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* BulletSim: remove all the debug printing of pointer formatting ↵Robert Adams2012-12-317-25/+58
| | | | (.ToString(X)) and replace it with a method on BulletBody, BulletShape, ...
* BulletSim: another round of conversion: dynamics world and collision object ↵Robert Adams2012-12-3115-1248/+1454
| | | | functions.
* BulletSim: add the implementation files for the two versions of Bullet:Robert Adams2012-12-312-0/+1146
| | | | unmanaged (C++) and managed (C#).
* BulletSim: first round of conversion from direct BulletSimAPI interfacing by ↵Robert Adams2012-12-3111-839/+234
| | | | BulletSim core to using the BulletSimAPITemplate. Physical object creation and destruction first.
* BulletSim: change physical data structures to classes. Add defaultRobert Adams2012-12-315-15/+29
| | | | | | instantiations for PhysBody and PhysShape when BSPhysObject is created to account for them being classes and not structures. Update TODO list.
* Resolve Mantis 6480 (http://opensimulator.org/mantis/view.php?id=6480)Robert Adams2012-12-311-2/+11
| | | | | | | | by reversing the sign on the recoil computation and adding a [XEngine]RecoilScaleFactor parameter which defaults to zero. Testing in SL seems to show that there is not a recoil action there. Or, at least, it is very small. If someone knows how small, the default for the scale factor should be changed.
* Comment out test messages that go directly to the console.Robert Adams2012-12-311-2/+2
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* BulletSim: remove check for small motor movement because, while itRobert Adams2012-12-292-3/+6
| | | | | | did the right thing for stopping (speed reducing to zero), it prevented movement from starting (speed increasing from zero). Will revisit when the generalize PID motor is debugged.
* BulletSim: an 'if' to suppress multiple setting of avatar orientation.Robert Adams2012-12-291-5/+9
| | | | | | | Looks like the viewer bombards the server with avatar orientation information (we're talking several hundred a second) when the avatar is being turned or when walking. This change just reduces the number of 'set' calls into unmanaged code.
* BulletSim: tweeking avatar capsule code in an attempt to haveRobert Adams2012-12-294-46/+81
| | | | | | | | | asymmetrical avatar capsule work now that rotation is being passed from the simulator. Turns out the Bullet capsule is just not very functional: it doesn't scale properly, the implementation only half does asymmetry and, in general, is hard to work with. Avatar shape is about what it was before these changes. Added initial data structures for avatar shape mesh.
* ScenePresence passes the avatar rotation down to the physics engine. This ↵Robert Adams2012-12-281-0/+4
| | | | will be a no-op for ODE but enables asymmetrical avatars for BulletSim.
* BulletSim: add 'AvatarAlwaysRunFactor' parameter and use in setTargetVelocityRobert Adams2012-12-282-3/+9
| | | | to implement the 'always run' feature.
* BulletSim: fix problem of avatars appearing to walk through wallsRobert Adams2012-12-281-51/+55
| | | | | by moving the movement motor to a pre-step action and out of its questionable previous home in UpdateProperties.
* BulletSim: correct collision mask definition for linkset children.Robert Adams2012-12-274-35/+18
| | | | Remove unused code. Add comments and TODOs.
* BulletSim: fix physical object not interacting with static objects.Robert Adams2012-12-271-9/+24
| | | | | Another instance of the underlying Bullet doing, ah, helpful things when items are added to the world.
* BulletSim: Parameterize nominal frame rate (55) and add parameters to ↵Robert Adams2012-12-274-5/+21
| | | | dynamially turn on/off detailed, unmanaged data dumping of prims and vehicles.
* BulletSim: move logic for IsColliding, CollidingGround and CollidingObj from ↵Robert Adams2012-12-274-39/+55
| | | | individual sub-classes and up to parent BSPhysObject class.
* Add check to always push terse updates for presences that have new ↵Robert Adams2012-12-271-3/+8
| | | | velocities of zero.
* BulletSim: fix buoyancy so it's properly set by a script when anRobert Adams2012-12-274-15/+44
| | | | | object is selected. Update TODO list.
* BulletSim: fix odd code that wasn't really recomputing the mass of aRobert Adams2012-12-271-7/+7
| | | | | rebuilt linkset. I was burnt by making get/set methods with side effects. I should know better.
* BulletSim: add physical parameter min/max constants in BSParam. I just don't ↵Robert Adams2012-12-274-11/+15
| | | | like raw numbers scattered around the code.
* BulletSim: complete applyImpulse function in BSCharacter (like I saidRobert Adams2012-12-271-8/+17
| | | | I did last time).
* * Merges BulletSim Updates to BulletSimN(BulletSNPlugin)teravus2012-12-1819-79/+116
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* BulletSim: scale the force for external AddForce by the simulationRobert Adams2012-12-263-1/+19
| | | | | step time so it will be applied completely the next step. The internal AddForce routine does not scale the force.
* BulletSim: make llBuoyancy work. For some reason, Bullet resets anRobert Adams2012-12-253-5/+13
| | | | | object's individual gravity to the world gravity when the object is added to the physical world.
* BulletSim: stop avatar from sliding VERY slowly after walking byRobert Adams2012-12-251-3/+2
| | | | only zeroing the movement motor in the UpdateProperties routine.
* BulletSim: Rename some of the interface structures (BulletWorld, ...)Robert Adams2012-12-249-13/+412
| | | | | | | | to get ready for... Start creation of BulletAPITemplate. This defines the abstract interface functions. Following commits will move over to the new interface. This will enable switching between the managed and unmanaged version of Bullet.
* BulletSim: Default avatar density changed to 3.5 which is WAY closerRobert Adams2012-12-242-9/+9
| | | | | | to the SL value. Fixed frictin values for physical materials which were just wrong which caused things that should have slipped to not.
* BulletSim: Fix single physical prim reporting its mass as zero.Robert Adams2012-12-247-54/+83
| | | | | | | 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.
* * Update BulletSimN terrain implementation to default to Heightfield, it's ↵teravus2012-12-231-1/+1
| | | | less CPU intensive.
* * Initial commit of BulletSimN (BulletSNPlugin). Purely C# implementation ↵teravus2012-12-2323-0/+11718
| | | | of BulletSim. This is designed to be /as close as possible/ to the BulletSim plugin while still being entirely in the managed space to make keeping it up to date easy as possible (no thinking work). This implementation is /slower/ then the c++ version just because it's fully managed, so it's not appropriate for huge sims, but it will run small ones OK. At the moment, it supports all known features of BulletSim. Think of it like.. POS but everything works. To use this plugin, set the physics plugin to BulletSimN.
* BulletSim: modify avatar motor code to make falling movement better. Clean ↵Robert Adams2012-12-223-35/+45
| | | | up some usages. Disable motor when done.
* BulletSim: remove post step one-time taints (doesn't make any sense). Rename ↵Robert Adams2012-12-221-82/+30
| | | | pre and post step event invocation routines to Trigger* to be consistant. Remove old, unused code.
* BulletSim: add Enabled parameter and operation to motors.Robert Adams2012-12-221-2/+16
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* BulletSim: remove all special vehicle code from BSScene. Replace per-frame ↵Robert Adams2012-12-212-101/+20
| | | | updates for vehicles with per-frame action registration. One fewer special case.
* BulletSim: remove the movement decay while flying. Made flying slow down ↵Robert Adams2012-12-211-6/+0
| | | | over time.
* BulletSim: Fix llApplyImpulse so it works after the first impulse. The ↵Robert Adams2012-12-212-4/+29
| | | | problem was Bullet deactivating the object between the pushes (when, as far as the physics engine is concerned, it isn't moving).
* BulletSim: add BSPhysObject code to manage registrations of preStep events. ↵Robert Adams2012-12-213-66/+104
| | | | 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.
* BulletSim: repair vehicle problems introduced in previous 'improvements'. ↵Robert Adams2012-12-214-572/+598
| | | | Fix line endings in BSParams.
* BulletSim: Move all the parameter variables, tables and get and fetch logic ↵Robert Adams2012-12-2113-606/+681
| | | | to a separate, static class for easier addition and to remove all that bulk from the BSScene class.
* BulletSim: small fix to avatar movement motor use which keeps avatar from ↵Robert Adams2012-12-211-1/+2
| | | | flying up forever. This doesn't fix the overall problem but keeps avatar flying from being totally unusable.
* BulletSim: avatar movement smoothed with motor that modifies avatar velocity ↵Robert Adams2012-12-212-4/+81
| | | | to target velocity. Fails in incorporating physical world effects (gravity) so avatar doesn't fly correctly.
* BulletSim: Better detail logging of VMotor actions.Robert Adams2012-12-211-7/+8
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* BulletSim: begin movement of parameters from pinned memory block to ↵Robert Adams2012-12-212-7/+19
| | | | variables all in managed code. Add note to TODO list to remember to do the rest. Other updates to TODO list.
* BulletSim: fix incorrectly defined property changed flag.Robert Adams2012-12-201-3/+1
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* BulletSim: Check for unspecified TimeScale in BSVMotor and don't scale if ↵Robert Adams2012-12-201-9/+43
| | | | not specified. Add test dump routine. Don'e zero current and target values when error goes to zero as the values could be used externally to store the actual target values, etc.
* BulletSim: replace use of funky nullable values for vehicle property update ↵Robert Adams2012-12-201-26/+43
| | | | control (m_known* stuff). Bitmaps will be quicker to test and to clear.
* BulletSim: angularMotorUp working again (seems a little slow as it takes ↵Robert Adams2012-12-202-32/+66
| | | | longer than timescale to correct, but getting better). Disabled angularDeflection (need to resolve interactions between angular corrections). Update TODO list.
* BulletSim: reorganize motor step code to separate error computation allowing ↵Robert Adams2012-12-201-51/+91
| | | | subclass for PID error correction.
* BulletSim: improve angularVerticalAttraction calculation to compute angular ↵Robert Adams2012-12-181-18/+15
| | | | correction velocity rather than estimating correction (excuse to use trig functions).
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