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Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs94
1 files changed, 66 insertions, 28 deletions
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