BulletSim: distribute vehicle physical settings to all members of

a linkset. Enables constraint based linksets.
Rename some internal variables to clarify whether values world or
vehicle relative.

3 files changed, 61 insertions, 43 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 82d7c44..f0d17d3 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -589,10 +589,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 m_vehicleMass = ControllingPrim.TotalMass;
 
                 // Friction affects are handled by this vehicle code
-                m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction);
-                m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution);
-                // ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction);
-                // ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution);
+                // m_physicsScene.PE.SetFriction(ControllingPrim.PhysBody, BSParam.VehicleFriction);
+                // m_physicsScene.PE.SetRestitution(ControllingPrim.PhysBody, BSParam.VehicleRestitution);
+                ControllingPrim.Linkset.SetPhysicalFriction(BSParam.VehicleFriction);
+                ControllingPrim.Linkset.SetPhysicalRestitution(BSParam.VehicleRestitution);
 
                 // Moderate angular movement introduced by Bullet.
                 // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
@@ -602,21 +602,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 m_physicsScene.PE.SetAngularFactorV(ControllingPrim.PhysBody, BSParam.VehicleAngularFactor);
 
                 // Vehicles report collision events so we know when it's on the ground
-                m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
-                // ControllingPrim.Linkset.SetPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
+                // m_physicsScene.PE.AddToCollisionFlags(ControllingPrim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
+                ControllingPrim.Linkset.AddToPhysicalCollisionFlags(CollisionFlags.BS_VEHICLE_COLLISIONS);
 
-                Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass);
-                ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor;
-                m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia);
-                m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody);
-                // ControllingPrim.Linkset.ComputeLocalInertia(BSParam.VehicleInertiaFactor);
+                // Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(ControllingPrim.PhysShape.physShapeInfo, m_vehicleMass);
+                // ControllingPrim.Inertia = inertia * BSParam.VehicleInertiaFactor;
+                // m_physicsScene.PE.SetMassProps(ControllingPrim.PhysBody, m_vehicleMass, ControllingPrim.Inertia);
+                // m_physicsScene.PE.UpdateInertiaTensor(ControllingPrim.PhysBody);
+                ControllingPrim.Linkset.ComputeAndSetLocalInertia(BSParam.VehicleInertiaFactor, m_vehicleMass);
 
                 // Set the gravity for the vehicle depending on the buoyancy
                 // TODO: what should be done if prim and vehicle buoyancy differ?
                 m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy);
                 // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
-                m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero);
-                // ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero);
+                // m_physicsScene.PE.SetGravity(ControllingPrim.PhysBody, Vector3.Zero);
+                ControllingPrim.Linkset.SetPhysicalGravity(Vector3.Zero);
 
                 VDetailLog("{0},BSDynamics.SetPhysicalParameters,mass={1},inert={2},vehGrav={3},aDamp={4},frict={5},rest={6},lFact={7},aFact={8}",
                         ControllingPrim.LocalID, m_vehicleMass, ControllingPrim.Inertia, m_VehicleGravity,
@@ -1121,7 +1121,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 {
                     m_VhoverTargetHeight = m_VhoverHeight;
                 }
-
                 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
                 {
                     // If body is already heigher, use its height as target height
@@ -1170,7 +1169,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                                     m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight,
                                     verticalError, verticalCorrection);
                 }
-
             }
         }
 
@@ -1357,6 +1355,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private void ComputeAngularTurning(float pTimestep)
         {
             // The user wants this many radians per second angular change?
+            Vector3 origVehicleRotationalVelocity = VehicleRotationalVelocity;      // DEBUG DEBUG
             Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation);
             Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV);
 
@@ -1369,20 +1368,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // TODO: This is here because this is where ODE put it but documentation says it
             //    is a linear effect. Where should this check go?
             //if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
-           // {
+            // {
             //    angularMotorContributionV.X = 0f;
             //    angularMotorContributionV.Y = 0f;
-          //  }
+            //  }
 
             // Reduce any velocity by friction.
             Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep);
             angularMotorContributionV -= (currentAngularV * frictionFactorW);
 
-            VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation;
-
-
+            Vector3 angularMotorContributionW = angularMotorContributionV * VehicleOrientation;
+            VehicleRotationalVelocity += angularMotorContributionW;
 
-            VDetailLog("{0},  MoveAngular,angularTurning,angContribV={1}", ControllingPrim.LocalID, angularMotorContributionV);
+            VDetailLog("{0},  MoveAngular,angularTurning,curAngVelV={1},origVehRotVel={2},vehRotVel={3},frictFact={4}, angContribV={5},angContribW={6}",
+                        ControllingPrim.LocalID, currentAngularV, origVehicleRotationalVelocity, VehicleRotationalVelocity, frictionFactorW, angularMotorContributionV, angularMotorContributionW);
         }
 
         // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
@@ -1409,7 +1408,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
                             // Flipping what was originally a timescale into a speed variable and then multiplying it by 2
                             //    since only computing half the distance between the angles.
-                            float VerticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f;
+                            float verticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f;
 
                             // Make a prediction of where the up axis will be when this is applied rather then where it is now as
                             //     this makes for a smoother adjustment and less fighting between the various forces.
@@ -1419,12 +1418,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                             Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ);
 
                             // Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared
-                            Vector3 vertContributionV = torqueVector * VerticalAttractionSpeed * VerticalAttractionSpeed;
+                            Vector3 vertContributionV = torqueVector * verticalAttractionSpeed * verticalAttractionSpeed;
 
                             VehicleRotationalVelocity += vertContributionV;
 
-                            VDetailLog("{0},  MoveAngular,verticalAttraction,upAxis={1},PredictedUp={2},torqueVector={3},contrib={4}",
+                            VDetailLog("{0},  MoveAngular,verticalAttraction,vertAttrSpeed={1},upAxis={2},PredictedUp={3},torqueVector={4},contrib={5}",
                                             ControllingPrim.LocalID,
+                                            verticalAttractionSpeed,
                                             vehicleUpAxis,
                                             predictedUp,
                                             torqueVector,
@@ -1437,37 +1437,38 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                             // http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no
 
                             // Create a rotation that is only the vehicle's rotation around Z
-                            Vector3 currentEuler = Vector3.Zero;
-                            VehicleOrientation.GetEulerAngles(out currentEuler.X, out currentEuler.Y, out currentEuler.Z);
-                            Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEuler.Z);
+                            Vector3 currentEulerW = Vector3.Zero;
+                            VehicleOrientation.GetEulerAngles(out currentEulerW.X, out currentEulerW.Y, out currentEulerW.Z);
+                            Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEulerW.Z);
 
                             // Create the axis that is perpendicular to the up vector and the rotated up vector.
-                            Vector3 differenceAxis = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation);
+                            Vector3 differenceAxisW = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation);
                             // Compute the angle between those to vectors.
                             double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation)));
                             // 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical
 
                             // Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied.
                             // TODO: add 'efficiency'.
-                            differenceAngle /= m_verticalAttractionTimescale;
+                            // differenceAngle /= m_verticalAttractionTimescale;
 
                             // Create the quaterian representing the correction angle
-                            Quaternion correctionRotation = Quaternion.CreateFromAxisAngle(differenceAxis, (float)differenceAngle);
+                            Quaternion correctionRotationW = Quaternion.CreateFromAxisAngle(differenceAxisW, (float)differenceAngle);
 
                             // Turn that quaternion into Euler values to make it into velocities to apply.
-                            Vector3 vertContributionV = Vector3.Zero;
-                            correctionRotation.GetEulerAngles(out vertContributionV.X, out vertContributionV.Y, out vertContributionV.Z);
-                            vertContributionV *= -1f;
+                            Vector3 vertContributionW = Vector3.Zero;
+                            correctionRotationW.GetEulerAngles(out vertContributionW.X, out vertContributionW.Y, out vertContributionW.Z);
+                            vertContributionW *= -1f;
+                            vertContributionW /= m_verticalAttractionTimescale;
 
-                            VehicleRotationalVelocity += vertContributionV;
+                            VehicleRotationalVelocity += vertContributionW;
 
                             VDetailLog("{0},  MoveAngular,verticalAttraction,upAxis={1},diffAxis={2},diffAng={3},corrRot={4},contrib={5}",
                                             ControllingPrim.LocalID,
                                             vehicleUpAxis,
-                                            differenceAxis,
+                                            differenceAxisW,
                                             differenceAngle,
-                                            correctionRotation,
-                                            vertContributionV);
+                                            correctionRotationW,
+                                            vertContributionW);
                             break;
                         }
                     case 2:
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
index 960c0b4..7f94666 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs
@@ -309,16 +309,18 @@ public abstract class BSLinkset
             }
         );
     }
-    public virtual void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
+    public virtual void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass)
     {
         ForEachMember((member) =>
             {
                 if (member.PhysBody.HasPhysicalBody)
                 {
-                    OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, member.Mass);
+                    OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(member.PhysShape.physShapeInfo, linksetMass);
                     member.Inertia = inertia * inertiaFactor;
-                    m_physicsScene.PE.SetMassProps(member.PhysBody, member.Mass, member.Inertia);
+                    m_physicsScene.PE.SetMassProps(member.PhysBody, linksetMass, member.Inertia);
                     m_physicsScene.PE.UpdateInertiaTensor(member.PhysBody);
+                    DetailLog("{0},BSLinkset.ComputeAndSetLocalInertia,m.mass={1}, inertia={2}", member.LocalID, linksetMass, member.Inertia);
+
                 }
                 return false;   // 'false' says to continue looping
             }
@@ -334,6 +336,16 @@ public abstract class BSLinkset
             }
         );
     }
+    public virtual void AddToPhysicalCollisionFlags(CollisionFlags collFlags)
+    {
+        ForEachMember((member) =>
+            {
+                if (member.PhysBody.HasPhysicalBody)
+                    m_physicsScene.PE.AddToCollisionFlags(member.PhysBody, collFlags);
+                return false;   // 'false' says to continue looping
+            }
+        );
+    }
     public virtual void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
     {
         ForEachMember((member) =>
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 33ae5a5..6359046 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -61,11 +61,11 @@ public sealed class BSLinksetCompound : BSLinkset
         if (LinksetRoot.PhysBody.HasPhysicalBody)
             m_physicsScene.PE.SetGravity(LinksetRoot.PhysBody, gravity);
     }
-    public override void ComputeLocalInertia(OMV.Vector3 inertiaFactor)
+    public override void ComputeAndSetLocalInertia(OMV.Vector3 inertiaFactor, float linksetMass)
     {
-        OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, LinksetRoot.Mass);
+        OMV.Vector3 inertia = m_physicsScene.PE.CalculateLocalInertia(LinksetRoot.PhysShape.physShapeInfo, linksetMass);
         LinksetRoot.Inertia = inertia * inertiaFactor;
-        m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, LinksetRoot.Mass, LinksetRoot.Inertia);
+        m_physicsScene.PE.SetMassProps(LinksetRoot.PhysBody, linksetMass, LinksetRoot.Inertia);
         m_physicsScene.PE.UpdateInertiaTensor(LinksetRoot.PhysBody);
     }
     public override void SetPhysicalCollisionFlags(CollisionFlags collFlags)
@@ -73,6 +73,11 @@ public sealed class BSLinksetCompound : BSLinkset
         if (LinksetRoot.PhysBody.HasPhysicalBody)
             m_physicsScene.PE.SetCollisionFlags(LinksetRoot.PhysBody, collFlags);
     }
+    public override void AddToPhysicalCollisionFlags(CollisionFlags collFlags)
+    {
+        if (LinksetRoot.PhysBody.HasPhysicalBody)
+            m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, collFlags);
+    }
     public override void RemoveFromPhysicalCollisionFlags(CollisionFlags collFlags)
     {
         if (LinksetRoot.PhysBody.HasPhysicalBody)