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path: root/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs (follow)
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* BulletSim: reduce the force of gravity on ground vehicles when theyRobert Adams2013-01-241-0/+11
| | | | are on the ground. Makes them a little more stable.
* BulletSim: reduce the zeroing threshold for rotational velocity.Robert Adams2013-01-241-3/+1
| | | | | Sometimes settling of a vehicle from gravity introduces small velocities that need to be kept.
* BulletSim: remove setting of vehicle InterpolationRotationalVelocity.Robert Adams2013-01-231-34/+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.
* BulletSim: Tweeks to vehicle motion.Robert Adams2013-01-211-13/+8
| | | | | Pass through old angular velocity making for smoother transitions. Remove some old kludges for angular motion (damping and rotvel suppression).
* BulletSim: More aggressive as setting character velocity to zeroRobert Adams2013-01-201-72/+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.
* BulletSim: small fix making sure terrain height is calculatedRobert Adams2013-01-201-1/+3
| | | | properly if the vehicle moves during vehicle actions.
* BulletSim: modify motors to return correction rather than current valueRobert Adams2013-01-201-27/+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.
* BulletSim: Add one function that all actors who act on the physicalRobert Adams2013-01-171-1/+2
| | | | | can use to know if the object is currently active. Code cleaning including use of Util.ClampV function.
* BulletSim: don't modify angular parameters when doing LIMIT_MOTOR_UP.Robert Adams2013-01-151-6/+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.
* BulletSim: tweeks to improve hover.Robert Adams2013-01-151-5/+21
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* BulletSim: temporarily disable banking and direction deflectionRobert Adams2013-01-151-8/+24
| | | | | because the computations are wrong. Add VehicleTorqueImpulse routines.
* BulletSim: move center of gravity of linkset to its geometric center.Robert Adams2013-01-111-7/+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.
* BulletSim: Add IsSelected attribute to physical objects. Have vehicles check ↵Robert Adams2013-01-111-30/+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.
* BulletSim: Redo linear function coding so they can better interact. New ↵Robert Adams2013-01-111-62/+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.
* BulletSim: remove double application of buoyancy. Centralize computation of ↵Robert Adams2013-01-111-19/+23
| | | | buoyancy. Add motor angular debugging controls.
* BulletSim: Fix hover height (boats float at the correct level).Robert Adams2013-01-081-6/+10
| | | | Fix problem of vehicles going crazy when backing up.
* BulletSim: improve vehicle angular banking and deflection computation. ↵Robert Adams2013-01-071-19/+18
| | | | Rotate angular correction forces to be world relative rather than vehicle relative.
* BulletSim: update DLLs and SOs with better debugging output.Robert Adams2013-01-061-1/+3
| | | | | Add definition of hand crafted avatar mesh. Not used yet. Comments and cleanup.
* BulletSim: complete movement of BulletSimAPI functions to BSAPITemplate.Robert Adams2012-12-311-2/+2
| | | | Update BulletSim DLLs and SOs with simplier step function interface.
* BulletSim: nearly complete in conversion from BulletSimAPI to BSAPITemplate. ↵Robert Adams2012-12-311-6/+6
| | | | Only initialization and debug fuctions left.
* BulletSim: another round of conversion: dynamics world and collision object ↵Robert Adams2012-12-311-5/+5
| | | | functions.
* BulletSim: Parameterize nominal frame rate (55) and add parameters to ↵Robert Adams2012-12-271-0/+6
| | | | dynamially turn on/off detailed, unmanaged data dumping of prims and vehicles.
* BulletSim: make llBuoyancy work. For some reason, Bullet resets anRobert Adams2012-12-251-0/+3
| | | | | object's individual gravity to the world gravity when the object is added to the physical world.
* BulletSim: repair vehicle problems introduced in previous 'improvements'. ↵Robert Adams2012-12-211-9/+28
| | | | Fix line endings in BSParams.
* BulletSim: Move all the parameter variables, tables and get and fetch logic ↵Robert Adams2012-12-211-1/+1
| | | | to a separate, static class for easier addition and to remove all that bulk from the BSScene class.
* BulletSim: fix incorrectly defined property changed flag.Robert Adams2012-12-201-3/+1
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* BulletSim: replace use of funky nullable values for vehicle property update ↵Robert Adams2012-12-201-26/+43
| | | | control (m_known* stuff). Bitmaps will be quicker to test and to clear.
* BulletSim: angularMotorUp working again (seems a little slow as it takes ↵Robert Adams2012-12-201-21/+44
| | | | longer than timescale to correct, but getting better). Disabled angularDeflection (need to resolve interactions between angular corrections). Update TODO list.
* BulletSim: improve angularVerticalAttraction calculation to compute angular ↵Robert Adams2012-12-181-18/+15
| | | | correction velocity rather than estimating correction (excuse to use trig functions).
* BulletSim: apply friction to linear and angular motion before returning ↵Robert Adams2012-12-171-6/+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.
* BulletSim: fix vehicles going underground when unsat. Problem was that, when ↵Robert Adams2012-12-171-20/+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.
* BulletSim: fix vehicles being shot in the air at border crossings because of ↵Robert Adams2012-12-161-2/+5
| | | | mis-application of correction to postion for below groundness.
* BulletSim: modify LIMIT_MOTOR_UP to limit BOAT types to be at water rather ↵Robert Adams2012-12-111-2/+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.
* BulletSim: add ini file and command line parameters to controlRobert Adams2012-12-111-3/+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.
* BulletSim: comment out some chatty debug logging. Rearrange some code in ↵Robert Adams2012-12-101-3/+5
| | | | BSDynamics to make velocity vs force calculation clearer.
* BulletSim: rewrite and improve vehicle angularDeflection, verticalAttraction,Robert Adams2012-12-061-83/+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.
* BulletSim: Don't add gravity to down force -- let Bullet do that. Add ↵Robert Adams2012-12-061-14/+28
| | | | VehicleAddForce to set of managed vehicle prim properties.
* BulletSim: Vehicle angular vertical attraction works. Other vehicle angular ↵Robert Adams2012-12-061-20/+35
| | | | forces commented out for the moment for debugging.
* BulletSim: Reduce idle region physics overhead where there are MANYRobert Adams2012-12-031-35/+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.
* BulletSim: rework angular corrections to remove any hybrid code and compute ↵Robert Adams2012-12-031-107/+97
| | | | absolute collections.
* BulletSim: revert angular vertical attraction from motor to code. The motor ↵Robert Adams2012-12-031-47/+19
| | | | code did not return the restoring difference but the current value. Remove unused commented out code.
* BulletSim: format vehicle detail logging messages so vehicle changs are ↵Robert Adams2012-12-031-14/+14
| | | | grouped better in the log output.
* BulletSim: localize vehicle property setting so the vehicle prim is only ↵Robert Adams2012-12-031-33/+128
| | | | updated at the end of the vehicle simulation step and the push of the physics property update event only happens if the properties are actually changed.
* BulletSim: Add DumpActivationInfo2 function. Change static objects from ↵Robert Adams2012-12-011-6/+6
| | | | DISABLE_SIMULATION to ISLAND_SLEEPING. Update DLLs and SOs to add DumpActivationInfo2 function.
* BulletSim: remove time scaling of computed vehicle absolute velocity since ↵Robert Adams2012-11-291-37/+61
| | | | Bullet will scale the movement by the time slice. Restore LIMIT_MOTOR_UP to definitition of BOAT simce some vehicle engines use it even for land vehicles. Push vehicle parameter updates through the regular property update to solve vehicles floating off when they should be stopped.
* BulletSim: add copyright header where it is missing. Remove some unnecessary ↵Robert Adams2012-11-291-2/+0
| | | | 'using' requirements so testing framework is less complicated.
* BulletSim: reverse direction of hover correction. Removes problem with ↵Robert Adams2012-11-291-8/+8
| | | | vehicles being orbited.
* BulletSim: fix boats floating low by removing LIMIT_MOTOR_UP flag from ↵Robert Adams2012-11-281-3/+15
| | | | TYPE_BOAT definition.
* BulletSim: move GetWaterLevelAtXYZ from BSScene to BSPhysTerrain.Robert Adams2012-11-281-4/+6
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* BulletSim: reorganize linear movement routine into separate subroutines ↵Robert Adams2012-11-271-58/+79
| | | | enabling external calibration routines and unit tests.
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