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path: root/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs (unfollow)
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2012-12-31BulletSim: nearly complete in conversion from BulletSimAPI to BSAPITemplate. ↵Robert Adams1-9/+2
Only initialization and debug fuctions left.
2012-12-31BulletSim: remove all the debug printing of pointer formatting ↵Robert Adams1-8/+8
(.ToString(X)) and replace it with a method on BulletBody, BulletShape, ...
2012-12-31BulletSim: change physical data structures to classes. Add defaultRobert Adams1-6/+9
instantiations for PhysBody and PhysShape when BSPhysObject is created to account for them being classes and not structures. Update TODO list.
2012-12-24BulletSim: Fix single physical prim reporting its mass as zero.Robert Adams1-2/+4
Properly return root mass as mass of just the root prim rather than the mass of the linkset. SOG has the logic to add the masses together to get the linkset mass. Update TODO list.
2012-12-21BulletSim: Move all the parameter variables, tables and get and fetch logic ↵Robert Adams1-7/+7
to a separate, static class for easier addition and to remove all that bulk from the BSScene class.
2012-12-16BulletSim: add parameter to UpdateProperties call into the linkset so ↵Robert Adams1-1/+1
changes from the physics engine can be differentiated from changes made by the user. This eliminates a linkset rebuild loop. Also add logic to not rebuild or freak out when the object/linkset crosses a terrain boundry.
2012-12-16BulletSim: rip out old code for linkset child position fetching. BulletSim ↵Robert Adams1-12/+0
doesn't need to do that bookkeeping because SOG/SOP already does it.
2012-12-13BulletSim: fix problem with continuious rebuilding of physical linksets. ↵Robert Adams1-2/+1
This caused movement problems and large prim vehicles to take up a LOT of simulation time.
2012-11-06BulletSim: Add ZeroAngularMotion method to physical objects. Add inTaint ↵Robert Adams1-1/+1
flag to ZeroMotion method. Update the references to those functions.
2012-11-03BulletSim: search the mesh and hull lists to find shapes if type is not ↵Robert Adams1-1/+1
known. This makes sure the correct accounting is done for the particular shape.
2012-11-03BulletSim: debugging of compound shape implementation of linksets.Robert Adams1-0/+12
Add compound shape creation and freeing in shape manager. Add optional taint-time execution method and update code to use it. Add API2 linkage for more compound shape methods (get num, get/remove by index, ...) Modify perferred shape return so linkset children can have differet shapes than root. Add Position and Orientation calls to linksets so children can be moved around by the linkset by its own calculation. Allows for very general linkset implementations.
2012-11-03BulletSim: rename BSBody and BSShape to PhysBody and PhysShape. Add skeleton ↵Robert Adams1-27/+13
of BSLinksetCompound.
2012-11-03BulletSim: vehicle tweeking.Robert Adams1-1/+1
Add AddTorque() method to BSPrim. Remove some manual motor actions in computing angular force (will eventually be replaced with motor class). Remove some experimental changes.
2012-11-03BulletSim: remove center-of-mass setting for linksets because it causes the ↵Robert Adams1-49/+30
constraint calculation to pull the objects together.
2012-11-03BulletSim: Use the PostTaints operation to build the linkset once before the ↵Robert Adams1-92/+48
next simulation step. This eliminates the management of children vs taintChildren and simplifies the constratin creation code.
2012-11-03BulletSim: Use Refresh/PostTaints to cause recomputing of constraint ↵Robert Adams1-29/+36
variables before the simulation step. Update logging and messages to properly name LinksetConstraints. Use UpdatePhysicalMassProperties to put the whole linkset mass into all the physical linkset members so they have the inertia to move the whole linkset.
2012-11-03BulletSim: rename constraint classes so they show up together alphabetically.Robert Adams1-1/+1
2012-11-03BulletSim: Add banking and other new code to vechile dynamics. Add third ↵Robert Adams1-1/+1
party license and contributor in for for Aurora-Sim project for physics code.
2012-10-22BulletSim: fix bug that caused error (and a crash on 32 bit Linux) when mesh ↵Robert Adams1-15/+4
assets weren't already in the cache. Comment cleanups.
2012-10-22BulletSim: remove trailing spaces to make git happy.Robert Adams1-5/+5
2012-10-22BulletSim: Create LinkSet abstract class and sparate constraint based ↵Robert Adams1-193/+14
linksets into own subclass. Will eventually add manual movement linkset subclass.
2012-10-11BulletSim: Use full linkset mass when computing vehicle gravity force. Add ↵Robert Adams1-6/+3
taint-time specification to new AddForce().
2012-10-11BulletSim: cosmetic changes (comments and renaming). Give mass to terrain to ↵Robert Adams1-18/+37
improve interactions.
2012-10-11BulletSim: Fix crash when linking large physical linksets.Robert Adams1-74/+63
Properly remove and restore linkage constraints when upgrading a prim's mesh to a hull. Lots more debug logging. Definitions and use of Bullet structure dumping. Centralize detail logging so a Flush() can be added for debugging.
2012-10-02BulletSim: Fix linkset problem where delayed manipulations of child objects ↵Robert Adams1-10/+8
was using the child shape address at call time rather than the one created at taint time.
2012-10-02BulletSim: remove warnings for unused variables.Robert Adams1-1/+1
2012-09-27BulletSim: add separate runtime and taint-time linkset children lists to ↵Robert Adams1-67/+78
keep the creation of constraints separate from runtime.
2012-09-27BulletSim: rename some constraint variables to be consistant with other name ↵Robert Adams1-65/+117
use. Added callbacks for shape and body changes in GetBodyAndShape() so the linkset constraints can be picked up and restored. A better design might be to have a "prim shape changed" event. Think about that. Added constraint types to general constraint class.
2012-09-27BulletSim: remove the trailing spaces from lines to make git happierRobert Adams1-15/+15
2012-09-27BulletSim: Fix linkset crash. Caused by the different body and shapeRobert Adams1-15/+60
pointers at runtime and at taint-time. Now passes the body into the taint. Vehicles zero inertia when active to eliminate Bullet's contribution to vehicle motion.
2012-09-27BulletSim: renamed members of BulletShape, BulletSim and BulletBodyRobert Adams1-3/+3
so the members case is consistant. Caused modifications everywhere. New logic in BSShapeCollection to track use and sharing of shapes. I just reslized, though, that shapes cannot be shared because the shape's UserPointer is the localID of the prim and is required for tracking collisions. More changes coming. Added DuplicateCollisionShape2() to API and changed BuildNativeShape2 to take a ShapeData structure so don't have to pass so many parameters. This matches the latest version of BulletSim.dll. Additions and removal of DetailLog() statements for debugging.
2012-09-27BulletSim: Convert BSCharacter to use common BSPhysObject code and variables.Robert Adams1-11/+17
Fix avatar height calculation to properly account for the capsule ends. Rearrange some locking in TerrainManager to eliminate possible race conditions. Move DetailLog() definition into common BSPhysObject class. Some variable renaming to make usage clearer (refactor.rename makes this so easy).
2012-09-27BulletSim: move a bunch of common logic out of BSPrim and BSCharacterRobert Adams1-22/+20
and into the parent class BSPhysObject. Rework collision logic to enable extra collision after done colliding. Rename 'Scene' to 'PhysicsScene' to differentiate it from the simulator 'Scene'.
2012-09-15BulletSim: set all linkset objects center of mass to the whole linkset's ↵Robert Adams1-2/+15
center of mass
2012-09-15BulletSim: Add calls to linkset class when object going static or dynamic.Robert Adams1-2/+18
Reset center of mass on an object when going dynamic.
2012-09-15BulletSim: Way too many changes in one commit.Robert Adams1-7/+25
Many changes to BSDynamic for readability and commentary. Linkset hacking for vehicles: don't over mass the root prim. Add parameter for link constraint solver iterations. Correct uses of timestep in timescale calculations for vehicles. Reorganize code/logic for making objects static and dynamic for readability and use of API2. Changed most calls in BSPrim to use API2 calls (the new way). Avatars do not generate default Bullet collision events but do call up to the simulator for every avatar. Reduces overhead. Objects added to collision list only if they are processing collisions. Reduces overhead especially for large numbers of avatars. Generalize call for water height to GetWaterHeightAtXYZ(). Catch and correct exception getting terrain height when out of bounds. Correct race condition in Terrain Manager where creation wasn't at taint-time. Add API calls for constructing compound shapes. Move NeedsMeshing() logic into object class. Reorganize logic for object meshing to reduce rebuilding of meshs/hulls.
2012-09-07BulletSim: Add Bullet body and shape to BSPhysObject and renameRobert Adams1-5/+5
'Body' to 'BSBody' for disambiguation when reading code. Complete the API2 interface so nearly all methods on bullet classes are available to the managed code. The efficient single call simulation step is kept in place while all other creation/destruction/parameterization can be done in the managed code.
2012-09-07BulletSim: Add some comments (gasp) and log messages.Robert Adams1-2/+2
2012-08-31BulletSim: unify physical objects under BSPhysObjects. Now BSScene and ↵Robert Adams1-25/+25
BSLinkset only know of BSPhysObject's and there is only one list to search in BSScene.
2012-08-17BulletSim: restore most of the Detail logging statements. Will haveRobert Adams1-4/+4
no effect on non-logging running. Capture region name that is passed to the physics engine and use it for detail logging file name prefix. Fix problem with avatars dropping when flying across region boundries.
2012-08-17BulletSim: add parameters and functionality to specify the meshRobert Adams1-14/+0
level of detail for large meshes. Remove parameter and code for DetailLog (conditional logging into regular log file).
2012-08-15BulletSim: make it so objects in a linkset do not generate collisions with ↵Robert Adams1-0/+7
each other.
2012-08-15BulletSim: add locking to constraintCollection and rename some of the public ↵Robert Adams1-98/+152
method variables to reduce confusion between a physics scene and the real scene.
2012-08-10BulletSim: many, many detailed logging messages for physical linksetRobert Adams1-7/+7
debugging. Linkset bugs fixed where accounting of children would get lost. Moved scene based vehicle tracking logic from prim to the scene. Added GetCollisionFlags2 method to BulletSimAPI. Updated DLLs and SOs.
2012-08-10BulletSim: Add module names to DetailLog output. Fix some problems with ↵Robert Adams1-30/+27
linksets that were caused by checking data structures that are changed regularly from taint time code -- resulted in linksets not being unlinked properly.
2012-08-09BulletSim: add an identifier to the TaintObject call so exceptions that ↵Robert Adams1-2/+2
happen when the taint is invoked can be debugged
2012-08-09BulletSim: separate out the constraints by type. The linksets useRobert Adams1-11/+27
6dof constraint but eventually others will be exposed so future features can use all the Bullet capabilities. Force children to generate a position update when unlinked.
2012-08-08BulletSim: add avatar code to keep avatars from ending up trapped under the ↵Robert Adams1-6/+7
terrain
2012-07-31BulletSim: add parameters and API calls for setting ERP and CFM.Robert Adams1-6/+50
Set ERP and CFM in linkset constraints. Reorder rebuilding of object bodies so they are not rebuilt everytime something is linked and unlinked.
2012-07-26BulletSim: fix a recursive loop when fetching the mass of the root of a linkset.Robert Adams1-3/+3
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