158 _velocityMotor.Reset();
159 _velocityMotor.SetCurrent(_velocity); 159 _velocityMotor.SetCurrent(_velocity);
160 _velocityMotor.SetTarget(_velocity); 160 _velocityMotor.SetTarget(_velocity);
161 _velocityMotor.Enabled = false;
161 162
162 // This will enable or disable the flying buoyancy of the avatar. 163 // This will enable or disable the flying buoyancy of the avatar.
163 // Needs to be reset especially when an avatar is recreated after crossing a region boundry. 164 // Needs to be reset especially when an avatar is recreated after crossing a region boundry.
@@ -435,13 +436,13 @@ public sealed class BSCharacter : BSPhysObject
435 OMV.Vector3 targetVel = value; 436 OMV.Vector3 targetVel = value;
436 PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate() 437 PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
437 { 438 {
438 float timeStep = 0.089f; // DEBUG DEBUG FIX FIX FIX
439 _velocityMotor.Reset(); 439 _velocityMotor.Reset();
440 _velocityMotor.SetTarget(targetVel); 440 _velocityMotor.SetTarget(targetVel);
441 _velocityMotor.SetCurrent(_velocity); 441 _velocityMotor.SetCurrent(_velocity);
442 // Compute a velocity value and make sure it gets pushed into the avatar. 442 _velocityMotor.Enabled = true;
443 // This makes sure the avatar will start from a stop. 443
444 ForceVelocity = _velocityMotor.Step(timeStep); 444 // Make sure a property update happens next step so the motor gets incorporated.
445 BulletSimAPI.PushUpdate2(PhysBody.ptr);
445 }); 446 });
446 } 447 }
447 } 448 }
@@ -450,12 +451,15 @@ public sealed class BSCharacter : BSPhysObject
450 get { return _velocity; } 451 get { return _velocity; }
451 set { 452 set {
452 _velocity = value; 453 _velocity = value;
453 _velocityMotor.Reset();
454 _velocityMotor.SetCurrent(_velocity);
455 _velocityMotor.SetTarget(_velocity);
456 // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); 454 // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
457 PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() 455 PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
458 { 456 {
457 _velocityMotor.Reset();
458 _velocityMotor.SetCurrent(_velocity);
459 _velocityMotor.SetTarget(_velocity);
460 // Even though the motor is initialized, it's not used and the velocity goes straight into the avatar.
461 _velocityMotor.Enabled = false;
462
459 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); 463 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
460 ForceVelocity = _velocity; 464 ForceVelocity = _velocity;
461 }); 465 });
@@ -466,6 +470,7 @@ public sealed class BSCharacter : BSPhysObject
466 set { 470 set {
467 PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity"); 471 PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
468 472
473 _velocity = value;
469 // Depending on whether the avatar is moving or not, change the friction 474 // Depending on whether the avatar is moving or not, change the friction
470 // to keep the avatar from slipping around 475 // to keep the avatar from slipping around
471 if (_velocity.Length() == 0) 476 if (_velocity.Length() == 0)
@@ -486,7 +491,6 @@ public sealed class BSCharacter : BSPhysObject
486 BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); 491 BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
487 } 492 }
488 } 493 }
489 _velocity = value;
490 // Remember the set velocity so we can suppress the reduction by friction, ... 494 // Remember the set velocity so we can suppress the reduction by friction, ...
491 _appliedVelocity = value; 495 _appliedVelocity = value;
492 496
@@ -746,39 +750,42 @@ public sealed class BSCharacter : BSPhysObject
746 _velocity = entprop.Velocity; 750 _velocity = entprop.Velocity;
747 _acceleration = entprop.Acceleration; 751 _acceleration = entprop.Acceleration;
748 _rotationalVelocity = entprop.RotationalVelocity; 752 _rotationalVelocity = entprop.RotationalVelocity;
753
749 // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. 754 // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
750 PositionSanityCheck(true); 755 PositionSanityCheck(true);
751 756
757 if (_velocityMotor.Enabled)
758 {
759 // TODO: Decide if the step parameters should be changed depending on the avatar's
760 // state (flying, colliding, ...).
761
762 OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep);
763
764 // If falling, we keep the world's downward vector no matter what the other axis specify.
765 if (!Flying && !IsColliding)
766 {
767 stepVelocity.Z = entprop.Velocity.Z;
768 DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
769 }
770
771 // If the user has said stop and we've stopped applying velocity correction,
772 // the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer.
773 if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero)
774 {
775 stepVelocity = OMV.Vector3.Zero;
776 _velocityMotor.Enabled = false;
777 DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);
778 }
779
780 _velocity = stepVelocity;
781 entprop.Velocity = _velocity;
782 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
783 }
784
752 // remember the current and last set values 785 // remember the current and last set values
753 LastEntityProperties = CurrentEntityProperties; 786 LastEntityProperties = CurrentEntityProperties;
754 CurrentEntityProperties = entprop; 787 CurrentEntityProperties = entprop;
755 788
756 // Avatars don't respond to world friction, etc. They only go the speed I tell them too.
757 // Special kludge here for falling. Even though the target velocity might not have a
758 // Z component, the avatar could be falling (walked off a ledge, stopped flying, ...)
759 // and that velocity component must be retained.
760 float timeStep = 0.089f; // DEBUG DEBUG FIX FIX FIX
761 OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep);
762 // Remove next line so avatars don't fly up forever. DEBUG DEBUG this is only temporary.
763 // stepVelocity.Z += entprop.Velocity.Z;
764 _velocity = stepVelocity;
765 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
766 /*
767 OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep);
768 OMV.Vector3 avVel = new OMV.Vector3(stepVelocity.X, stepVelocity.Y, entprop.Velocity.Z);
769 _velocity = avVel;
770 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel);
771
772 if (entprop.Velocity != LastEntityProperties.Velocity)
773 {
774 // Changes in the velocity are suppressed in avatars.
775 // That's just the way they are defined.
776 OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
777 _velocity = avVel;
778 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel);
779 }
780 */
781
782 // Tell the linkset about value changes 789 // Tell the linkset about value changes
783 Linkset.UpdateProperties(this, true); 790 Linkset.UpdateProperties(this, true);
784 791