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* 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 Adams2012-12-171-1/+1
| | | | 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: add parameter to UpdateProperties call into the linkset so ↵Robert Adams2012-12-161-3/+7
| | | | 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.
* BulletSim: remove some errors on shutdown by moving terrain destruction ↵Robert Adams2012-12-161-2/+7
| | | | until after physical object destruction. TerrainManager also made disposable and that feature used.
* BulletSim: non-functional commenting and reorganization of material ↵Robert Adams2012-12-121-0/+1
| | | | attribute specifications.
* BulletSim: add ini file and command line parameters to controlRobert Adams2012-12-111-2/+10
| | | | | | | | | 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 Adams2012-12-101-2/+2
| | | | BSDynamics to make velocity vs force calculation clearer.
* BulletSim: rework angular corrections to remove any hybrid code and compute ↵Robert Adams2012-12-031-2/+2
| | | | absolute collections.
* BulletSim: add stubs for generalization of preStep actions. Will eventually ↵Robert Adams2012-12-031-2/+17
| | | | replace the specialized vehicle processing with preStep event processing. Add TODO comments about this feature. Redo line endings in TODO file to be all Linux.
* BulletSim: Add DumpActivationInfo2 function. Change static objects from ↵Robert Adams2012-12-011-0/+2
| | | | DISABLE_SIMULATION to ISLAND_SLEEPING. Update DLLs and SOs to add DumpActivationInfo2 function.
* BulletSim: move GetWaterLevelAtXYZ from BSScene to BSPhysTerrain.Robert Adams2012-11-281-10/+7
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* BulletSim: increase vehicle stability by suppressing Bullet's update to ↵Robert Adams2012-11-261-6/+6
| | | | angular velocity.
* BulletSim: up the vehicle angular damping to 0.95. Still trying to overcome ↵Robert Adams2012-11-251-2/+2
| | | | the movement added by Bullet.
* BulletSim: clean up TODO list. It is kept somewhere wlse that should be more ↵Robert Adams2012-11-251-17/+16
| | | | public. Add error logging for the detail log writer so a message is output when it cannot write to the specified logging directory. Modify friction defaults to be closer to ODE's values. Add new collision margin and vehicle angular damping parameters.
* BulletSim: Add tables and initialization for different attributes for ↵Robert Adams2012-11-251-0/+7
| | | | different materials. For the moment, the per material tables are not used.
* BulletSim: Make avatar capsule so it is not circular.Robert Adams2012-11-211-7/+11
| | | | | | | | | Simple attempt to make avatars better shaped. Replace parameter 'avatarCapsuleRadius' with 'avatarCapsuleWidth' and 'avatarCapsuleDepth'. More tweeking to avatar height calculation. A little better but short avatar's feet are above the terrain and tall avatar's feet are a little below the ground.
* BulletSim: add terrainImplementation parameter with default to Mesh.Robert Adams2012-11-211-0/+5
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* BulletSim: tweek avatar capsule parameters so avatar feet don't go below ↵Robert Adams2012-11-211-5/+6
| | | | ground. This solves the bouncing, short avatar problem (Mantis 6403).
* BulletSim: Use base class constructors for initialization of BSShape and ↵Robert Adams2012-11-181-1/+1
| | | | other classes.
* BulletSim: remove limit on taints that can happen before a step. Remove some ↵Robert Adams2012-11-061-12/+16
| | | | debugging code (detail log flushing).
* BulletSim: fix compound linkset crash by not freeing shape of child prims.Robert Adams2012-11-031-2/+2
| | | | | Remove all compilation warnings (mostly 'protected' in sealed classes.) Add the dynamicAabbEnable parameter to creation of compound shapes.
* BulletSim: search the mesh and hull lists to find shapes if type is not ↵Robert Adams2012-11-031-1/+1
| | | | known. This makes sure the correct accounting is done for the particular shape.
* BulletSim: Move construction of compound linkset from ShapeCollectionRobert Adams2012-11-031-2/+22
| | | | | | | into LinksetCompound where it should be. Create meshes for native shapes when part of a compound linkset because scale is currently per object and not per collision shape. Don't schedule a LinksetCompound refresh if just changing properties.
* BulletSim: parameterize selection of linkset implementationRobert Adams2012-11-031-0/+5
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* BulletSim: debugging of compound shape implementation of linksets.Robert Adams2012-11-031-1/+11
| | | | | | | | | 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.
* BulletSim: rename BSBody and BSShape to PhysBody and PhysShape. Add skeleton ↵Robert Adams2012-11-031-10/+10
| | | | of BSLinksetCompound.
* BulletSim: fix problem with multiple linksets stepping on each other if they ↵Robert Adams2012-11-031-3/+4
| | | | are built at the same time.
* BulletSim: add post taint taints and post step taints. The post taints ↵Robert Adams2012-11-031-16/+122
| | | | operation is most useful and is used by linksets to build and rebuild only once before the simulation step.
* BulletSim: Add banking and other new code to vechile dynamics. Add third ↵Robert Adams2012-11-031-1/+1
| | | | party license and contributor in for for Aurora-Sim project for physics code.
* BulletSim: fix problem with avatars sinking into the ground.Robert Adams2012-10-231-2/+1
| | | | Change terrain activation state to DISABLE_SIMULATION for better performance.
* BulletSim: remove chatty debug message.Robert Adams2012-10-221-1/+1
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* BulletSim: fix bug that caused error (and a crash on 32 bit Linux) when mesh ↵Robert Adams2012-10-221-0/+1
| | | | assets weren't already in the cache. Comment cleanups.
* BulletSim: remove trailing spaces to make git happy.Robert Adams2012-10-221-2/+2
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* BulletSim: reorder avatar collision checking to eliminate double collision_end.Robert Adams2012-10-191-13/+17
| | | | | | 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.
* BulletSim: change nonimal physics frame rate to 55 to give same numbers as ODE.Robert Adams2012-10-191-13/+13
| | | | | | 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).
* BulletSim: remove code in ShapeCollection that hinted at shape sharing.Robert Adams2012-10-191-47/+67
| | | | | Add new function to ParameterDefn for calling BulletSimAPI to set values. Tweaking to BSCharacter parameter setting to try and have avatars stand.
* BulletSim: Fix small problems with last patch: BSScene.World properly ↵Robert Adams2012-10-191-9/+4
| | | | initialized and setting of C++ parameters commented out. Comments and logging added.
* BulletSim: Update BSCharacter to use API2 interface.Robert Adams2012-10-191-5/+16
| | | | | | | | 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.
* BulletSim: normalize physics FPS to 45 (for real this time).Robert Adams2012-10-111-2/+2
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* BulletSim: normalize physics FPS to 45.Robert Adams2012-10-111-3/+4
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* BulletSim: Change defaults for constraint CFM and ERP to make large linksets ↵Robert Adams2012-10-111-2/+2
| | | | more rigid. Remove mass calculation for terrain (it should stay a static object).
* BulletSim: cosmetic changes (comments and renaming). Give mass to terrain to ↵Robert Adams2012-10-111-5/+4
| | | | improve interactions.
* BulletSim: Add Force* operations to objects to allow direct push to engine.Robert Adams2012-10-111-18/+47
| | | | | | | | | | 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.
* BulletSim: Fix crash when linking large physical linksets.Robert Adams2012-10-111-4/+7
| | | | | | | | 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.
* BulletSim: Make parameter value defaults match what should be the default ↵Robert Adams2012-10-021-13/+13
| | | | and what is in OpenSimDefaults.ini. Comment and debug printout changes.
* BulletSim: remove the trailing spaces from lines to make git happierRobert Adams2012-09-271-13/+13
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* BulletSim: Fix linkset crash. Caused by the different body and shapeRobert Adams2012-09-271-2/+5
| | | | | | | 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.
* BulletSim: btGhostObjects working to make 'volume detect' work.Robert Adams2012-09-271-10/+14
| | | | | | | | | | 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.
* BulletSim: renamed members of BulletShape, BulletSim and BulletBodyRobert Adams2012-09-271-1/+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.
* BulletSim: add class and infrastructure for shape and objectRobert Adams2012-09-271-6/+10
| | | | | tracking in the C# code. Needed for the changing body type (to and from GhostObjects) for volumeDetect.
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