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* BulletSim: parameterize selection of linkset implementationRobert Adams2012-11-033-10/+24
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* BulletSim: debugging of compound shape implementation of linksets.Robert Adams2012-11-0310-132/+274
| | | | | | | | | 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: Add RawPosition and RawOrientation to BSPhysObject and rename ↵Robert Adams2012-11-035-17/+39
| | | | 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.
* BulletSim: Remove use of shapeData in ShapeCollection and rely on the ↵Robert Adams2012-11-037-266/+256
| | | | available BSPhysObject varaiables. Fix line endings in BSLinksetCompound.
* BulletSim: rename BSBody and BSShape to PhysBody and PhysShape. Add skeleton ↵Robert Adams2012-11-039-176/+328
| | | | of BSLinksetCompound.
* BulletSim: vehicle tweeking.Robert Adams2012-11-033-93/+90
| | | | | | 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.
* BulletSim: remove center-of-mass setting for linksets because it causes the ↵Robert Adams2012-11-035-54/+33
| | | | constraint calculation to pull the objects together.
* BulletSim: Use the PostTaints operation to build the linkset once before the ↵Robert Adams2012-11-032-124/+68
| | | | next simulation step. This eliminates the management of children vs taintChildren and simplifies the constratin creation code.
* BulletSim: Add gravity force to vehicle. Some debugging additions.Robert Adams2012-11-031-2/+6
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* 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 definitions for linkset collision maskRobert Adams2012-11-031-0/+3
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* BulletSim: code rearrangementRobert Adams2012-11-032-8/+6
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* BulletSim: Use Refresh/PostTaints to cause recomputing of constraint ↵Robert Adams2012-11-031-29/+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.
* 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: remove unneeded parameter from Refresh().Robert Adams2012-11-031-1/+1
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* BulletSim: centralize mass/inertia computation with ↵Robert Adams2012-11-033-18/+38
| | | | UpdatePhysicalMassProperties() function. Didn't add setMassRaw because assignment with side effect is dirty.
* BulletSim: rename constraint classes so they show up together alphabetically.Robert Adams2012-11-033-6/+6
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* BulletSim: many small changes for vehicles simulation.Robert Adams2012-11-031-31/+40
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* BulletSim: add ForEachMember(action) call for linkset.Robert Adams2012-11-031-8/+28
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* BulletSim: Add activations after vehicle properties change. Problem was the ↵Robert Adams2012-11-031-12/+62
| | | | vehicle was going to sleep while waiting for commands. Make AddAngularForce work the same way as AddForce -- accumulates values and pushes them once into Bullet.
* BulletSim: correct spelling of Bullet call. It's 'swept' not 'sweep'.Robert Adams2012-11-033-3/+7
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* BulletSim: Add banking and other new code to vechile dynamics. Add third ↵Robert Adams2012-11-0311-188/+323
| | | | party license and contributor in for for Aurora-Sim project for physics code.
* BulletSim: fix problem with avatars sinking into the ground.Robert Adams2012-10-234-15/+23
| | | | Change terrain activation state to DISABLE_SIMULATION for better performance.
* BulletSim: minor change to insure avatar body recreation when shape changes.Robert Adams2012-10-231-3/+3
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* BulletSim: remove chatty debug message.Robert Adams2012-10-222-2/+2
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* BulletSim: fix bug that caused error (and a crash on 32 bit Linux) when mesh ↵Robert Adams2012-10-228-35/+51
| | | | assets weren't already in the cache. Comment cleanups.
* BulletSim: fix problem of not rebuilding shape by clearing last rebuild ↵Robert Adams2012-10-222-2/+8
| | | | failed flag in BSPrim.ForceBodyShapeRebuild()
* BulletSim: remove trailing spaces to make git happy.Robert Adams2012-10-228-36/+36
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* BulletSim: encorporate UBit's suggestion to save a copy of mesh raw data.Robert Adams2012-10-221-2/+1
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* BulletSim: Create LinkSet abstract class and sparate constraint based ↵Robert Adams2012-10-223-319/+434
| | | | linksets into own subclass. Will eventually add manual movement linkset subclass.
* BulletSim: add asset fetching so BulletSim works with new physics asset ↵Robert Adams2012-10-194-165/+240
| | | | | | handling. Refactor some names to make them available for the asset tracking and fetching.
* BulletSim: reorder avatar collision checking to eliminate double collision_end.Robert Adams2012-10-196-35/+43
| | | | | | 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 Adams2012-10-196-52/+57
| | | | | | 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 Adams2012-10-195-161/+138
| | | | | 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 Adams2012-10-193-11/+6
| | | | initialized and setting of C++ parameters commented out. Comments and logging added.
* BulletSim: Update BSCharacter to use API2 interface.Robert Adams2012-10-196-93/+250
| | | | | | | | 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: only use native sphere shape if it is a sphere.Robert Adams2012-10-121-1/+2
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* BulletSim: fix problem with some shapes (like cylinders) being implemented ↵Robert Adams2012-10-111-1/+1
| | | | as cubes.
* BulletSim: remove some unused API2 calls because they were removed from ↵Robert Adams2012-10-112-14/+2
| | | | Bullet 2.81
* 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: Use full linkset mass when computing vehicle gravity force. Add ↵Robert Adams2012-10-113-11/+16
| | | | taint-time specification to new AddForce().
* BulletSim: Change defaults for constraint CFM and ERP to make large linksets ↵Robert Adams2012-10-112-11/+8
| | | | 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 Adams2012-10-117-52/+74
| | | | improve interactions.
* BulletSim: Add Force* operations to objects to allow direct push to engine.Robert Adams2012-10-117-29/+100
| | | | | | | | | | 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 Adams2012-10-118-102/+132
| | | | | | | | 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 Adams2012-10-022-14/+14
| | | | and what is in OpenSimDefaults.ini. Comment and debug printout changes.
* BulletSim: Add ForcePosition and ForceOrientation to BSPhysObject and to its ↵Robert Adams2012-10-023-5/+64
| | | | children of BSPrim and BSCharacter.
* BulletSim: Fix problem where box shapes were not being rebuilt if the shape ↵Robert Adams2012-10-021-4/+6
| | | | type changed.
* BulletSim: Fix linkset problem where delayed manipulations of child objects ↵Robert Adams2012-10-021-10/+8
| | | | was using the child shape address at call time rather than the one created at taint time.
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