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authorMelanie2012-12-28 08:32:34 +0000
committerMelanie2012-12-28 08:32:34 +0000
commit3ab1bd04031ca0bc1039e4e1d267ea19d0017430 (patch)
tree3f2417f3b96e151642158d29d1982dee2bd850a8 /OpenSim
parentMerge branch 'master' into careminster (diff)
parentBulletSim: correct collision mask definition for linkset children. (diff)
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Merge branch 'master' into careminster
Conflicts: OpenSim/Region/Framework/Scenes/ScenePresence.cs
Diffstat (limited to 'OpenSim')
-rw-r--r--OpenSim/Region/Framework/Scenes/ScenePresence.cs11
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs8
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs2
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs4
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs4
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs2
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs3
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs20
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs11
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs6
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs16
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs2
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs3
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs87
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs11
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs10
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs2
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs3
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs1
-rw-r--r--OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs4
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs66
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs9
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs16
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSMotors.cs4
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSParam.cs17
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs37
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs94
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs23
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs24
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs27
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt34
31 files changed, 350 insertions, 211 deletions
diff --git a/OpenSim/Region/Framework/Scenes/ScenePresence.cs b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
index 041eac2..9683c38 100644
--- a/OpenSim/Region/Framework/Scenes/ScenePresence.cs
+++ b/OpenSim/Region/Framework/Scenes/ScenePresence.cs
@@ -2447,10 +2447,15 @@ namespace OpenSim.Region.Framework.Scenes
2447 m_lastSize = Appearance.AvatarSize; 2447 m_lastSize = Appearance.AvatarSize;
2448 SendAvatarDataToAllAgents(); 2448 SendAvatarDataToAllAgents();
2449 } 2449 }
2450 // Throw away duplicate or insignificant updates
2451 else if (
2452 // If the velocity has become zero, send it no matter what.
2453 (Velocity != m_lastVelocity && Velocity == Vector3.Zero)
2454 // otherwise, if things have changed reasonably, send the update
2455 || (!Rotation.ApproxEquals(m_lastRotation, ROTATION_TOLERANCE)
2456 || !Velocity.ApproxEquals(m_lastVelocity, VELOCITY_TOLERANCE)
2457 || !m_pos.ApproxEquals(m_lastPosition, POSITION_TOLERANCE)))
2450 2458
2451 else if (!Rotation.ApproxEquals(m_lastRotation, ROTATION_TOLERANCE) ||
2452 !Velocity.ApproxEquals(m_lastVelocity, VELOCITY_TOLERANCE) ||
2453 !m_pos.ApproxEquals(m_lastPosition, POSITION_TOLERANCE))
2454 { 2459 {
2455 SendTerseUpdateToAllClients(); 2460 SendTerseUpdateToAllClients();
2456 2461
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs
index 4c4e950..d91c47f 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs
@@ -174,7 +174,7 @@ public sealed class BSCharacter : BSPhysObject
174 BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); 174 BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius);
175 } 175 }
176 176
177 UpdatePhysicalMassProperties(RawMass); 177 UpdatePhysicalMassProperties(RawMass, false);
178 178
179 // Make so capsule does not fall over 179 // Make so capsule does not fall over
180 BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero); 180 BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero);
@@ -224,7 +224,7 @@ public sealed class BSCharacter : BSPhysObject
224 if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape) 224 if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape)
225 { 225 {
226 BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); 226 BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale);
227 UpdatePhysicalMassProperties(RawMass); 227 UpdatePhysicalMassProperties(RawMass, true);
228 // Make sure this change appears as a property update event 228 // Make sure this change appears as a property update event
229 BulletSimAPI.PushUpdate2(PhysBody.ptr); 229 BulletSimAPI.PushUpdate2(PhysBody.ptr);
230 } 230 }
@@ -260,7 +260,6 @@ public sealed class BSCharacter : BSPhysObject
260 public override void ZeroMotion(bool inTaintTime) 260 public override void ZeroMotion(bool inTaintTime)
261 { 261 {
262 _velocity = OMV.Vector3.Zero; 262 _velocity = OMV.Vector3.Zero;
263 _velocityMotor.Zero();
264 _acceleration = OMV.Vector3.Zero; 263 _acceleration = OMV.Vector3.Zero;
265 _rotationalVelocity = OMV.Vector3.Zero; 264 _rotationalVelocity = OMV.Vector3.Zero;
266 265
@@ -390,7 +389,7 @@ public sealed class BSCharacter : BSPhysObject
390 public override float RawMass { 389 public override float RawMass {
391 get {return _mass; } 390 get {return _mass; }
392 } 391 }
393 public override void UpdatePhysicalMassProperties(float physMass) 392 public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
394 { 393 {
395 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); 394 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
396 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia); 395 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia);
@@ -787,6 +786,7 @@ public sealed class BSCharacter : BSPhysObject
787 // the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer. 786 // the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer.
788 if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero) 787 if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero)
789 { 788 {
789 ZeroMotion(true);
790 stepVelocity = OMV.Vector3.Zero; 790 stepVelocity = OMV.Vector3.Zero;
791 _velocityMotor.Enabled = false; 791 _velocityMotor.Enabled = false;
792 DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor); 792 DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs
index 426bdc2..f1bed39 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs
@@ -36,7 +36,7 @@ public abstract class BSConstraint : IDisposable
36{ 36{
37 private static string LogHeader = "[BULLETSIM CONSTRAINT]"; 37 private static string LogHeader = "[BULLETSIM CONSTRAINT]";
38 38
39 protected BulletSim m_world; 39 protected BulletWorld m_world;
40 protected BulletBody m_body1; 40 protected BulletBody m_body1;
41 protected BulletBody m_body2; 41 protected BulletBody m_body2;
42 protected BulletConstraint m_constraint; 42 protected BulletConstraint m_constraint;
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs
index 0181d9d..d1e3f55 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs
@@ -39,7 +39,7 @@ public sealed class BSConstraint6Dof : BSConstraint
39 public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } } 39 public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } }
40 40
41 // Create a btGeneric6DofConstraint 41 // Create a btGeneric6DofConstraint
42 public BSConstraint6Dof(BulletSim world, BulletBody obj1, BulletBody obj2, 42 public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
43 Vector3 frame1, Quaternion frame1rot, 43 Vector3 frame1, Quaternion frame1rot,
44 Vector3 frame2, Quaternion frame2rot, 44 Vector3 frame2, Quaternion frame2rot,
45 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) 45 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
@@ -58,7 +58,7 @@ public sealed class BSConstraint6Dof : BSConstraint
58 obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString()); 58 obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString());
59 } 59 }
60 60
61 public BSConstraint6Dof(BulletSim world, BulletBody obj1, BulletBody obj2, 61 public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2,
62 Vector3 joinPoint, 62 Vector3 joinPoint,
63 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) 63 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
64 { 64 {
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs
index 5c00b1a..87d1e44 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs
@@ -41,9 +41,9 @@ public sealed class BSConstraintCollection : IDisposable
41 delegate bool ConstraintAction(BSConstraint constrain); 41 delegate bool ConstraintAction(BSConstraint constrain);
42 42
43 private List<BSConstraint> m_constraints; 43 private List<BSConstraint> m_constraints;
44 private BulletSim m_world; 44 private BulletWorld m_world;
45 45
46 public BSConstraintCollection(BulletSim world) 46 public BSConstraintCollection(BulletWorld world)
47 { 47 {
48 m_world = world; 48 m_world = world;
49 m_constraints = new List<BSConstraint>(); 49 m_constraints = new List<BSConstraint>();
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs
index 7951f06..fbd1bc0 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs
@@ -36,7 +36,7 @@ public sealed class BSConstraintHinge : BSConstraint
36{ 36{
37 public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } } 37 public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } }
38 38
39 public BSConstraintHinge(BulletSim world, BulletBody obj1, BulletBody obj2, 39 public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2,
40 Vector3 pivotInA, Vector3 pivotInB, 40 Vector3 pivotInA, Vector3 pivotInB,
41 Vector3 axisInA, Vector3 axisInB, 41 Vector3 axisInA, Vector3 axisInB,
42 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) 42 bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies)
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs
index 72afacc..415ad4f 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs
@@ -573,6 +573,9 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
573 BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); 573 BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
574 BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); 574 BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr);
575 575
576 Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy);
577 BulletSimAPI.SetGravity2(Prim.PhysBody.ptr, grav);
578
576 VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}", 579 VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}",
577 Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping); 580 Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping);
578 } 581 }
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs
index 253128b..845a113 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs
@@ -97,14 +97,7 @@ public abstract class BSLinkset
97 } 97 }
98 98
99 // We keep the prim's mass in the linkset structure since it could be dependent on other prims 99 // We keep the prim's mass in the linkset structure since it could be dependent on other prims
100 protected float m_mass; 100 public float LinksetMass { get; protected set; }
101 public float LinksetMass
102 {
103 get
104 {
105 return m_mass;
106 }
107 }
108 101
109 public virtual bool LinksetIsColliding { get { return false; } } 102 public virtual bool LinksetIsColliding { get { return false; } }
110 103
@@ -128,7 +121,7 @@ public abstract class BSLinkset
128 PhysicsScene = scene; 121 PhysicsScene = scene;
129 LinksetRoot = parent; 122 LinksetRoot = parent;
130 m_children = new HashSet<BSPhysObject>(); 123 m_children = new HashSet<BSPhysObject>();
131 m_mass = parent.RawMass; 124 LinksetMass = parent.RawMass;
132 Rebuilding = false; 125 Rebuilding = false;
133 } 126 }
134 127
@@ -143,7 +136,7 @@ public abstract class BSLinkset
143 // Don't add the root to its own linkset 136 // Don't add the root to its own linkset
144 if (!IsRoot(child)) 137 if (!IsRoot(child))
145 AddChildToLinkset(child); 138 AddChildToLinkset(child);
146 m_mass = ComputeLinksetMass(); 139 LinksetMass = ComputeLinksetMass();
147 } 140 }
148 return this; 141 return this;
149 } 142 }
@@ -162,7 +155,7 @@ public abstract class BSLinkset
162 return this; 155 return this;
163 } 156 }
164 RemoveChildFromLinkset(child); 157 RemoveChildFromLinkset(child);
165 m_mass = ComputeLinksetMass(); 158 LinksetMass = ComputeLinksetMass();
166 } 159 }
167 160
168 // The child is down to a linkset of just itself 161 // The child is down to a linkset of just itself
@@ -230,7 +223,10 @@ public abstract class BSLinkset
230 // When physical properties are changed the linkset needs to recalculate 223 // When physical properties are changed the linkset needs to recalculate
231 // its internal properties. 224 // its internal properties.
232 // May be called at runtime or taint-time. 225 // May be called at runtime or taint-time.
233 public abstract void Refresh(BSPhysObject requestor); 226 public virtual void Refresh(BSPhysObject requestor)
227 {
228 LinksetMass = ComputeLinksetMass();
229 }
234 230
235 // Flag denoting the linkset is in the process of being rebuilt. 231 // Flag denoting the linkset is in the process of being rebuilt.
236 // Used to know not the schedule a rebuild in the middle of a rebuild. 232 // Used to know not the schedule a rebuild in the middle of a rebuild.
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs
index 23a0b8b..9a977e6 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs
@@ -89,6 +89,8 @@ public sealed class BSLinksetCompound : BSLinkset
89 // its internal properties. 89 // its internal properties.
90 public override void Refresh(BSPhysObject requestor) 90 public override void Refresh(BSPhysObject requestor)
91 { 91 {
92 base.Refresh(requestor);
93
92 // Something changed so do the rebuilding thing 94 // Something changed so do the rebuilding thing
93 // ScheduleRebuild(); 95 // ScheduleRebuild();
94 } 96 }
@@ -96,13 +98,13 @@ public sealed class BSLinksetCompound : BSLinkset
96 // Schedule a refresh to happen after all the other taint processing. 98 // Schedule a refresh to happen after all the other taint processing.
97 private void ScheduleRebuild(BSPhysObject requestor) 99 private void ScheduleRebuild(BSPhysObject requestor)
98 { 100 {
99 DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,rebuilding={1}", 101 DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1}",
100 requestor.LocalID, Rebuilding); 102 requestor.LocalID, Rebuilding);
101 // When rebuilding, it is possible to set properties that would normally require a rebuild. 103 // When rebuilding, it is possible to set properties that would normally require a rebuild.
102 // If already rebuilding, don't request another rebuild. 104 // If already rebuilding, don't request another rebuild.
103 if (!Rebuilding) 105 if (!Rebuilding)
104 { 106 {
105 PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", LinksetRoot.LocalID, delegate() 107 PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
106 { 108 {
107 if (HasAnyChildren) 109 if (HasAnyChildren)
108 RecomputeLinksetCompound(); 110 RecomputeLinksetCompound();
@@ -123,7 +125,6 @@ public sealed class BSLinksetCompound : BSLinkset
123 if (IsRoot(child)) 125 if (IsRoot(child))
124 { 126 {
125 // The root is going dynamic. Make sure mass is properly set. 127 // The root is going dynamic. Make sure mass is properly set.
126 m_mass = ComputeLinksetMass();
127 ScheduleRebuild(LinksetRoot); 128 ScheduleRebuild(LinksetRoot);
128 } 129 }
129 else 130 else
@@ -377,8 +378,8 @@ public sealed class BSLinksetCompound : BSLinkset
377 }); 378 });
378 379
379 // With all of the linkset packed into the root prim, it has the mass of everyone. 380 // With all of the linkset packed into the root prim, it has the mass of everyone.
380 float linksetMass = LinksetMass; 381 LinksetMass = LinksetMass;
381 LinksetRoot.UpdatePhysicalMassProperties(linksetMass); 382 LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
382 } 383 }
383 finally 384 finally
384 { 385 {
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs
index 5757e64..46ff99f 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs
@@ -46,6 +46,8 @@ public sealed class BSLinksetConstraints : BSLinkset
46 // refresh will happen once after all the other taints are applied. 46 // refresh will happen once after all the other taints are applied.
47 public override void Refresh(BSPhysObject requestor) 47 public override void Refresh(BSPhysObject requestor)
48 { 48 {
49 base.Refresh(requestor);
50
49 // Queue to happen after all the other taint processing 51 // Queue to happen after all the other taint processing
50 PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() 52 PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate()
51 { 53 {
@@ -279,7 +281,7 @@ public sealed class BSLinksetConstraints : BSLinkset
279 private void RecomputeLinksetConstraints() 281 private void RecomputeLinksetConstraints()
280 { 282 {
281 float linksetMass = LinksetMass; 283 float linksetMass = LinksetMass;
282 LinksetRoot.UpdatePhysicalMassProperties(linksetMass); 284 LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true);
283 285
284 // DEBUG: see of inter-linkset collisions are causing problems 286 // DEBUG: see of inter-linkset collisions are causing problems
285 // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 287 // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
@@ -292,7 +294,7 @@ public sealed class BSLinksetConstraints : BSLinkset
292 // A child in the linkset physically shows the mass of the whole linkset. 294 // A child in the linkset physically shows the mass of the whole linkset.
293 // This allows Bullet to apply enough force on the child to move the whole linkset. 295 // This allows Bullet to apply enough force on the child to move the whole linkset.
294 // (Also do the mass stuff before recomputing the constraint so mass is not zero.) 296 // (Also do the mass stuff before recomputing the constraint so mass is not zero.)
295 child.UpdatePhysicalMassProperties(linksetMass); 297 child.UpdatePhysicalMassProperties(linksetMass, true);
296 298
297 BSConstraint constrain; 299 BSConstraint constrain;
298 if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) 300 if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain))
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs
index 732191f..d7941b6 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs
@@ -119,26 +119,26 @@ public static class BSMaterials
119 Attributes[(int)MaterialAttributes.Material.Light] = 119 Attributes[(int)MaterialAttributes.Material.Light] =
120 new MaterialAttributes("light",dDensity, dFriction, dRestitution); 120 new MaterialAttributes("light",dDensity, dFriction, dRestitution);
121 Attributes[(int)MaterialAttributes.Material.Avatar] = 121 Attributes[(int)MaterialAttributes.Material.Avatar] =
122 new MaterialAttributes("avatar",60f, 0.2f, 0f); 122 new MaterialAttributes("avatar",3.5f, 0.2f, 0f);
123 123
124 Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] = 124 Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] =
125 new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f); 125 new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f);
126 Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] = 126 Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] =
127 new MaterialAttributes("metalPhysical",dDensity, 0.8f, 0.4f); 127 new MaterialAttributes("metalPhysical",dDensity, 0.3f, 0.4f);
128 Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] = 128 Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] =
129 new MaterialAttributes("glassPhysical",dDensity, 0.8f, 0.7f); 129 new MaterialAttributes("glassPhysical",dDensity, 0.2f, 0.7f);
130 Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] = 130 Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] =
131 new MaterialAttributes("woodPhysical",dDensity, 0.8f, 0.5f); 131 new MaterialAttributes("woodPhysical",dDensity, 0.6f, 0.5f);
132 Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] = 132 Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] =
133 new MaterialAttributes("fleshPhysical",dDensity, 0.8f, 0.3f); 133 new MaterialAttributes("fleshPhysical",dDensity, 0.9f, 0.3f);
134 Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] = 134 Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] =
135 new MaterialAttributes("plasticPhysical",dDensity, 0.8f, 0.7f); 135 new MaterialAttributes("plasticPhysical",dDensity, 0.4f, 0.7f);
136 Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] = 136 Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] =
137 new MaterialAttributes("rubberPhysical",dDensity, 0.8f, 0.9f); 137 new MaterialAttributes("rubberPhysical",dDensity, 0.9f, 0.9f);
138 Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] = 138 Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] =
139 new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution); 139 new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution);
140 Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] = 140 Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] =
141 new MaterialAttributes("avatarPhysical",60f, 0.2f, 0f); 141 new MaterialAttributes("avatarPhysical",3.5f, 0.2f, 0f);
142 } 142 }
143 143
144 // Under the [BulletSim] section, one can change the individual material 144 // Under the [BulletSim] section, one can change the individual material
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs
index 20c0939..5e93a03 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs
@@ -351,7 +351,7 @@ public static class BSParam
351 (s) => { return AvatarStandingFriction; }, 351 (s) => { return AvatarStandingFriction; },
352 (s,p,l,v) => { AvatarStandingFriction = v; } ), 352 (s,p,l,v) => { AvatarStandingFriction = v; } ),
353 new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", 353 new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.",
354 60f, 354 3.5f,
355 (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); }, 355 (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); },
356 (s) => { return AvatarDensity; }, 356 (s) => { return AvatarDensity; },
357 (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ), 357 (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ),
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs
index 4096ef8..689da7f 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs
@@ -96,7 +96,8 @@ public abstract class BSPhysObject : PhysicsActor
96 // Return the object mass without calculating it or having side effects 96 // Return the object mass without calculating it or having side effects
97 public abstract float RawMass { get; } 97 public abstract float RawMass { get; }
98 // Set the raw mass but also update physical mass properties (inertia, ...) 98 // Set the raw mass but also update physical mass properties (inertia, ...)
99 public abstract void UpdatePhysicalMassProperties(float mass); 99 // 'inWorld' true if the object has already been added to the dynamic world.
100 public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
100 101
101 // The last value calculated for the prim's inertia 102 // The last value calculated for the prim's inertia
102 public OMV.Vector3 Inertia { get; set; } 103 public OMV.Vector3 Inertia { get; set; }
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
index a889c24..9c4ba30 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs
@@ -115,6 +115,8 @@ public sealed class BSPrim : BSPhysObject
115 PhysBody = new BulletBody(LocalID); 115 PhysBody = new BulletBody(LocalID);
116 PhysShape = new BulletShape(); 116 PhysShape = new BulletShape();
117 117
118 Linkset.Refresh(this);
119
118 DetailLog("{0},BSPrim.constructor,call", LocalID); 120 DetailLog("{0},BSPrim.constructor,call", LocalID);
119 // do the actual object creation at taint time 121 // do the actual object creation at taint time
120 PhysicsScene.TaintedObject("BSPrim.create", delegate() 122 PhysicsScene.TaintedObject("BSPrim.create", delegate()
@@ -384,13 +386,13 @@ public sealed class BSPrim : BSPhysObject
384 } 386 }
385 387
386 // Return the effective mass of the object. 388 // Return the effective mass of the object.
387 // If there are multiple items in the linkset, add them together for the root 389 // The definition of this call is to return the mass of the prim.
390 // If the simulator cares about the mass of the linkset, it will sum it itself.
388 public override float Mass 391 public override float Mass
389 { 392 {
390 get 393 get
391 { 394 {
392 return Linkset.LinksetMass; 395 return _mass;
393 // return _mass;
394 } 396 }
395 } 397 }
396 398
@@ -400,22 +402,45 @@ public sealed class BSPrim : BSPhysObject
400 } 402 }
401 // Set the physical mass to the passed mass. 403 // Set the physical mass to the passed mass.
402 // Note that this does not change _mass! 404 // Note that this does not change _mass!
403 public override void UpdatePhysicalMassProperties(float physMass) 405 public override void UpdatePhysicalMassProperties(float physMass, bool inWorld)
404 { 406 {
405 if (IsStatic) 407 if (PhysBody.HasPhysicalBody)
406 { 408 {
407 Inertia = OMV.Vector3.Zero; 409 if (IsStatic)
408 BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia); 410 {
409 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); 411 Inertia = OMV.Vector3.Zero;
410 } 412 BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia);
411 else 413 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
412 { 414 }
413 Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); 415 else
414 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); 416 {
415 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); 417 if (inWorld)
416 // center of mass is at the zero of the object 418 {
417 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); 419 // Changing interesting properties doesn't change proxy and collision cache
418 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, Inertia); 420 // information. The Bullet solution is to re-add the object to the world
421 // after parameters are changed.
422 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
423 }
424
425 Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
426 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
427 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
428
429 // center of mass is at the zero of the object
430 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
431 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},inWorld={3}", LocalID, physMass, Inertia, inWorld);
432
433 if (inWorld)
434 {
435 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr,_position,_orientation);
436 }
437
438 // 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
440 OMV.Vector3 grav = PhysicsScene.DefaultGravity * (1f - Buoyancy);
441 BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
442
443 }
419 } 444 }
420 } 445 }
421 446
@@ -714,7 +739,7 @@ public sealed class BSPrim : BSPhysObject
714 Linkset.Refresh(this); 739 Linkset.Refresh(this);
715 740
716 DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", 741 DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
717 LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape); 742 LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape);
718 } 743 }
719 744
720 // "Making dynamic" means changing to and from static. 745 // "Making dynamic" means changing to and from static.
@@ -737,7 +762,7 @@ public sealed class BSPrim : BSPhysObject
737 BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); 762 BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution);
738 763
739 // Mass is zero which disables a bunch of physics stuff in Bullet 764 // Mass is zero which disables a bunch of physics stuff in Bullet
740 UpdatePhysicalMassProperties(0f); 765 UpdatePhysicalMassProperties(0f, false);
741 // Set collision detection parameters 766 // Set collision detection parameters
742 if (BSParam.CcdMotionThreshold > 0f) 767 if (BSParam.CcdMotionThreshold > 0f)
743 { 768 {
@@ -777,7 +802,7 @@ public sealed class BSPrim : BSPhysObject
777 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation); 802 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation);
778 803
779 // A dynamic object has mass 804 // A dynamic object has mass
780 UpdatePhysicalMassProperties(RawMass); 805 UpdatePhysicalMassProperties(RawMass, false);
781 806
782 // Set collision detection parameters 807 // Set collision detection parameters
783 if (BSParam.CcdMotionThreshold > 0f) 808 if (BSParam.CcdMotionThreshold > 0f)
@@ -950,13 +975,9 @@ public sealed class BSPrim : BSPhysObject
950 set { 975 set {
951 _buoyancy = value; 976 _buoyancy = value;
952 // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); 977 // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
953 // Buoyancy is faked by changing the gravity applied to the object 978 // Force the recalculation of the various inertia,etc variables in the object
954 if (PhysBody.HasPhysicalBody) 979 UpdatePhysicalMassProperties(_mass, true);
955 { 980 ActivateIfPhysical(false);
956 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
957 BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav));
958 ActivateIfPhysical(false);
959 }
960 } 981 }
961 } 982 }
962 983
@@ -993,7 +1014,9 @@ public sealed class BSPrim : BSPhysObject
993 public override float APIDDamping { set { return; } } 1014 public override float APIDDamping { set { return; } }
994 1015
995 public override void AddForce(OMV.Vector3 force, bool pushforce) { 1016 public override void AddForce(OMV.Vector3 force, bool pushforce) {
996 AddForce(force, pushforce, false); 1017 // Since this force is being applied in only one step, make this a force per second.
1018 OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
1019 AddForce(addForce, pushforce, false);
997 } 1020 }
998 // Applying a force just adds this to the total force on the object. 1021 // Applying a force just adds this to the total force on the object.
999 // This added force will only last the next simulation tick. 1022 // This added force will only last the next simulation tick.
@@ -1001,8 +1024,16 @@ public sealed class BSPrim : BSPhysObject
1001 // for an object, doesn't matter if force is a pushforce or not 1024 // for an object, doesn't matter if force is a pushforce or not
1002 if (force.IsFinite()) 1025 if (force.IsFinite())
1003 { 1026 {
1027 float magnitude = force.Length();
1028 if (magnitude > 20000f)
1029 {
1030 // Force has a limit
1031 force = force / magnitude * 20000f;
1032 }
1033
1004 OMV.Vector3 addForce = force; 1034 OMV.Vector3 addForce = force;
1005 DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); 1035 DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
1036
1006 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() 1037 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
1007 { 1038 {
1008 // Bullet adds this central force to the total force for this tick 1039 // Bullet adds this central force to the total force for this tick
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs
index 6bcea3f..1a7c34b 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs
@@ -74,7 +74,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
74 74
75 public IMesher mesher; 75 public IMesher mesher;
76 public uint WorldID { get; private set; } 76 public uint WorldID { get; private set; }
77 public BulletSim World { get; private set; } 77 public BulletWorld World { get; private set; }
78 78
79 // All the constraints that have been allocated in this instance. 79 // All the constraints that have been allocated in this instance.
80 public BSConstraintCollection Constraints { get; private set; } 80 public BSConstraintCollection Constraints { get; private set; }
@@ -244,7 +244,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
244 244
245 // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); 245 // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader);
246 246
247 World = new BulletSim(0, this, BulletSimAPI.Initialize2(worldExtent, UnmanagedParams, 247 World = new BulletWorld(0, this, BulletSimAPI.Initialize2(worldExtent, UnmanagedParams,
248 m_maxCollisionsPerFrame, ref m_collisionArray, 248 m_maxCollisionsPerFrame, ref m_collisionArray,
249 m_maxUpdatesPerFrame,ref m_updateArray, 249 m_maxUpdatesPerFrame,ref m_updateArray,
250 m_DebugLogCallbackHandle)); 250 m_DebugLogCallbackHandle));
@@ -497,13 +497,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
497 497
498 InTaintTime = false; // Only used for debugging so locking is not necessary. 498 InTaintTime = false; // Only used for debugging so locking is not necessary.
499 499
500 // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
501 // Only enable this in a limited test world with few objects.
502 // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG
503
500 // step the physical world one interval 504 // step the physical world one interval
501 m_simulationStep++; 505 m_simulationStep++;
502 int numSubSteps = 0; 506 int numSubSteps = 0;
503 507
504 try 508 try
505 { 509 {
506 //if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG
507 if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); 510 if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
508 511
509 numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, 512 numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
@@ -833,7 +836,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
833 { 836 {
834 DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom); 837 DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
835 m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom); 838 m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
836 Util.PrintCallStack(); // Prints the stack into the DEBUG log file. 839 Util.PrintCallStack(DetailLog);
837 } 840 }
838 return InTaintTime; 841 return InTaintTime;
839 } 842 }
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs
index 398ece0..764aece 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs
@@ -98,7 +98,7 @@ public sealed class BSShapeCollection : IDisposable
98 // higher level dependencies on the shape or body. Mostly used for LinkSets to 98 // higher level dependencies on the shape or body. Mostly used for LinkSets to
99 // remove the physical constraints before the body is destroyed. 99 // remove the physical constraints before the body is destroyed.
100 // Called at taint-time!! 100 // Called at taint-time!!
101 public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim, 101 public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim,
102 ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback) 102 ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback)
103 { 103 {
104 PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape"); 104 PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape");
@@ -126,7 +126,7 @@ public sealed class BSShapeCollection : IDisposable
126 return ret; 126 return ret;
127 } 127 }
128 128
129 public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim) 129 public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim)
130 { 130 {
131 return GetBodyAndShape(forceRebuild, sim, prim, null, null); 131 return GetBodyAndShape(forceRebuild, sim, prim, null, null);
132 } 132 }
@@ -637,7 +637,7 @@ public sealed class BSShapeCollection : IDisposable
637 } 637 }
638 else 638 else
639 { 639 {
640 meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false); 640 meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false, false, false);
641 641
642 if (meshData != null) 642 if (meshData != null)
643 { 643 {
@@ -709,7 +709,7 @@ public sealed class BSShapeCollection : IDisposable
709 { 709 {
710 // Build a new hull in the physical world 710 // Build a new hull in the physical world
711 // Pass true for physicalness as this creates some sort of bounding box which we don't need 711 // Pass true for physicalness as this creates some sort of bounding box which we don't need
712 IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false); 712 IMesh meshData = PhysicsScene.mesher.CreateMesh(objName, pbs, size, lod, true, false, false, false);
713 if (meshData != null) 713 if (meshData != null)
714 { 714 {
715 715
@@ -918,7 +918,7 @@ public sealed class BSShapeCollection : IDisposable
918 // Updates prim.BSBody with the information about the new body if one is created. 918 // Updates prim.BSBody with the information about the new body if one is created.
919 // Returns 'true' if an object was actually created. 919 // Returns 'true' if an object was actually created.
920 // Called at taint-time. 920 // Called at taint-time.
921 private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape, 921 private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BulletShape shape,
922 BodyDestructionCallback bodyCallback) 922 BodyDestructionCallback bodyCallback)
923 { 923 {
924 bool ret = false; 924 bool ret = false;
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs
index 252953b..ba17059 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs
@@ -103,7 +103,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys
103 Vector3 centerPos; 103 Vector3 centerPos;
104 centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f); 104 centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f);
105 centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f); 105 centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f);
106 centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f + 0.5f); 106 centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f - 0.5f);
107 107
108 m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID, 108 m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID,
109 BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr, 109 BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr,
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs
index dfad70e..66d62f0 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs
@@ -140,7 +140,7 @@ public sealed class BSTerrainManager : IDisposable
140 m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, 140 m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID,
141 BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, 141 BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID,
142 Vector3.Zero, Quaternion.Identity)); 142 Vector3.Zero, Quaternion.Identity));
143 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); 143 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr, Vector3.Zero, Quaternion.Identity);
144 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr); 144 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr);
145 // Ground plane does not move 145 // Ground plane does not move
146 BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); 146 BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION);
@@ -376,6 +376,7 @@ public sealed class BSTerrainManager : IDisposable
376 DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}", 376 DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}",
377 BSScene.DetailLogZero, pos, terrainBaseXYZ); 377 BSScene.DetailLogZero, pos, terrainBaseXYZ);
378 } 378 }
379
379 lastHeight = ret; 380 lastHeight = ret;
380 return ret; 381 return ret;
381 } 382 }
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
index 6af59d6..93643c9 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs
@@ -58,7 +58,6 @@ public enum ConstraintType : int
58 MAX_CONSTRAINT_TYPE 58 MAX_CONSTRAINT_TYPE
59} 59}
60 60
61
62// =============================================================================== 61// ===============================================================================
63[StructLayout(LayoutKind.Sequential)] 62[StructLayout(LayoutKind.Sequential)]
64public struct ConvexHull 63public struct ConvexHull
diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs
index a1ed8d8..f509dc4 100644
--- a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs
+++ b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs
@@ -35,9 +35,9 @@ namespace OpenSim.Region.Physics.BulletSNPlugin
35// These hold pointers to allocated objects in the unmanaged space. 35// These hold pointers to allocated objects in the unmanaged space.
36 36
37// The physics engine controller class created at initialization 37// The physics engine controller class created at initialization
38public struct BulletSim 38public struct BulletWorld
39{ 39{
40 public BulletSim(uint worldId, BSScene bss, object xx) 40 public BulletWorld(uint worldId, BSScene bss, object xx)
41 { 41 {
42 ptr = xx; 42 ptr = xx;
43 worldID = worldId; 43 worldID = worldId;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index bf0545a..3f7b5e1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -260,7 +260,6 @@ public sealed class BSCharacter : BSPhysObject
260 public override void ZeroMotion(bool inTaintTime) 260 public override void ZeroMotion(bool inTaintTime)
261 { 261 {
262 _velocity = OMV.Vector3.Zero; 262 _velocity = OMV.Vector3.Zero;
263 _velocityMotor.Zero();
264 _acceleration = OMV.Vector3.Zero; 263 _acceleration = OMV.Vector3.Zero;
265 _rotationalVelocity = OMV.Vector3.Zero; 264 _rotationalVelocity = OMV.Vector3.Zero;
266 265
@@ -585,18 +584,6 @@ public sealed class BSCharacter : BSPhysObject
585 get { return _throttleUpdates; } 584 get { return _throttleUpdates; }
586 set { _throttleUpdates = value; } 585 set { _throttleUpdates = value; }
587 } 586 }
588 public override bool IsColliding {
589 get { return (CollidingStep == PhysicsScene.SimulationStep); }
590 set { _isColliding = value; }
591 }
592 public override bool CollidingGround {
593 get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
594 set { CollidingGround = value; }
595 }
596 public override bool CollidingObj {
597 get { return _collidingObj; }
598 set { _collidingObj = value; }
599 }
600 public override bool FloatOnWater { 587 public override bool FloatOnWater {
601 set { 588 set {
602 _floatOnWater = value; 589 _floatOnWater = value;
@@ -684,22 +671,31 @@ public sealed class BSCharacter : BSPhysObject
684 public override void AddForce(OMV.Vector3 force, bool pushforce) { 671 public override void AddForce(OMV.Vector3 force, bool pushforce) {
685 if (force.IsFinite()) 672 if (force.IsFinite())
686 { 673 {
687 _force.X += force.X; 674 float magnitude = force.Length();
688 _force.Y += force.Y; 675 if (magnitude > BSParam.MaxAddForceMagnitude)
689 _force.Z += force.Z; 676 {
690 // m_log.DebugFormat("{0}: AddForce. adding={1}, newForce={2}", LogHeader, force, _force); 677 // Force has a limit
678 force = force / magnitude * BSParam.MaxAddForceMagnitude;
679 }
680
681 OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
682 DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce);
683
691 PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate() 684 PhysicsScene.TaintedObject("BSCharacter.AddForce", delegate()
692 { 685 {
693 DetailLog("{0},BSCharacter.setAddForce,taint,addedForce={1}", LocalID, _force); 686 // Bullet adds this central force to the total force for this tick
687 DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce);
694 if (PhysBody.HasPhysicalBody) 688 if (PhysBody.HasPhysicalBody)
695 BulletSimAPI.SetObjectForce2(PhysBody.ptr, _force); 689 {
690 BulletSimAPI.ApplyCentralForce2(PhysBody.ptr, addForce);
691 }
696 }); 692 });
697 } 693 }
698 else 694 else
699 { 695 {
700 m_log.ErrorFormat("{0}: Got a NaN force applied to a Character", LogHeader); 696 m_log.WarnFormat("{0}: Got a NaN force applied to a character. LocalID={1}", LogHeader, LocalID);
697 return;
701 } 698 }
702 //m_lastUpdateSent = false;
703 } 699 }
704 700
705 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { 701 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
@@ -761,22 +757,26 @@ public sealed class BSCharacter : BSPhysObject
761 757
762 OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep); 758 OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep);
763 759
764 // If falling, we keep the world's downward vector no matter what the other axis specify. 760 // Check for cases to turn off the motor.
765 if (!Flying && !IsColliding) 761 if (
766 { 762 // If the walking motor is all done, turn it off
767 stepVelocity.Z = entprop.Velocity.Z; 763 (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero) )
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 { 764 {
775 _velocityMotor.Enabled = false;
776 stepVelocity = OMV.Vector3.Zero;
777 ZeroMotion(true); 765 ZeroMotion(true);
766 stepVelocity = OMV.Vector3.Zero;
767 _velocityMotor.Enabled = false;
778 DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor); 768 DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);
779 } 769 }
770 else
771 {
772 // If the motor is not being turned off...
773 // If falling, we keep the world's downward vector no matter what the other axis specify.
774 if (!Flying && !IsColliding)
775 {
776 stepVelocity.Z = entprop.Velocity.Z;
777 DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
778 }
779 }
780 780
781 _velocity = stepVelocity; 781 _velocity = stepVelocity;
782 entprop.Velocity = _velocity; 782 entprop.Velocity = _velocity;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 3fde57b..0bdfbe3 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -573,6 +573,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
573 BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); 573 BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
574 BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); 574 BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr);
575 575
576 Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy);
577 BulletSimAPI.SetGravity2(Prim.PhysBody.ptr, grav);
578
576 VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}", 579 VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}",
577 Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping); 580 Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping);
578 } 581 }
@@ -819,6 +822,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
819 { 822 {
820 if (!IsActive) return; 823 if (!IsActive) return;
821 824
825 if (PhysicsScene.VehiclePhysicalLoggingEnabled)
826 BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, Prim.PhysBody.ptr);
827
822 ForgetKnownVehicleProperties(); 828 ForgetKnownVehicleProperties();
823 829
824 MoveLinear(pTimestep); 830 MoveLinear(pTimestep);
@@ -833,6 +839,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
833 // for the physics engine to note the changes so an UpdateProperties event will happen. 839 // for the physics engine to note the changes so an UpdateProperties event will happen.
834 PushKnownChanged(); 840 PushKnownChanged();
835 841
842 if (PhysicsScene.VehiclePhysicalLoggingEnabled)
843 BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, Prim.PhysBody.ptr);
844
836 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", 845 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
837 Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity); 846 Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity);
838 } 847 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index d5cbf5f..19ce62b 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -5,7 +5,7 @@
5 * Redistribution and use in source and binary forms, with or without 5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met: 6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright 7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclat simer. 8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD 9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the 10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution. 11 * documentation and/or other materials provided with the distribution.
@@ -98,11 +98,12 @@ public sealed class BSLinksetCompound : BSLinkset
98 // Schedule a refresh to happen after all the other taint processing. 98 // Schedule a refresh to happen after all the other taint processing.
99 private void ScheduleRebuild(BSPhysObject requestor) 99 private void ScheduleRebuild(BSPhysObject requestor)
100 { 100 {
101 DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1}", 101 DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2}",
102 requestor.LocalID, Rebuilding); 102 requestor.LocalID, Rebuilding, HasAnyChildren);
103 // When rebuilding, it is possible to set properties that would normally require a rebuild. 103 // When rebuilding, it is possible to set properties that would normally require a rebuild.
104 // If already rebuilding, don't request another rebuild. 104 // If already rebuilding, don't request another rebuild.
105 if (!Rebuilding) 105 // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding.
106 if (!Rebuilding && HasAnyChildren)
106 { 107 {
107 PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate() 108 PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate()
108 { 109 {
@@ -112,8 +113,7 @@ public sealed class BSLinksetCompound : BSLinkset
112 } 113 }
113 } 114 }
114 115
115 // The object is going dynamic (physical). Do any setup necessary 116 // The object is going dynamic (physical). Do any setup necessary for a dynamic linkset.
116 // for a dynamic linkset.
117 // Only the state of the passed object can be modified. The rest of the linkset 117 // Only the state of the passed object can be modified. The rest of the linkset
118 // has not yet been fully constructed. 118 // has not yet been fully constructed.
119 // Return 'true' if any properties updated on the passed object. 119 // Return 'true' if any properties updated on the passed object.
@@ -124,7 +124,7 @@ public sealed class BSLinksetCompound : BSLinkset
124 DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child)); 124 DetailLog("{0},BSLinksetCompound.MakeDynamic,call,IsRoot={1}", child.LocalID, IsRoot(child));
125 if (IsRoot(child)) 125 if (IsRoot(child))
126 { 126 {
127 // The root is going dynamic. Make sure mass is properly set. 127 // The root is going dynamic. Rebuild the linkset so parts and mass get computed properly.
128 ScheduleRebuild(LinksetRoot); 128 ScheduleRebuild(LinksetRoot);
129 } 129 }
130 else 130 else
@@ -378,7 +378,7 @@ public sealed class BSLinksetCompound : BSLinkset
378 }); 378 });
379 379
380 // With all of the linkset packed into the root prim, it has the mass of everyone. 380 // With all of the linkset packed into the root prim, it has the mass of everyone.
381 LinksetMass = LinksetMass; 381 LinksetMass = ComputeLinksetMass();
382 LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); 382 LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true);
383 } 383 }
384 finally 384 finally
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index 9e1a9ba..817a5f7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -241,8 +241,8 @@ public class BSVMotor : BSMotor
241 241
242 public override string ToString() 242 public override string ToString()
243 { 243 {
244 return String.Format("<{0},curr={1},targ={2},decayTS={3},frictTS={4}>", 244 return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4},frictTS={5}>",
245 UseName, CurrentValue, TargetValue, TargetValueDecayTimeScale, FrictionTimescale); 245 UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale, FrictionTimescale);
246 } 246 }
247} 247}
248 248
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 7454718..f8f24bd 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -89,6 +89,18 @@ public static class BSParam
89 public static float PID_D { get; private set; } // derivative 89 public static float PID_D { get; private set; } // derivative
90 public static float PID_P { get; private set; } // proportional 90 public static float PID_P { get; private set; } // proportional
91 91
92 // Various constants that come from that other virtual world that shall not be named
93 public const float MinGravityZ = -1f;
94 public const float MaxGravityZ = 28f;
95 public const float MinFriction = 0f;
96 public const float MaxFriction = 255f;
97 public const float MinDensity = 0f;
98 public const float MaxDensity = 22587f;
99 public const float MinRestitution = 0f;
100 public const float MaxRestitution = 1f;
101 public const float MaxAddForceMagnitude = 20000f;
102
103 // ===========================================================================
92 public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); 104 public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val);
93 public delegate float ParamGet(BSScene scene); 105 public delegate float ParamGet(BSScene scene);
94 public delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); 106 public delegate void ParamSet(BSScene scene, string paramName, uint localID, float val);
@@ -200,6 +212,11 @@ public static class BSParam
200 (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); }, 212 (s,cf,p,v) => { s.m_fixedTimeStep = cf.GetFloat(p, v); },
201 (s) => { return (float)s.m_fixedTimeStep; }, 213 (s) => { return (float)s.m_fixedTimeStep; },
202 (s,p,l,v) => { s.m_fixedTimeStep = v; } ), 214 (s,p,l,v) => { s.m_fixedTimeStep = v; } ),
215 new ParameterDefn("NominalFrameRate", "The base frame rate we claim",
216 55f,
217 (s,cf,p,v) => { s.NominalFrameRate = cf.GetInt(p, (int)v); },
218 (s) => { return (float)s.NominalFrameRate; },
219 (s,p,l,v) => { s.NominalFrameRate = (int)v; } ),
203 new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame", 220 new ParameterDefn("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
204 2048f, 221 2048f,
205 (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); }, 222 (s,cf,p,v) => { s.m_maxCollisionsPerFrame = cf.GetInt(p, (int)v); },
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 4bed535..73b5764 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -182,9 +182,40 @@ public abstract class BSPhysObject : PhysicsActor
182 protected long CollidingStep { get; set; } 182 protected long CollidingStep { get; set; }
183 // The simulation step that last had a collision with the ground 183 // The simulation step that last had a collision with the ground
184 protected long CollidingGroundStep { get; set; } 184 protected long CollidingGroundStep { get; set; }
185 // The simulation step that last collided with an object
186 protected long CollidingObjectStep { get; set; }
185 // The collision flags we think are set in Bullet 187 // The collision flags we think are set in Bullet
186 protected CollisionFlags CurrentCollisionFlags { get; set; } 188 protected CollisionFlags CurrentCollisionFlags { get; set; }
187 189
190 public override bool IsColliding {
191 get { return (CollidingStep == PhysicsScene.SimulationStep); }
192 set {
193 if (value)
194 CollidingStep = PhysicsScene.SimulationStep;
195 else
196 CollidingStep = 0;
197 }
198 }
199 public override bool CollidingGround {
200 get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
201 set
202 {
203 if (value)
204 CollidingGroundStep = PhysicsScene.SimulationStep;
205 else
206 CollidingGroundStep = 0;
207 }
208 }
209 public override bool CollidingObj {
210 get { return (CollidingObjectStep == PhysicsScene.SimulationStep); }
211 set {
212 if (value)
213 CollidingObjectStep = PhysicsScene.SimulationStep;
214 else
215 CollidingObjectStep = 0;
216 }
217 }
218
188 // The collisions that have been collected this tick 219 // The collisions that have been collected this tick
189 protected CollisionEventUpdate CollisionCollection; 220 protected CollisionEventUpdate CollisionCollection;
190 221
@@ -196,12 +227,16 @@ public abstract class BSPhysObject : PhysicsActor
196 { 227 {
197 bool ret = false; 228 bool ret = false;
198 229
199 // The following lines make IsColliding() and IsCollidingGround() work 230 // The following lines make IsColliding(), CollidingGround() and CollidingObj work
200 CollidingStep = PhysicsScene.SimulationStep; 231 CollidingStep = PhysicsScene.SimulationStep;
201 if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID) 232 if (collidingWith <= PhysicsScene.TerrainManager.HighestTerrainID)
202 { 233 {
203 CollidingGroundStep = PhysicsScene.SimulationStep; 234 CollidingGroundStep = PhysicsScene.SimulationStep;
204 } 235 }
236 else
237 {
238 CollidingObjectStep = PhysicsScene.SimulationStep;
239 }
205 240
206 // prims in the same linkset cannot collide with each other 241 // prims in the same linkset cannot collide with each other
207 if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID)) 242 if (collidee != null && (this.Linkset.LinksetID == collidee.Linkset.LinksetID))
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 159f79f..5f3f0d1 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
@@ -422,24 +425,41 @@ 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
425 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); 428 // The computation of mass props requires gravity to be set on the object.
426 BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); 429 BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
427 430
428 Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); 431 Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
429 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); 432 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
430 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); 433 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
434
431 // center of mass is at the zero of the object 435 // center of mass is at the zero of the object
432 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); 436 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
433 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, Inertia); 437 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld);
434 438
435 if (inWorld) 439 if (inWorld)
436 { 440 {
437 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); 441 AddObjectToPhysicalWorld();
438 } 442 }
443
444 // Must set gravity after it has been added to the world because, for unknown reasons,
445 // adding the object resets the object's gravity to world gravity
446 BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
447
439 } 448 }
440 } 449 }
441 } 450 }
442 451
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
443 // Is this used? 463 // Is this used?
444 public override OMV.Vector3 CenterOfMass 464 public override OMV.Vector3 CenterOfMass
445 { 465 {
@@ -665,7 +685,7 @@ public sealed class BSPrim : BSPhysObject
665 _isPhysical = value; 685 _isPhysical = value;
666 PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate() 686 PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
667 { 687 {
668 // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); 688 DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
669 SetObjectDynamic(true); 689 SetObjectDynamic(true);
670 // 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.
671 ZeroMotion(true); 691 ZeroMotion(true);
@@ -720,22 +740,19 @@ public sealed class BSPrim : BSPhysObject
720 // Make solid or not (do things bounce off or pass through this object). 740 // Make solid or not (do things bounce off or pass through this object).
721 MakeSolid(IsSolid); 741 MakeSolid(IsSolid);
722 742
723 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); 743 AddObjectToPhysicalWorld();
724 744
725 // Rebuild its shape 745 // Rebuild its shape
726 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); 746 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
727 747
728 // Collision filter can be set only when the object is in the world
729 PhysBody.ApplyCollisionMask();
730
731 // Recompute any linkset parameters. 748 // Recompute any linkset parameters.
732 // When going from non-physical to physical, this re-enables the constraints that 749 // When going from non-physical to physical, this re-enables the constraints that
733 // had been automatically disabled when the mass was set to zero. 750 // had been automatically disabled when the mass was set to zero.
734 // For compound based linksets, this enables and disables interactions of the children. 751 // For compound based linksets, this enables and disables interactions of the children.
735 Linkset.Refresh(this); 752 Linkset.Refresh(this);
736 753
737 DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", 754 DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},cType={6},body={7},shape={8}",
738 LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape); 755 LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody.collisionType, PhysBody, PhysShape);
739 } 756 }
740 757
741 // "Making dynamic" means changing to and from static. 758 // "Making dynamic" means changing to and from static.
@@ -876,6 +893,28 @@ public sealed class BSPrim : BSPhysObject
876 } 893 }
877 } 894 }
878 895
896 // Add me to the physical world.
897 // Object MUST NOT already be in the world.
898 // This routine exists because some assorted properties get mangled by adding to the world.
899 internal void AddObjectToPhysicalWorld()
900 {
901 if (PhysBody.HasPhysicalBody)
902 {
903 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
904
905 // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
906 // Replace this when the new AddObjectToWorld function is complete.
907 BulletSimAPI.SetGravity2(PhysBody.ptr, ComputeGravity());
908
909 // Collision filter can be set only when the object is in the world
910 if (!PhysBody.ApplyCollisionMask())
911 {
912 m_log.ErrorFormat("{0} Failed setting object collision mask: id={1}", LogHeader, LocalID);
913 DetailLog("{0},BSPrim.UpdatePhysicalParameters,failedSetMaskGroup,cType={1}", LocalID, PhysBody.collisionType);
914 }
915 }
916 }
917
879 // prims don't fly 918 // prims don't fly
880 public override bool Flying { 919 public override bool Flying {
881 get { return _flying; } 920 get { return _flying; }
@@ -891,18 +930,6 @@ public sealed class BSPrim : BSPhysObject
891 get { return _throttleUpdates; } 930 get { return _throttleUpdates; }
892 set { _throttleUpdates = value; } 931 set { _throttleUpdates = value; }
893 } 932 }
894 public override bool IsColliding {
895 get { return (CollidingStep == PhysicsScene.SimulationStep); }
896 set { _isColliding = value; }
897 }
898 public override bool CollidingGround {
899 get { return (CollidingGroundStep == PhysicsScene.SimulationStep); }
900 set { _collidingGround = value; }
901 }
902 public override bool CollidingObj {
903 get { return _collidingObj; }
904 set { _collidingObj = value; }
905 }
906 public bool IsPhantom { 933 public bool IsPhantom {
907 get { 934 get {
908 // SceneObjectPart removes phantom objects from the physics scene 935 // SceneObjectPart removes phantom objects from the physics scene
@@ -972,6 +999,7 @@ public sealed class BSPrim : BSPhysObject
972 _buoyancy = value; 999 _buoyancy = value;
973 // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); 1000 // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
974 // Force the recalculation of the various inertia,etc variables in the object 1001 // Force the recalculation of the various inertia,etc variables in the object
1002 DetailLog("{0},BSPrim.ForceBuoyancy,buoy={1},mass={2}", LocalID, _buoyancy, _mass);
975 UpdatePhysicalMassProperties(_mass, true); 1003 UpdatePhysicalMassProperties(_mass, true);
976 ActivateIfPhysical(false); 1004 ActivateIfPhysical(false);
977 } 1005 }
@@ -981,12 +1009,12 @@ public sealed class BSPrim : BSPhysObject
981 public override OMV.Vector3 PIDTarget { 1009 public override OMV.Vector3 PIDTarget {
982 set { _PIDTarget = value; } 1010 set { _PIDTarget = value; }
983 } 1011 }
984 public override bool PIDActive {
985 set { _usePID = value; }
986 }
987 public override float PIDTau { 1012 public override float PIDTau {
988 set { _PIDTau = value; } 1013 set { _PIDTau = value; }
989 } 1014 }
1015 public override bool PIDActive {
1016 set { _usePID = value; }
1017 }
990 1018
991 // Used for llSetHoverHeight and maybe vehicle height 1019 // Used for llSetHoverHeight and maybe vehicle height
992 // Hover Height will override MoveTo target's Z 1020 // Hover Height will override MoveTo target's Z
@@ -1010,7 +1038,9 @@ public sealed class BSPrim : BSPhysObject
1010 public override float APIDDamping { set { return; } } 1038 public override float APIDDamping { set { return; } }
1011 1039
1012 public override void AddForce(OMV.Vector3 force, bool pushforce) { 1040 public override void AddForce(OMV.Vector3 force, bool pushforce) {
1013 AddForce(force, pushforce, false); 1041 // Since this force is being applied in only one step, make this a force per second.
1042 OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
1043 AddForce(addForce, pushforce, false);
1014 } 1044 }
1015 // Applying a force just adds this to the total force on the object. 1045 // Applying a force just adds this to the total force on the object.
1016 // This added force will only last the next simulation tick. 1046 // This added force will only last the next simulation tick.
@@ -1018,8 +1048,16 @@ public sealed class BSPrim : BSPhysObject
1018 // for an object, doesn't matter if force is a pushforce or not 1048 // for an object, doesn't matter if force is a pushforce or not
1019 if (force.IsFinite()) 1049 if (force.IsFinite())
1020 { 1050 {
1051 float magnitude = force.Length();
1052 if (magnitude > BSParam.MaxAddForceMagnitude)
1053 {
1054 // Force has a limit
1055 force = force / magnitude * BSParam.MaxAddForceMagnitude;
1056 }
1057
1021 OMV.Vector3 addForce = force; 1058 OMV.Vector3 addForce = force;
1022 DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); 1059 DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
1060
1023 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() 1061 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
1024 { 1062 {
1025 // Bullet adds this central force to the total force for this tick 1063 // Bullet adds this central force to the total force for this tick
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 0022e45..4133107 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -38,15 +38,6 @@ using Nini.Config;
38using log4net; 38using log4net;
39using OpenMetaverse; 39using OpenMetaverse;
40 40
41// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
42// Based on material, set density and friction
43// More efficient memory usage when passing hull information from BSPrim to BulletSim
44// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
45// Implement LockAngularMotion
46// Add PID movement operations. What does ScenePresence.MoveToTarget do?
47// Check terrain size. 128 or 127?
48// Raycast
49//
50namespace OpenSim.Region.Physics.BulletSPlugin 41namespace OpenSim.Region.Physics.BulletSPlugin
51{ 42{
52public sealed class BSScene : PhysicsScene, IPhysicsParameters 43public sealed class BSScene : PhysicsScene, IPhysicsParameters
@@ -83,6 +74,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
83 internal int m_maxSubSteps; 74 internal int m_maxSubSteps;
84 internal float m_fixedTimeStep; 75 internal float m_fixedTimeStep;
85 internal long m_simulationStep = 0; 76 internal long m_simulationStep = 0;
77 internal float NominalFrameRate { get; set; }
86 public long SimulationStep { get { return m_simulationStep; } } 78 public long SimulationStep { get { return m_simulationStep; } }
87 internal int m_taintsToProcessPerStep; 79 internal int m_taintsToProcessPerStep;
88 internal float LastTimeStep { get; private set; } 80 internal float LastTimeStep { get; private set; }
@@ -171,6 +163,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
171 private string m_physicsLoggingPrefix; 163 private string m_physicsLoggingPrefix;
172 private int m_physicsLoggingFileMinutes; 164 private int m_physicsLoggingFileMinutes;
173 private bool m_physicsLoggingDoFlush; 165 private bool m_physicsLoggingDoFlush;
166 private bool m_physicsPhysicalDumpEnabled;
174 // 'true' of the vehicle code is to log lots of details 167 // 'true' of the vehicle code is to log lots of details
175 public bool VehicleLoggingEnabled { get; private set; } 168 public bool VehicleLoggingEnabled { get; private set; }
176 public bool VehiclePhysicalLoggingEnabled { get; private set; } 169 public bool VehiclePhysicalLoggingEnabled { get; private set; }
@@ -276,11 +269,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
276 BSParam.SetParameterConfigurationValues(this, pConfig); 269 BSParam.SetParameterConfigurationValues(this, pConfig);
277 270
278 // Very detailed logging for physics debugging 271 // Very detailed logging for physics debugging
272 // TODO: the boolean values can be moved to the normal parameter processing.
279 m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false); 273 m_physicsLoggingEnabled = pConfig.GetBoolean("PhysicsLoggingEnabled", false);
280 m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", "."); 274 m_physicsLoggingDir = pConfig.GetString("PhysicsLoggingDir", ".");
281 m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-"); 275 m_physicsLoggingPrefix = pConfig.GetString("PhysicsLoggingPrefix", "physics-%REGIONNAME%-");
282 m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5); 276 m_physicsLoggingFileMinutes = pConfig.GetInt("PhysicsLoggingFileMinutes", 5);
283 m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false); 277 m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
278 m_physicsPhysicalDumpEnabled = pConfig.GetBoolean("PhysicsPhysicalDumpEnabled", false);
284 // Very detailed logging for vehicle debugging 279 // Very detailed logging for vehicle debugging
285 VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); 280 VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
286 VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false); 281 VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
@@ -495,6 +490,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
495 490
496 InTaintTime = false; // Only used for debugging so locking is not necessary. 491 InTaintTime = false; // Only used for debugging so locking is not necessary.
497 492
493 // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
494 // Only enable this in a limited test world with few objects.
495 if (m_physicsPhysicalDumpEnabled)
496 BulletSimAPI.DumpAllInfo2(World.ptr);
497
498 // step the physical world one interval 498 // step the physical world one interval
499 m_simulationStep++; 499 m_simulationStep++;
500 int numSubSteps = 0; 500 int numSubSteps = 0;
@@ -592,12 +592,13 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
592 592
593 // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. 593 // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
594 // Only enable this in a limited test world with few objects. 594 // Only enable this in a limited test world with few objects.
595 // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG 595 if (m_physicsPhysicalDumpEnabled)
596 BulletSimAPI.DumpAllInfo2(World.ptr);
596 597
597 // The physics engine returns the number of milliseconds it simulated this call. 598 // The physics engine returns the number of milliseconds it simulated this call.
598 // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. 599 // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
599 // Multiply by 55 to give a nominal frame rate of 55. 600 // Multiply by 55 to give a nominal frame rate of 55.
600 return (float)numSubSteps * m_fixedTimeStep * 1000f * 55f; 601 return (float)numSubSteps * m_fixedTimeStep * 1000f * NominalFrameRate;
601 } 602 }
602 603
603 // Something has collided 604 // Something has collided
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index afe5bca..eb4d039 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -250,20 +250,20 @@ public enum CollisionFilterGroups : uint
250 // filter/mask definition below. This way collision interactions 250 // filter/mask definition below. This way collision interactions
251 // are more easily found and debugged. 251 // are more easily found and debugged.
252 BNoneGroup = 0, 252 BNoneGroup = 0,
253 BDefaultGroup = 1 << 0, 253 BDefaultGroup = 1 << 0, // 0001
254 BStaticGroup = 1 << 1, 254 BStaticGroup = 1 << 1, // 0002
255 BKinematicGroup = 1 << 2, 255 BKinematicGroup = 1 << 2, // 0004
256 BDebrisGroup = 1 << 3, 256 BDebrisGroup = 1 << 3, // 0008
257 BSensorTrigger = 1 << 4, 257 BSensorTrigger = 1 << 4, // 0010
258 BCharacterGroup = 1 << 5, 258 BCharacterGroup = 1 << 5, // 0020
259 BAllGroup = 0xFFFFFFFF, 259 BAllGroup = 0x000FFFFF,
260 // Filter groups defined by BulletSim 260 // Filter groups defined by BulletSim
261 BGroundPlaneGroup = 1 << 10, 261 BGroundPlaneGroup = 1 << 10, // 0400
262 BTerrainGroup = 1 << 11, 262 BTerrainGroup = 1 << 11, // 0800
263 BRaycastGroup = 1 << 12, 263 BRaycastGroup = 1 << 12, // 1000
264 BSolidGroup = 1 << 13, 264 BSolidGroup = 1 << 13, // 2000
265 // BLinksetGroup = xx // a linkset proper is either static or dynamic 265 // BLinksetGroup = xx // a linkset proper is either static or dynamic
266 BLinksetChildGroup = 1 << 14, 266 BLinksetChildGroup = 1 << 14, // 4000
267}; 267};
268 268
269// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0 269// CFM controls the 'hardness' of the constraint. 0=fixed, 0..1=violatable. Default=0
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
index 36d38d4..5ad6746 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimData.cs
@@ -72,12 +72,12 @@ public struct BulletBody
72 public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } } 72 public bool HasPhysicalBody { get { return ptr != IntPtr.Zero; } }
73 73
74 // Apply the specificed collision mask into the physical world 74 // Apply the specificed collision mask into the physical world
75 public void ApplyCollisionMask() 75 public bool ApplyCollisionMask()
76 { 76 {
77 // Should assert the body has been added to the physical world. 77 // Should assert the body has been added to the physical world.
78 // (The collision masks are stored in the collision proxy cache which only exists for 78 // (The collision masks are stored in the collision proxy cache which only exists for
79 // a collision body that is in the world.) 79 // a collision body that is in the world.)
80 BulletSimAPI.SetCollisionGroupMask2(ptr, 80 return BulletSimAPI.SetCollisionGroupMask2(ptr,
81 BulletSimData.CollisionTypeMasks[collisionType].group, 81 BulletSimData.CollisionTypeMasks[collisionType].group,
82 BulletSimData.CollisionTypeMasks[collisionType].mask); 82 BulletSimData.CollisionTypeMasks[collisionType].mask);
83 } 83 }
@@ -207,26 +207,6 @@ public struct CollisionTypeFilterGroup
207 public uint mask; 207 public uint mask;
208}; 208};
209 209
210 /* NOTE: old definitions kept for reference. Delete when things are working.
211 // The collsion filters and masked are defined in one place -- don't want them scattered
212 AvatarGroup = BCharacterGroup,
213 AvatarMask = BAllGroup,
214 ObjectGroup = BSolidGroup,
215 ObjectMask = BAllGroup,
216 StaticObjectGroup = BStaticGroup,
217 StaticObjectMask = AvatarGroup | ObjectGroup, // static things don't interact with much
218 LinksetGroup = BLinksetGroup,
219 LinksetMask = BAllGroup,
220 LinksetChildGroup = BLinksetChildGroup,
221 LinksetChildMask = BNoneGroup, // Linkset children disappear from the world
222 VolumeDetectGroup = BSensorTrigger,
223 VolumeDetectMask = ~BSensorTrigger,
224 TerrainGroup = BTerrainGroup,
225 TerrainMask = BAllGroup & ~BStaticGroup, // static objects on the ground don't collide
226 GroundPlaneGroup = BGroundPlaneGroup,
227 GroundPlaneMask = BAllGroup
228 */
229
230public static class BulletSimData 210public static class BulletSimData
231{ 211{
232 212
@@ -269,8 +249,9 @@ public static Dictionary<CollisionType, CollisionTypeFilterGroup> CollisionTypeM
269 }, 249 },
270 { CollisionType.LinksetChild, 250 { CollisionType.LinksetChild,
271 new CollisionTypeFilterGroup(CollisionType.LinksetChild, 251 new CollisionTypeFilterGroup(CollisionType.LinksetChild,
272 (uint)CollisionFilterGroups.BTerrainGroup, 252 (uint)CollisionFilterGroups.BLinksetChildGroup,
273 (uint)(CollisionFilterGroups.BNoneGroup)) 253 (uint)(CollisionFilterGroups.BNoneGroup))
254 // (uint)(CollisionFilterGroups.BCharacterGroup | CollisionFilterGroups.BSolidGroup))
274 }, 255 },
275}; 256};
276 257
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index 35cb8f3..f805836 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -1,22 +1,22 @@
1CURRENT PRIORITIES 1CURRENT PRIORITIES
2================================================= 2=================================================
3Smooth avatar movement with motor (DONE) 3Redo BulletSimAPI to allow native C# implementation of Bullet option.
4 Should motor update be all at taint-time? (Yes, DONE) 4Avatar movement
5 Fix avatar slowly sliding when standing (zero motion when stopped) 5 flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle
6llApplyImpulse() 6 walking up stairs is not calibrated correctly (stairs out of Kepler cabin)
7 Compare mass/movement in OS and SL. Calibrate actions. 7 avatar capsule rotation completed
8llSetBuoyancy() 8llMoveToTarget
9Boats float low in the water
10Enable vehicle border crossings (at least as poorly as ODE) 9Enable vehicle border crossings (at least as poorly as ODE)
11 Terrain skirts 10 Terrain skirts
12 Avatar created in previous region and not new region when crossing border 11 Avatar created in previous region and not new region when crossing border
13 Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) 12 Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
14Add material densities to the material types.
15Vehicle movement on terrain smoothness 13Vehicle movement on terrain smoothness
16Vehicle script tuning/debugging 14Vehicle script tuning/debugging
17 Avanti speed script 15 Avanti speed script
18 Weapon shooter script 16 Weapon shooter script
19limitMotorUp calibration (more down?) 17limitMotorUp calibration (more down?)
18Boats float low in the water
19Add material densities to the material types.
20 20
21CRASHES 21CRASHES
22================================================= 22=================================================
@@ -35,6 +35,8 @@ Border crossing with linked vehicle causes crash
35Vehicles (Move smoothly) 35Vehicles (Move smoothly)
36Add vehicle collisions so IsColliding is properly reported. 36Add vehicle collisions so IsColliding is properly reported.
37 Needed for banking, limitMotorUp, movementLimiting, ... 37 Needed for banking, limitMotorUp, movementLimiting, ...
38VehicleAddForce is not scaled by the simulation step but it is only
39 applied for one step. Should it be scaled?
38Some vehicles should not be able to turn if no speed or off ground. 40Some vehicles should not be able to turn if no speed or off ground.
39Cannot edit/move a vehicle being ridden: it jumps back to the origional position. 41Cannot edit/move a vehicle being ridden: it jumps back to the origional position.
40Neb car jiggling left and right 42Neb car jiggling left and right
@@ -58,7 +60,6 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
58 60
59BULLETSIM TODO LIST: 61BULLETSIM TODO LIST:
60================================================= 62=================================================
61In SL, perfect spheres don't seem to have rolling friction. Add special case.
62Avatar density is WAY off. Compare and calibrate with what's in SL. 63Avatar density is WAY off. Compare and calibrate with what's in SL.
63Revisit CollisionMargin. Builders notice the 0.04 spacing between prims. 64Revisit CollisionMargin. Builders notice the 0.04 spacing between prims.
64Duplicating a physical prim causes old prim to jump away 65Duplicating a physical prim causes old prim to jump away
@@ -93,6 +94,9 @@ Should the different PID factors have non-equal contributions for different
93Selecting and deselecting physical objects causes CPU processing time to jump 94Selecting and deselecting physical objects causes CPU processing time to jump
94 http://www.youtube.com/watch?v=Hjg57fWg8yI&hd=1 95 http://www.youtube.com/watch?v=Hjg57fWg8yI&hd=1
95 put thousand physical objects, select and deselect same. CPU time will be large. 96 put thousand physical objects, select and deselect same. CPU time will be large.
97Re-implement buoyancy as a separate force on the object rather than diddling gravity.
98 Register a pre-step event to add the force.
99More efficient memory usage when passing hull information from BSPrim to BulletSim
96 100
97LINKSETS 101LINKSETS
98====================================================== 102======================================================
@@ -146,6 +150,8 @@ Is there are more efficient method of implementing pre and post step actions?
146 See http://www.codeproject.com/Articles/29922/Weak-Events-in-C 150 See http://www.codeproject.com/Articles/29922/Weak-Events-in-C
147 151
148Physics Arena central pyramid: why is one side permiable? 152Physics Arena central pyramid: why is one side permiable?
153
154In SL, perfect spheres don't seem to have rolling friction. Add special case.
149Enforce physical parameter min/max: 155Enforce physical parameter min/max:
150 Gravity: [-1, 28] 156 Gravity: [-1, 28]
151 Friction: [0, 255] 157 Friction: [0, 255]
@@ -188,6 +194,7 @@ Should taints check for existance or activeness of target?
188 actually gone when the taint happens. Crashes don't happen because the taint closure 194 actually gone when the taint happens. Crashes don't happen because the taint closure
189 keeps the object from being freed, but that is just an accident. 195 keeps the object from being freed, but that is just an accident.
190 Possibly have and 'active' flag that is checked by the taint processor? 196 Possibly have and 'active' flag that is checked by the taint processor?
197Parameters for physics logging should be moved from BSScene to BSParam (at least boolean ones)
191 198
192THREADING 199THREADING
193================================================= 200=================================================
@@ -237,3 +244,12 @@ Should vehicle angular/linear movement friction happen after all the components
237 What is expected by some vehicles (turning up friction to moderate speed)) 244 What is expected by some vehicles (turning up friction to moderate speed))
238Tune terrain/object friction to be closer to SL. 245Tune terrain/object friction to be closer to SL.
239 (Resolution: added material type with friction and resolution) 246 (Resolution: added material type with friction and resolution)
247Smooth avatar movement with motor (DONE)
248 Should motor update be all at taint-time? (Yes, DONE)
249 Fix avatar slowly sliding when standing (zero motion when stopped) (DONE)
250 (Resolution: added BSVMotor for avatar starting and stopping)
251llApplyImpulse()
252 Compare mass/movement in OS and SL. Calibrate actions. (DONE)
253 (Resolution: tested on SL and OS. AddForce scales the force for timestep)
254llSetBuoyancy() (DONE)
255 (Resolution: Bullet resets object gravity when added to world. Moved set gravity)
generated by cgit v1.1 at 2024-12-14 03:15:32 +0000