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path: root/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs (unfollow)
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2013-01-31BulletSim: fix crash caused when linksets were rebuilt. A problem addedRobert Adams1-4/+12
when individual child pos/rot changes were implementated a week or so ago. Remove some passing of inTaintTime flag when it was never false.
2013-01-31BulletSim: make sure vehicle physical properties are set when goingRobert Adams1-2/+2
physical by delaying setting until pre-step time. Change vehicle.Refresh() to schedule the pre-step setting. Comments and updating of TODO list.
2013-01-29BulletSim: fix physics repositioning when under ground to only happenRobert Adams1-1/+5
for physical objects. Non-physical objects can go anywhere they want.
2013-01-28BulletSim: first unit test: vehicle angular attractionRobert Adams1-16/+16
2013-01-27BulletSim: reinstate the supression of rotational velocity for vehiclesRobert Adams1-1/+1
2013-01-27BulletSim: first attempt at reporting top collidersRobert Adams1-6/+0
2013-01-27BulletSim: finish the post step event for physical object actions. Modify ↵Robert Adams1-0/+6
vehicle to use post step event for logging.
2013-01-24BulletSim: zero motion on an object that we pop up because it isRobert Adams1-1/+7
below terrain. If the position is being corrected because it is out of bounds, all other movement rules are out the window.
2013-01-23BulletSim: remove setting of vehicle InterpolationRotationalVelocity.Robert Adams1-2/+2
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.
2013-01-23BulletSim: small change to center-of-mass computation left out last commitRobert Adams1-3/+8
2013-01-23BulletSim: center-of-gravity linkset changes. Not working yet.Robert Adams1-21/+1
Conflicts: OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
2013-01-23BulletSim: working on COMRobert Adams1-4/+11
2013-01-23BulletSim: remove the unused RestoreBodyDependencies used by linksetsRobert Adams1-18/+2
and vehicles and clean up code by removing their kludgyness.
2013-01-21BulletSim: Tweeks to vehicle motion.Robert Adams1-1/+2
Pass through old angular velocity making for smoother transitions. Remove some old kludges for angular motion (damping and rotvel suppression).
2013-01-21BulletSim: allow changing position and rotation of a child of a linksetRobert Adams1-7/+9
without rebuilding the whole compound shape. Should make vehicles move smoother.
2013-01-20BulletSim: More aggressive as setting character velocity to zeroRobert Adams1-4/+9
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: modify motors to return correction rather than current valueRobert Adams1-1/+1
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.
2013-01-18BulletSim: add logic to turn off pre-step actions when object goesRobert Adams1-0/+21
non-active. This turns off 'setForce', 'setTorque' and 'moveToTarget' when the object is selected or made non-physical.
2013-01-17BulletSim: Add one function that all actors who act on the physicalRobert Adams1-20/+13
can use to know if the object is currently active. Code cleaning including use of Util.ClampV function.
2013-01-14BulletSim: fix not moving physical objects below terrain to over terrain.Robert Adams1-1/+1
Add locking on register prestep action list preventing potential race conditions. Little comment and formatting changes.
2013-01-14BulletSim: disable center-of-mass computation for linksets until debugged. ↵Robert Adams1-14/+12
Move physical prim above ground if it is underground. Previously tried to correct by applying and up force but the prim would never go through the ground.
2013-01-11BulletSim: move center of gravity of linkset to its geometric center.Robert Adams1-10/+30
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 Adams1-20/+61
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: remove double application of buoyancy. Centralize computation of ↵Robert Adams1-19/+4
buoyancy. Add motor angular debugging controls.
2013-01-11BulletSim: fix the 'No recognised physics mesh found ...' error spew by ↵Robert Adams1-1/+1
remembering that the last asset fetch failed until the simulator resets the shape parameters.
2013-01-07BulletSim: add function to push avatar up when hitting stairs.Robert Adams1-1/+1
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.
2013-01-04BulletSim: implement llMoveToTarget by adding PIDActive, etc.Robert Adams1-42/+21
Implementation of non-vehicle hover but haven't tested it a lot. Update TODO list.
2013-01-04BulletSim: add initial implementation of llMoveToTarget and hover height.Robert Adams1-10/+147
Not all there yet.
2013-01-01BulletSim: move over and port the interface for BulletXNA.Robert Adams1-11/+0
Copied BulletSNPlugin.BulletSimAPI to a new BulletSPlugin.BSAPIXNA.cs and then modifyed the latter to comply with the BSAPITemplate definition. Not totally debugged but the code is all there for an INI variable to select either unmanaged C++ Bullet or the C# version of Bullet.
2013-01-01BulletSim: fix line endings.Robert Adams1-20/+20
2013-01-01BulletSim: subclass Bullet[World|Body|Shape|Constraint] for unmanagedRobert Adams1-16/+21
to have pointers and managed to have objects. Initial paste of XNA code. Commented out.
2012-12-31BulletSim: nearly complete in conversion from BulletSimAPI to BSAPITemplate. ↵Robert Adams1-23/+23
Only initialization and debug fuctions left.
2012-12-31BulletSim: another round of conversion: dynamics world and collision object ↵Robert Adams1-37/+37
functions.
2012-12-31BulletSim: first round of conversion from direct BulletSimAPI interfacing by ↵Robert Adams1-1/+1
BulletSim core to using the BulletSimAPITemplate. Physical object creation and destruction first.
2012-12-31BulletSim: change physical data structures to classes. Add defaultRobert Adams1-4/+1
instantiations for PhysBody and PhysShape when BSPhysObject is created to account for them being classes and not structures. Update TODO list.
2012-12-27BulletSim: fix physical object not interacting with static objects.Robert Adams1-9/+24
Another instance of the underlying Bullet doing, ah, helpful things when items are added to the world.
2012-12-27BulletSim: Parameterize nominal frame rate (55) and add parameters to ↵Robert Adams1-2/+2
dynamially turn on/off detailed, unmanaged data dumping of prims and vehicles.
2012-12-27BulletSim: move logic for IsColliding, CollidingGround and CollidingObj from ↵Robert Adams1-15/+3
individual sub-classes and up to parent BSPhysObject class.
2012-12-27BulletSim: fix buoyancy so it's properly set by a script when anRobert Adams1-4/+25
object is selected. Update TODO list.
2012-12-27BulletSim: add physical parameter min/max constants in BSParam. I just don't ↵Robert Adams1-2/+2
like raw numbers scattered around the code.
2012-12-26BulletSim: scale the force for external AddForce by the simulationRobert Adams1-1/+11
step time so it will be applied completely the next step. The internal AddForce routine does not scale the force.
2012-12-25BulletSim: make llBuoyancy work. For some reason, Bullet resets anRobert Adams1-4/+8
object's individual gravity to the world gravity when the object is added to the physical world.
2012-12-24BulletSim: Fix single physical prim reporting its mass as zero.Robert Adams1-27/+44
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: remove all special vehicle code from BSScene. Replace per-frame ↵Robert Adams1-20/+6
updates for vehicles with per-frame action registration. One fewer special case.
2012-12-21BulletSim: Fix llApplyImpulse so it works after the first impulse. The ↵Robert Adams1-4/+24
problem was Bullet deactivating the object between the pushes (when, as far as the physics engine is concerned, it isn't moving).
2012-12-21BulletSim: add BSPhysObject code to manage registrations of preStep events. ↵Robert Adams1-63/+49
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.
2012-12-21BulletSim: Move all the parameter variables, tables and get and fetch logic ↵Robert Adams1-15/+11
to a separate, static class for easier addition and to remove all that bulk from the BSScene class.
2012-12-21BulletSim: avatar movement smoothed with motor that modifies avatar velocity ↵Robert Adams1-3/+5
to target velocity. Fails in incorporating physical world effects (gravity) so avatar doesn't fly correctly.
2012-12-18BulletSim: comments and TODO list updateRobert Adams1-2/+7
2012-12-16BulletSim: add parameter to UpdateProperties call into the linkset so ↵Robert Adams1-8/+21
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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