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author | Robert Adams | 2013-03-17 18:44:09 -0700 |
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committer | Robert Adams | 2013-03-19 00:00:02 -0700 |
commit | 8510f57ad48db5f97dacc2a9be63c64e62477d14 (patch) | |
tree | c43402d78fa9edfc0e440a600bfdf0745d6a2f06 /OpenSim/Region/Physics | |
parent | Process default attachment point in AttachObjectInternal before we check whet... (diff) | |
download | opensim-SC-8510f57ad48db5f97dacc2a9be63c64e62477d14.zip opensim-SC-8510f57ad48db5f97dacc2a9be63c64e62477d14.tar.gz opensim-SC-8510f57ad48db5f97dacc2a9be63c64e62477d14.tar.bz2 opensim-SC-8510f57ad48db5f97dacc2a9be63c64e62477d14.tar.xz |
BulletSim: add terrain contact processing threshold parameter. Initialize contact processing threshold for static object as well as mesh terrain.
Diffstat (limited to '')
4 files changed, 23 insertions, 1 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 77bdacb..cb0d929 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | |||
@@ -39,6 +39,20 @@ public static class BSParam | |||
39 | { | 39 | { |
40 | private static string LogHeader = "[BULLETSIM PARAMETERS]"; | 40 | private static string LogHeader = "[BULLETSIM PARAMETERS]"; |
41 | 41 | ||
42 | // Tuning notes: | ||
43 | // From: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=6575 | ||
44 | // Contact points can be added even if the distance is positive. The constraint solver can deal with | ||
45 | // contacts with positive distances as well as negative (penetration). Contact points are discarded | ||
46 | // if the distance exceeds a certain threshold. | ||
47 | // Bullet has a contact processing threshold and a contact breaking threshold. | ||
48 | // If the distance is larger than the contact breaking threshold, it will be removed after one frame. | ||
49 | // If the distance is larger than the contact processing threshold, the constraint solver will ignore it. | ||
50 | |||
51 | // This is separate/independent from the collision margin. The collision margin increases the object a bit | ||
52 | // to improve collision detection performance and accuracy. | ||
53 | // =================== | ||
54 | // From: | ||
55 | |||
42 | // Level of Detail values kept as float because that's what the Meshmerizer wants | 56 | // Level of Detail values kept as float because that's what the Meshmerizer wants |
43 | public static float MeshLOD { get; private set; } | 57 | public static float MeshLOD { get; private set; } |
44 | public static float MeshCircularLOD { get; private set; } | 58 | public static float MeshCircularLOD { get; private set; } |
@@ -77,6 +91,7 @@ public static class BSParam | |||
77 | public static float TerrainFriction { get; private set; } | 91 | public static float TerrainFriction { get; private set; } |
78 | public static float TerrainHitFraction { get; private set; } | 92 | public static float TerrainHitFraction { get; private set; } |
79 | public static float TerrainRestitution { get; private set; } | 93 | public static float TerrainRestitution { get; private set; } |
94 | public static float TerrainContactProcessingThreshold { get; private set; } | ||
80 | public static float TerrainCollisionMargin { get; private set; } | 95 | public static float TerrainCollisionMargin { get; private set; } |
81 | 96 | ||
82 | public static float DefaultFriction { get; private set; } | 97 | public static float DefaultFriction { get; private set; } |
@@ -458,6 +473,10 @@ public static class BSParam | |||
458 | 0f, | 473 | 0f, |
459 | (s) => { return TerrainRestitution; }, | 474 | (s) => { return TerrainRestitution; }, |
460 | (s,v) => { TerrainRestitution = v; /* TODO: set on real terrain */ } ), | 475 | (s,v) => { TerrainRestitution = v; /* TODO: set on real terrain */ } ), |
476 | new ParameterDefn<float>("TerrainContactProcessingThreshold", "Distance from terrain to stop processing collisions" , | ||
477 | 0.0f, | ||
478 | (s) => { return TerrainContactProcessingThreshold; }, | ||
479 | (s,v) => { TerrainContactProcessingThreshold = v; /* TODO: set on real terrain */ } ), | ||
461 | new ParameterDefn<float>("TerrainCollisionMargin", "Margin where collision checking starts" , | 480 | new ParameterDefn<float>("TerrainCollisionMargin", "Margin where collision checking starts" , |
462 | 0.08f, | 481 | 0.08f, |
463 | (s) => { return TerrainCollisionMargin; }, | 482 | (s) => { return TerrainCollisionMargin; }, |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index a465613..2cbbe9a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -947,9 +947,9 @@ public class BSPrim : BSPhysObject | |||
947 | ZeroMotion(true); | 947 | ZeroMotion(true); |
948 | 948 | ||
949 | // Set various physical properties so other object interact properly | 949 | // Set various physical properties so other object interact properly |
950 | MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); | ||
951 | PhysicsScene.PE.SetFriction(PhysBody, Friction); | 950 | PhysicsScene.PE.SetFriction(PhysBody, Friction); |
952 | PhysicsScene.PE.SetRestitution(PhysBody, Restitution); | 951 | PhysicsScene.PE.SetRestitution(PhysBody, Restitution); |
952 | PhysicsScene.PE.SetContactProcessingThreshold(PhysBody, BSParam.ContactProcessingThreshold); | ||
953 | 953 | ||
954 | // Mass is zero which disables a bunch of physics stuff in Bullet | 954 | // Mass is zero which disables a bunch of physics stuff in Bullet |
955 | UpdatePhysicalMassProperties(0f, false); | 955 | UpdatePhysicalMassProperties(0f, false); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index e8040d8..a60946d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | |||
@@ -263,6 +263,7 @@ public sealed class BSTerrainManager : IDisposable | |||
263 | 263 | ||
264 | if (MegaRegionParentPhysicsScene == null) | 264 | if (MegaRegionParentPhysicsScene == null) |
265 | { | 265 | { |
266 | // This terrain is not part of the mega-region scheme. Create vanilla terrain. | ||
266 | BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords); | 267 | BSTerrainPhys newTerrainPhys = BuildPhysicalTerrain(terrainRegionBase, id, heightMap, minCoords, maxCoords); |
267 | m_terrains.Add(terrainRegionBase, newTerrainPhys); | 268 | m_terrains.Add(terrainRegionBase, newTerrainPhys); |
268 | 269 | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs index 57a5ff2..c9a75ae 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainMesh.cs | |||
@@ -112,11 +112,13 @@ public sealed class BSTerrainMesh : BSTerrainPhys | |||
112 | // Something is very messed up and a crash is in our future. | 112 | // Something is very messed up and a crash is in our future. |
113 | return; | 113 | return; |
114 | } | 114 | } |
115 | physicsScene.PE.SetShapeCollisionMargin(m_terrainShape, BSParam.TerrainCollisionMargin); | ||
115 | 116 | ||
116 | // Set current terrain attributes | 117 | // Set current terrain attributes |
117 | PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction); | 118 | PhysicsScene.PE.SetFriction(m_terrainBody, BSParam.TerrainFriction); |
118 | PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction); | 119 | PhysicsScene.PE.SetHitFraction(m_terrainBody, BSParam.TerrainHitFraction); |
119 | PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution); | 120 | PhysicsScene.PE.SetRestitution(m_terrainBody, BSParam.TerrainRestitution); |
121 | PhysicsScene.PE.SetContactProcessingThreshold(m_terrainBody, BSParam.TerrainContactProcessingThreshold); | ||
120 | PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT); | 122 | PhysicsScene.PE.SetCollisionFlags(m_terrainBody, CollisionFlags.CF_STATIC_OBJECT); |
121 | 123 | ||
122 | // Static objects are not very massive. | 124 | // Static objects are not very massive. |