From a0d460e6bfa64a6c43ff327dcf19b696cc380fbb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 18 Jan 2013 12:10:03 -0800 Subject: BulletSim: remove the unused RestoreBodyDependencies used by linksets and vehicles and clean up code by removing their kludgyness. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 20 ++------------------ 1 file changed, 2 insertions(+), 18 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index e6b8507..b37a1f8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1606,11 +1606,6 @@ public sealed class BSPrim : BSPhysObject // Called at taint-time!!! public void CreateGeomAndObject(bool forceRebuild) { - // If this prim is part of a linkset, we must remove and restore the physical - // links if the body is rebuilt. - bool needToRestoreLinkset = false; - bool needToRestoreVehicle = false; - // Create the correct physical representation for this type of object. // Updates PhysBody and PhysShape with the new information. // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. @@ -1619,21 +1614,10 @@ public sealed class BSPrim : BSPhysObject // Called if the current prim body is about to be destroyed. // Remove all the physical dependencies on the old body. // (Maybe someday make the changing of BSShape an event to be subscribed to by BSLinkset, ...) - needToRestoreLinkset = Linkset.RemoveBodyDependencies(this); - needToRestoreVehicle = _vehicle.RemoveBodyDependencies(this); + Linkset.RemoveBodyDependencies(this); + _vehicle.RemoveBodyDependencies(this); }); - if (needToRestoreLinkset) - { - // If physical body dependencies were removed, restore them - Linkset.RestoreBodyDependencies(this); - } - if (needToRestoreVehicle) - { - // If physical body dependencies were removed, restore them - _vehicle.RestoreBodyDependencies(this); - } - // Make sure the properties are set on the new object UpdatePhysicalParameters(); return; -- cgit v1.1 From c1371ab786a699ce91693e6e575bb81144a79c57 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 23 Jan 2013 08:28:36 -0800 Subject: BulletSim: working on COM --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 15 +++++++++++---- 1 file changed, 11 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index b37a1f8..dad7250 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -336,6 +336,7 @@ public sealed class BSPrim : BSPhysObject } } } + /* Disable. Presume whoever is setting displacement is already adjusting position, etc. // Override to have position displacement immediately update the physical position. // A feeble attempt to keep the sim and physical positions in sync // Must be called at taint time. @@ -355,6 +356,7 @@ public sealed class BSPrim : BSPhysObject }); } } + */ // Check that the current position is sane and, if not, modify the position to make it so. // Check for being below terrain and being out of bounds. @@ -371,11 +373,11 @@ public sealed class BSPrim : BSPhysObject return ret; } - float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); + float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); OMV.Vector3 upForce = OMV.Vector3.Zero; if (RawPosition.Z < terrainHeight) { - DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); + DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight); float targetHeight = terrainHeight + (Size.Z / 2f); // If the object is below ground it just has to be moved up because pushing will // not get it through the terrain @@ -1637,7 +1639,11 @@ public sealed class BSPrim : BSPhysObject // entprop.RotationalVelocity = OMV.Vector3.Zero; } + DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG + // Assign directly to the local variables so the normal set actions do not happen + + // Undo any center-of-mass displacement that might have been done. entprop.Position -= PositionDisplacement; _position = entprop.Position; _orientation = entprop.Rotation; @@ -1645,6 +1651,8 @@ public sealed class BSPrim : BSPhysObject _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; + DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG + // The sanity check can change the velocity and/or position. if (IsPhysical && PositionSanityCheck(true)) { @@ -1653,8 +1661,7 @@ public sealed class BSPrim : BSPhysObject } OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG - DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", - LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity); + DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction); // remember the current and last set values LastEntityProperties = CurrentEntityProperties; -- cgit v1.1 From a5e9c665f08059fef16d0b0875697cb08e16351e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 23 Jan 2013 09:09:17 -0800 Subject: BulletSim: center-of-gravity linkset changes. Not working yet. Conflicts: OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 22 +--------------------- 1 file changed, 1 insertion(+), 21 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index dad7250..ee2bfa0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -322,6 +322,7 @@ public sealed class BSPrim : BSPhysObject }); } } + public override OMV.Vector3 ForcePosition { get { _position = PhysicsScene.PE.GetPosition(PhysBody) - PositionDisplacement; @@ -336,27 +337,6 @@ public sealed class BSPrim : BSPhysObject } } } - /* Disable. Presume whoever is setting displacement is already adjusting position, etc. - // Override to have position displacement immediately update the physical position. - // A feeble attempt to keep the sim and physical positions in sync - // Must be called at taint time. - public override OMV.Vector3 PositionDisplacement - { - get - { - return base.PositionDisplacement; - } - set - { - base.PositionDisplacement = value; - PhysicsScene.TaintedObject(PhysicsScene.InTaintTime, "BSPrim.setPosition", delegate() - { - if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.SetTranslation(PhysBody, _position + base.PositionDisplacement, _orientation); - }); - } - } - */ // Check that the current position is sane and, if not, modify the position to make it so. // Check for being below terrain and being out of bounds. -- cgit v1.1 From 13182904da897be1dad0bb86d8099bd0956ffac4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 23 Jan 2013 09:11:01 -0800 Subject: BulletSim: small change to center-of-mass computation left out last commit --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index ee2bfa0..731ab7b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1621,10 +1621,15 @@ public sealed class BSPrim : BSPhysObject DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG - // Assign directly to the local variables so the normal set actions do not happen - // Undo any center-of-mass displacement that might have been done. - entprop.Position -= PositionDisplacement; + if (PositionDisplacement != OMV.Vector3.Zero) + { + // Correct for any rotation around the center-of-mass + // TODO!!! + entprop.Position -= PositionDisplacement; + } + + // Assign directly to the local variables so the normal set actions do not happen _position = entprop.Position; _orientation = entprop.Rotation; _velocity = entprop.Velocity; -- cgit v1.1 From a7b810ddeebda8b13af3ab9fbeb24bef1a8094c6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 23 Jan 2013 14:21:52 -0800 Subject: BulletSim: remove setting of vehicle InterpolationRotationalVelocity. 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. --- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 731ab7b..f80084a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1619,7 +1619,7 @@ public sealed class BSPrim : BSPhysObject // entprop.RotationalVelocity = OMV.Vector3.Zero; } - DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG + // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG // Undo any center-of-mass displacement that might have been done. if (PositionDisplacement != OMV.Vector3.Zero) @@ -1636,7 +1636,7 @@ public sealed class BSPrim : BSPhysObject _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; - DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG + // DetailLog("{0},BSPrim.UpdateProperties,afterAssign,entprop={1}", LocalID, entprop); // DEBUG DEBUG // The sanity check can change the velocity and/or position. if (IsPhysical && PositionSanityCheck(true)) -- cgit v1.1