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without rebuilding the whole compound shape. Should make vehicles move
smoother.
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OpenSimulator is VERY sensitive to changes in avatar velocity and
will send an avatar update message when velocity changes more than
0.001m/s. This significantly reduces the number of avatar update messages by
smoothing the avatar velocity returned by Bullet.
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can use to know if the object is currently active.
Code cleaning including use of Util.ClampV function.
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Add locking on register prestep action list preventing potential race conditions.
Little comment and formatting changes.
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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.
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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.
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It looks like BulletSim and ODE rely on penetration correction to cause
the avatar to move up and thus allowing walking up stairs. Object
penetration was minimized for walking and flying (so one doesn't go
through walls) and this stopped stairs from working. This commit
introduces avatar movement code to check for collisions at the
feet while walking and attempts to raise the avatar for the steps.
Not yet perfect but movement is better.
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by new registrations thus causing multiple instances of an action.
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functions.
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instantiations for PhysBody and PhysShape when BSPhysObject is created
to account for them being classes and not structures.
Update TODO list.
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individual sub-classes and up to parent BSPhysObject class.
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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.
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up some usages. Disable motor when done.
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problem was Bullet deactivating the object between the pushes (when, as far as the physics engine is concerned, it isn't moving).
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Use same to implement setForce and setTorque so the values are restored at the beginning of each step (since Bullet zeros forces applied last step). Simplify implementation of AddForce and AddTorque by relying on the addition of forces in Bullet.
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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.
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Reworked size/scale logic so physical scale is kept in Bullet and physObject scale is the preferred size -- usually same as size but avatars are computed differently.
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While fixing the above, add methods to physical body and shape pointer
wrapper so routines won't have to know that IntPtr.Zero means no
physical instance.
Fix problem with physical linksets failing after a few sits and
unsits by properly restoring child prom positions for compound
linksets after multiple selection and deselections.
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conflicts with PhysicsShape type defined in later libOMV
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getting simplified out of existance someday) and update all the references to that enum.
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other classes.
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master.
This reverts commit dfac269032300872c4d0dc507f4f9062d102b0f4, reversing
changes made to 619c39e5144f15aca129d6d999bcc5c34133ee64.
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flag to ZeroMotion method. Update the references to those functions.
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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.
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MassRaw to RawMass. Fix BSShapeCollection to use Raw* for creating the body to eliminate exception from referencing the physical body before it has been created.
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available BSPhysObject varaiables. Fix line endings in BSLinksetCompound.
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of BSLinksetCompound.
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UpdatePhysicalMassProperties() function. Didn't add setMassRaw because assignment with side effect is dirty.
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linksets into own subclass. Will eventually add manual movement linkset subclass.
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handling.
Refactor some names to make them available for the asset tracking and fetching.
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Various tweekings to avatar shape/mass/inertia/etc.
Remove change from avatar radius to diameter. But still the avatar sinks.
Collision_end now happens immediately rather than at the next subscription time.
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Change character scaling to represent size of capsule (diameter rather than radius)
Modify create capsule call to pass radius and height.
Eliminate errors when calculating shape inertia (should have some type checking).
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Add capsule shape to BSShapeCollection().
Remember last updated values so inter frame diffs can be computed.
Parameterize avatarStandingFriction and reduce to 10 from 999.
The latter high value made avatars very hard to push.
Set CCD parameters for prims and characters of specified.
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Update BSDynamics to use same (don't want to delay updates til next taint-time.
Suppress queuing a taint update for position and orientation calls if value
does not change.
Move Bullet timing statistics call from C# back to C++ code.
Throttle taints per simulation step and add parameter to set.
By default, don't create hulls for physical objects. Add a
parameter to turn on and off.
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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.
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children of BSPrim and BSCharacter.
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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.
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Static objects are set to ISLAND_SLEEPING rather than DISABLE_SIMULATION.
Might reconsider this and, alternatively, have dynamic objects force activation.
Clean up use of DetailLog().
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Rearrangement and cleanup of shape collection code. Much more readable.
Enabling and use of collision filters and masks.
Addition of ID to body creation BulletSimAPI calls so always set in
shape for collision reporting.
Change default of ShouldSplitSimulationIslands and ShouldRandomizeSolverOrder
from 'false' to 'true'. When 'false', this suppresses NO_CONTACT_RESPONSE
which makes volume detect fail.
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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.
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Eliminate some null exceptions created adding the above code.
Add and remove some detailed logging statements.
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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).
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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'.
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Fix collision code to properly sense mega-region children regions as terrain.
When setting an object physical, reset all the physical properties (friction, ...).
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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.
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'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.
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