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* BulletSim: fix the trimming of colliders so only the top 25 are returned.Robert Adams2013-01-282-4/+4
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* BulletSim: simplify the initialization of some of the parameters.Robert Adams2013-01-272-32/+23
| | | | | | Disable vertical attraction for vehicles by default (for the moment). Fix bug where vehicle would go crazy when velocity got above a certain speed.
* BulletSim: reinstate the supression of rotational velocity for vehiclesRobert Adams2013-01-271-1/+1
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* BulletSim: add framework for BulletSim unit tests. No tests yet.Robert Adams2013-01-273-0/+193
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* BulletSim: disable center-of-mass computation because it does not work yetRobert Adams2013-01-271-1/+1
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* BulletSim: fix compile error from last commitRobert Adams2013-01-271-2/+2
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* BulletSim: parameterize the value for gravity reduction for ground vehicles ↵Robert Adams2013-01-273-11/+18
| | | | on the ground. Set defaults for vehicle factors to one. Debug logging changes.
* BulletSim: first attempt at reporting top collidersRobert Adams2013-01-275-11/+43
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* BulletSim: parameterize several vehicle debugging values: physical linear ↵Robert Adams2013-01-273-9/+57
| | | | and angular force factors now default to less than 1 (0.2) vehicle friction and restitution now default to low values
* BulletSim: finish the post step event for physical object actions. Modify ↵Robert Adams2013-01-273-13/+73
| | | | vehicle to use post step event for logging.
* * This adds llVolumeDetect functionality to the C# implementation of BulletSim.teravus2013-01-251-86/+116
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* BulletSim: reduce the force of gravity on ground vehicles when theyRobert Adams2013-01-241-0/+11
| | | | are on the ground. Makes them a little more stable.
* BulletSim: reduce the zeroing threshold for rotational velocity.Robert Adams2013-01-241-3/+1
| | | | | Sometimes settling of a vehicle from gravity introduces small velocities that need to be kept.
* BulletSim: disable CCD (continuious collision detection) andRobert Adams2013-01-241-3/+3
| | | | | contact processing threshold since the first didn't solve tunneling problems but used resources and the latter caused instabilities.
* BulletSim: zero motion on an object that we pop up because it isRobert Adams2013-01-241-1/+7
| | | | | below terrain. If the position is being corrected because it is out of bounds, all other movement rules are out the window.
* BulletSim: remove exception that can happen when setting physics parameters ↵Robert Adams2013-01-241-2/+2
| | | | from the console.
* * Added in the manifold point dept on collision desc. In BulletSim engine ↵teravus2013-01-241-5/+64
| | | | BulletXNA.
* * Repairs the Object updates, Collision updates, and Child Prim methods ↵teravus2013-01-241-164/+282
| | | | | | making the bulletXNA engine work again. * The only thing that had an issue was when creating a new RigidBody, BulletXNA didn't know the type SimMotionState and the upcast type is unknown in the constructor. Therefore, I had to update the IMotionState with a new method 'SetBody'. All of the duplicated type information has been removed and BulletXNA is not relying on any non-standard types external to the library.
* BulletSim: pass up and report the real collision penetration.Robert Adams2013-01-232-2/+4
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* BulletSim: remove setting of vehicle InterpolationRotationalVelocity.Robert Adams2013-01-232-36/+34
| | | | | | 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.
* BulletSim: small change to center-of-mass computation left out last commitRobert Adams2013-01-231-3/+8
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* BulletSim: center-of-gravity linkset changes. Not working yet.Robert Adams2013-01-234-29/+9
| | | | | | Conflicts: OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
* BulletSim: working on COMRobert Adams2013-01-234-7/+36
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* BulletSim: fix build break introduced by previous commitRobert Adams2013-01-231-5/+0
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* BulletSim: remove the unused RestoreBodyDependencies used by linksetsRobert Adams2013-01-233-33/+2
| | | | and vehicles and clean up code by removing their kludgyness.
* Add the Avination physics raycast glue so Core Physics can implement raycastMelanie2013-01-231-0/+39
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* BulletSim: Tweeks to vehicle motion.Robert Adams2013-01-213-15/+11
| | | | | Pass through old angular velocity making for smoother transitions. Remove some old kludges for angular motion (damping and rotvel suppression).
* BulletSim: allow changing position and rotation of a child of a linksetRobert Adams2013-01-218-46/+112
| | | | | without rebuilding the whole compound shape. Should make vehicles move smoother.
* BulletSim: remove unused MaxTaintsToProcessPerStep parameterRobert Adams2013-01-213-8/+5
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* BulletSim: More aggressive as setting character velocity to zeroRobert Adams2013-01-205-91/+153
| | | | | | | | | | | | 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.
* BulletSim: fix problem of avatar sliding very slowly occasionally after ↵Robert Adams2013-01-201-34/+41
| | | | stopping walking. Consolidate movement tests into the one prestep motion action
* BulletSim: small fix making sure terrain height is calculatedRobert Adams2013-01-201-1/+3
| | | | properly if the vehicle moves during vehicle actions.
* BulletSim: modify motors to return correction rather than current valueRobert Adams2013-01-205-38/+36
| | | | | | | 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.
* This updates prebuild to remove BulletSimN, implements the BulletSim API in ↵teravus2013-01-201-262/+623
| | | | BulletSPlugin using the BulletXNA Bullet physics engine. It also updates the BulletXNA library to be compatible with the changes. OpenSimDefaults has been updated to describe how to switch engines and terrain implementations.
* * Dumping BulletSimNPlugin in favor of combining the APIteravus2013-01-2023-11752/+0
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* * Tweak the BulletSimN API a bit.teravus2013-01-202-17/+18
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* BulletSim: reduce jitter in avatar velocity when walking or flying.Robert Adams2013-01-182-2/+9
| | | | | | | 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.
* BulletSim: add logic to turn off pre-step actions when object goesRobert Adams2013-01-181-0/+21
| | | | | non-active. This turns off 'setForce', 'setTorque' and 'moveToTarget' when the object is selected or made non-physical.
* BulletSim: Add one function that all actors who act on the physicalRobert Adams2013-01-175-24/+31
| | | | | can use to know if the object is currently active. Code cleaning including use of Util.ClampV function.
* BulletSim: add the editting children in linkset going phantom bug to TODO list.Robert Adams2013-01-151-0/+2
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* BulletSim: don't modify angular parameters when doing LIMIT_MOTOR_UP.Robert Adams2013-01-155-28/+30
| | | | | It was a dumb idea to try and do a nose over feature for jumping cars anyway. Add better logging of native shape creation/reuse so can tell the difference.
* BulletSim: add debugging messages to know when assets for physicalRobert Adams2013-01-154-17/+51
| | | | | objects have been fetched. Update TODO list with more work.
* BulletSim: reduce maximum force a script can apply (like in llApplyImpulse)Robert Adams2013-01-151-3/+3
| | | | to the documented maximum from the outragious number previously.
* BulletSim: tweeks to improve hover.Robert Adams2013-01-151-5/+21
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* BulletSim: temporarily disable banking and direction deflectionRobert Adams2013-01-152-10/+29
| | | | | because the computations are wrong. Add VehicleTorqueImpulse routines.
* BulletSim: fix logic for enabling unmanaged code debug messages.Robert Adams2013-01-151-1/+14
| | | | Free pinned memory when physics engine is unloaded.
* BulletSim: by default, turn on continuious collision detection (CCD)Robert Adams2013-01-151-3/+3
| | | | | and enable friction computation caching. Remove dangerous BulletSim settings from OpenSimDefaults.ini.
* BulletSim: fix not moving physical objects below terrain to over terrain.Robert Adams2013-01-145-18/+36
| | | | | Add locking on register prestep action list preventing potential race conditions. Little comment and formatting changes.
* BulletSim: disable center-of-mass computation for linksets until debugged. ↵Robert Adams2013-01-142-25/+36
| | | | 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.
* BulletSim: move center of gravity of linkset to its geometric center.Robert Adams2013-01-1110-32/+106
| | | | | | | 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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