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path: root/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs (unfollow)
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2013-01-31BulletSim: make sure vehicle physical properties are set when goingRobert Adams1-16/+14
physical by delaying setting until pre-step time. Change vehicle.Refresh() to schedule the pre-step setting. Comments and updating of TODO list.
2013-01-28BulletSim: enable angular vertical attraction.Robert Adams1-2/+2
Increase terrain collision margin to help vehicles from tunneling into same.
2013-01-28BulletSim: first unit test: vehicle angular attractionRobert Adams1-6/+6
2013-01-27BulletSim: simplify the initialization of some of the parameters.Robert Adams1-6/+13
Disable vertical attraction for vehicles by default (for the moment). Fix bug where vehicle would go crazy when velocity got above a certain speed.
2013-01-27BulletSim: parameterize the value for gravity reduction for ground vehicles ↵Robert Adams1-7/+8
on the ground. Set defaults for vehicle factors to one. Debug logging changes.
2013-01-27BulletSim: first attempt at reporting top collidersRobert Adams1-4/+6
2013-01-27BulletSim: parameterize several vehicle debugging values: physical linear ↵Robert Adams1-7/+5
and angular force factors now default to less than 1 (0.2) vehicle friction and restitution now default to low values
2013-01-27BulletSim: finish the post step event for physical object actions. Modify ↵Robert Adams1-3/+11
vehicle to use post step event for logging.
2013-01-24BulletSim: reduce the force of gravity on ground vehicles when theyRobert Adams1-0/+11
are on the ground. Makes them a little more stable.
2013-01-24BulletSim: reduce the zeroing threshold for rotational velocity.Robert Adams1-3/+1
Sometimes settling of a vehicle from gravity introduces small velocities that need to be kept.
2013-01-23BulletSim: remove setting of vehicle InterpolationRotationalVelocity.Robert Adams1-34/+32
This doesn't seem to help the vehicle stability. Rename vehicle internal variables adding a "V" or "W" so it is clear when coordinates are vehicle or world relative.
2013-01-21BulletSim: Tweeks to vehicle motion.Robert Adams1-13/+8
Pass through old angular velocity making for smoother transitions. Remove some old kludges for angular motion (damping and rotvel suppression).
2013-01-20BulletSim: More aggressive as setting character velocity to zeroRobert Adams1-72/+71
when should be standing. Modify angular force routines to be the same pattern as linear force routines. BulletSim vehicle turning is scaled like SL and is DIFFERENT THAN ODE!! Fix some bugs in BSMotor dealing with the motor going to zero. Add a bunch of parameters: MaxLinearVelocity, MaxAngularVelocity, MaxAddForceMagnitude, VehicleMaxLinearVelocity, VehicleMaxAngularVelocity, and most of the values are defaulted to values that are larger than in SL. Use the new parameters in BSPrim, BSCharacter and BSDynamic.
2013-01-20BulletSim: small fix making sure terrain height is calculatedRobert Adams1-1/+3
properly if the vehicle moves during vehicle actions.
2013-01-20BulletSim: modify motors to return correction rather than current valueRobert Adams1-27/+14
to better use them for incremental updates. Modify prim and character to use the new motors. Simplify the vehicle linear movement code to just update the velocity directly or the basic movement.
2013-01-17BulletSim: Add one function that all actors who act on the physicalRobert Adams1-1/+2
can use to know if the object is currently active. Code cleaning including use of Util.ClampV function.
2013-01-15BulletSim: don't modify angular parameters when doing LIMIT_MOTOR_UP.Robert Adams1-6/+6
It was a dumb idea to try and do a nose over feature for jumping cars anyway. Add better logging of native shape creation/reuse so can tell the difference.
2013-01-15BulletSim: tweeks to improve hover.Robert Adams1-5/+21
2013-01-15BulletSim: temporarily disable banking and direction deflectionRobert Adams1-8/+24
because the computations are wrong. Add VehicleTorqueImpulse routines.
2013-01-11BulletSim: move center of gravity of linkset to its geometric center.Robert Adams1-7/+6
Necessitated allowing simulator and physical position of a body to get out of sync since Bullet assumes that <0,0,0> is the center of mass. Update DLLs and SOs for the UpdateChildTransform so positions of individual prim in a linkset can be implemented.
2013-01-11BulletSim: Add IsSelected attribute to physical objects. Have vehicles check ↵Robert Adams1-30/+96
to see if physical before trying to step. Replace vehicle gravity application. Previously relying on Bullet to apply gravity but since vehicles over-ride the velocity calculation, gravity never had a chance to accelerate the body down. Added AddForceImpulse as well as AddForce for those who need to apply immediate velocity updates. Use the impulse to apply the linear motion.
2013-01-11BulletSim: Redo linear function coding so they can better interact. New ↵Robert Adams1-62/+85
algorithm for limitMotorUp that relies on going up when not colliding rather than distance from ground. Add parameter for turning on and off embedded source vehicle debugging.
2013-01-11BulletSim: remove double application of buoyancy. Centralize computation of ↵Robert Adams1-19/+23
buoyancy. Add motor angular debugging controls.
2013-01-08BulletSim: Fix hover height (boats float at the correct level).Robert Adams1-6/+10
Fix problem of vehicles going crazy when backing up.
2013-01-07BulletSim: improve vehicle angular banking and deflection computation. ↵Robert Adams1-19/+18
Rotate angular correction forces to be world relative rather than vehicle relative.
2013-01-06BulletSim: update DLLs and SOs with better debugging output.Robert Adams1-1/+3
Add definition of hand crafted avatar mesh. Not used yet. Comments and cleanup.
2012-12-31BulletSim: complete movement of BulletSimAPI functions to BSAPITemplate.Robert Adams1-2/+2
Update BulletSim DLLs and SOs with simplier step function interface.
2012-12-31BulletSim: nearly complete in conversion from BulletSimAPI to BSAPITemplate. ↵Robert Adams1-6/+6
Only initialization and debug fuctions left.
2012-12-31BulletSim: another round of conversion: dynamics world and collision object ↵Robert Adams1-5/+5
functions.
2012-12-27BulletSim: Parameterize nominal frame rate (55) and add parameters to ↵Robert Adams1-0/+6
dynamially turn on/off detailed, unmanaged data dumping of prims and vehicles.
2012-12-21BulletSim: repair vehicle problems introduced in previous 'improvements'. ↵Robert Adams1-9/+28
Fix line endings in BSParams.
2012-12-21BulletSim: Move all the parameter variables, tables and get and fetch logic ↵Robert Adams1-1/+1
to a separate, static class for easier addition and to remove all that bulk from the BSScene class.
2012-12-20BulletSim: fix incorrectly defined property changed flag.Robert Adams1-3/+1
2012-12-20BulletSim: replace use of funky nullable values for vehicle property update ↵Robert Adams1-26/+43
control (m_known* stuff). Bitmaps will be quicker to test and to clear.
2012-12-20BulletSim: angularMotorUp working again (seems a little slow as it takes ↵Robert Adams1-21/+44
longer than timescale to correct, but getting better). Disabled angularDeflection (need to resolve interactions between angular corrections). Update TODO list.
2012-12-18BulletSim: improve angularVerticalAttraction calculation to compute angular ↵Robert Adams1-18/+15
correction velocity rather than estimating correction (excuse to use trig functions).
2012-12-25BulletSim: make llBuoyancy work. For some reason, Bullet resets anRobert Adams1-0/+3
object's individual gravity to the world gravity when the object is added to the physical world.
2012-12-17BulletSim: apply friction to linear and angular motion before returning ↵Robert Adams1-6/+0
advanced motor value. This seems to be the problem with BulletSim vehicles turning too quickly. Also removed the configuration parameter that controlled the timestep scaling kludge for angular velocity that was added to research the question of quick turning.
2012-12-17BulletSim: fix vehicles going underground when unsat. Problem was that, when ↵Robert Adams1-20/+23
doing unsit, the order of operations on the prims and the vehicle is very chaotic and not in a good order so the root prim was being left physical and thus it fell for a bit. Also changed default of velocity scaling to be closer to the movement standard.
2012-12-16BulletSim: fix vehicles being shot in the air at border crossings because of ↵Robert Adams1-2/+5
mis-application of correction to postion for below groundness.
2012-12-11BulletSim: modify LIMIT_MOTOR_UP to limit BOAT types to be at water rather ↵Robert Adams1-2/+2
than ground level. This makes boats float at water level better but not perfectly. There probably needs to be some interaction between HOVER and LIMIT_MOTOR_UP.
2012-12-11BulletSim: add ini file and command line parameters to controlRobert Adams1-3/+6
dumping of physical vehicle parameters (out of Bullet) on each simulation step and to optionally scale vehicle angular velocity by the time step. The latter looks to be part of a difference between angular parameters for ODE and BulletSim. SL docs say angular velocity is measured in radians/timeScale. Not sure if this is different than what ODE does.
2012-12-10BulletSim: comment out some chatty debug logging. Rearrange some code in ↵Robert Adams1-3/+5
BSDynamics to make velocity vs force calculation clearer.
2012-12-06BulletSim: rewrite and improve vehicle angularDeflection, verticalAttraction,Robert Adams1-83/+129
linearMotorUp and related vehicle forces. Fixed problems with downward vehicle position correction forces being too large. Add vehicle collision flag so can sense whether vehicle is on the ground.
2012-12-06BulletSim: Don't add gravity to down force -- let Bullet do that. Add ↵Robert Adams1-14/+28
VehicleAddForce to set of managed vehicle prim properties.
2012-12-06BulletSim: Vehicle angular vertical attraction works. Other vehicle angular ↵Robert Adams1-20/+35
forces commented out for the moment for debugging.
2012-12-03BulletSim: Reduce idle region physics overhead where there are MANYRobert Adams1-35/+46
static objects by more restrictive selection of objects that collide with static objects. Rename collision mask fuctions from 'filter' to 'group' so it is clear what is being set. Rename BulletSimAPI.SetCollisionFilterMask() to SetCollisionGroupMask to match above. Restore passing of time step to linear and angular motion component routines. Use buffering vehicle physical parameter get/set routines consistantly. Make range enforcement clearer by using ClampInRange() function for parameter setting. Remove commented out experimental vehicle calculations.
2012-12-03BulletSim: rework angular corrections to remove any hybrid code and compute ↵Robert Adams1-107/+97
absolute collections.
2012-12-03BulletSim: revert angular vertical attraction from motor to code. The motor ↵Robert Adams1-47/+19
code did not return the restoring difference but the current value. Remove unused commented out code.
2012-12-03BulletSim: format vehicle detail logging messages so vehicle changs are ↵Robert Adams1-14/+14
grouped better in the log output.
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