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authorRobert Adams2012-12-27 13:13:35 -0800
committerRobert Adams2012-12-27 22:12:26 -0800
commite57c0e6731bff376186ecba2530e76b697ab5887 (patch)
tree1bdd63e70bab1f773d1ceee670f037971dce1d52 /OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
parentBulletSim: fix odd code that wasn't really recomputing the mass of a (diff)
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BulletSim: fix buoyancy so it's properly set by a script when an
object is selected. Update TODO list.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs29
1 files changed, 25 insertions, 4 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index c7a81e0..f804a0f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -94,7 +94,7 @@ public sealed class BSPrim : BSPhysObject
94 _size = size; 94 _size = size;
95 Scale = size; // prims are the size the user wants them to be (different for BSCharactes). 95 Scale = size; // prims are the size the user wants them to be (different for BSCharactes).
96 _orientation = rotation; 96 _orientation = rotation;
97 _buoyancy = 1f; 97 _buoyancy = 0f;
98 _velocity = OMV.Vector3.Zero; 98 _velocity = OMV.Vector3.Zero;
99 _rotationalVelocity = OMV.Vector3.Zero; 99 _rotationalVelocity = OMV.Vector3.Zero;
100 BaseShape = pbs; 100 BaseShape = pbs;
@@ -408,12 +408,15 @@ public sealed class BSPrim : BSPhysObject
408 { 408 {
409 if (IsStatic) 409 if (IsStatic)
410 { 410 {
411 BulletSimAPI.SetGravity2(PhysBody.ptr, PhysicsScene.DefaultGravity);
411 Inertia = OMV.Vector3.Zero; 412 Inertia = OMV.Vector3.Zero;
412 BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia); 413 BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia);
413 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); 414 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
414 } 415 }
415 else 416 else
416 { 417 {
418 OMV.Vector3 grav = ComputeGravity();
419
417 if (inWorld) 420 if (inWorld)
418 { 421 {
419 // Changing interesting properties doesn't change proxy and collision cache 422 // Changing interesting properties doesn't change proxy and collision cache
@@ -422,13 +425,16 @@ public sealed class BSPrim : BSPhysObject
422 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); 425 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
423 } 426 }
424 427
428 // The computation of mass props requires gravity to be set on the object.
429 BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
430
425 Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); 431 Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
426 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); 432 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
427 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); 433 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
428 434
429 // center of mass is at the zero of the object 435 // center of mass is at the zero of the object
430 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); 436 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
431 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},inWorld={3}", LocalID, physMass, Inertia, inWorld); 437 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld);
432 438
433 if (inWorld) 439 if (inWorld)
434 { 440 {
@@ -437,13 +443,23 @@ public sealed class BSPrim : BSPhysObject
437 443
438 // Must set gravity after it has been added to the world because, for unknown reasons, 444 // Must set gravity after it has been added to the world because, for unknown reasons,
439 // adding the object resets the object's gravity to world gravity 445 // adding the object resets the object's gravity to world gravity
440 OMV.Vector3 grav = PhysicsScene.DefaultGravity * (1f - Buoyancy);
441 BulletSimAPI.SetGravity2(PhysBody.ptr, grav); 446 BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
442 447
443 } 448 }
444 } 449 }
445 } 450 }
446 451
452 // Return what gravity should be set to this very moment
453 private OMV.Vector3 ComputeGravity()
454 {
455 OMV.Vector3 ret = PhysicsScene.DefaultGravity;
456
457 if (!IsStatic)
458 ret *= (1f - Buoyancy);
459
460 return ret;
461 }
462
447 // Is this used? 463 // Is this used?
448 public override OMV.Vector3 CenterOfMass 464 public override OMV.Vector3 CenterOfMass
449 { 465 {
@@ -669,7 +685,7 @@ public sealed class BSPrim : BSPhysObject
669 _isPhysical = value; 685 _isPhysical = value;
670 PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate() 686 PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
671 { 687 {
672 // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); 688 DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
673 SetObjectDynamic(true); 689 SetObjectDynamic(true);
674 // whether phys-to-static or static-to-phys, the object is not moving. 690 // whether phys-to-static or static-to-phys, the object is not moving.
675 ZeroMotion(true); 691 ZeroMotion(true);
@@ -726,6 +742,10 @@ public sealed class BSPrim : BSPhysObject
726 742
727 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); 743 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
728 744
745 // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
746 // Replace this when the new AddObjectToWorld function is complete.
747 BulletSimAPI.SetGravity2(PhysBody.ptr, ComputeGravity());
748
729 // Rebuild its shape 749 // Rebuild its shape
730 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); 750 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
731 751
@@ -976,6 +996,7 @@ public sealed class BSPrim : BSPhysObject
976 _buoyancy = value; 996 _buoyancy = value;
977 // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); 997 // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
978 // Force the recalculation of the various inertia,etc variables in the object 998 // Force the recalculation of the various inertia,etc variables in the object
999 DetailLog("{0},BSPrim.ForceBuoyancy,buoy={1},mass={2}", LocalID, _buoyancy, _mass);
979 UpdatePhysicalMassProperties(_mass, true); 1000 UpdatePhysicalMassProperties(_mass, true);
980 ActivateIfPhysical(false); 1001 ActivateIfPhysical(false);
981 } 1002 }