From 13778c895ae8adca907781c9d8c3a9ada30814e0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 15 Jan 2013 01:44:34 -0800 Subject: BulletSim: by default, turn on continuious collision detection (CCD) and enable friction computation caching. Remove dangerous BulletSim settings from OpenSimDefaults.ini. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 27ff047..862dbf6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -318,13 +318,13 @@ public static class BSParam (s,p,l,v) => { s.UpdateParameterObject((x)=>{AngularSleepingThreshold=x;}, p, l, v); }, (s,o,v) => { s.PE.SetSleepingThresholds(o.PhysBody, v, v); } ), new ParameterDefn("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" , - 0f, // set to zero to disable + 0.3f, // set to zero to disable (s,cf,p,v) => { CcdMotionThreshold = cf.GetFloat(p, v); }, (s) => { return CcdMotionThreshold; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdMotionThreshold=x;}, p, l, v); }, (s,o,v) => { s.PE.SetCcdMotionThreshold(o.PhysBody, v); } ), new ParameterDefn("CcdSweptSphereRadius", "Continuious collision detection test radius" , - 0f, + 0.2f, (s,cf,p,v) => { CcdSweptSphereRadius = cf.GetFloat(p, v); }, (s) => { return CcdSweptSphereRadius; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{CcdSweptSphereRadius=x;}, p, l, v); }, @@ -465,7 +465,7 @@ public static class BSParam (s) => { return s.UnmanagedParams[0].shouldSplitSimulationIslands; }, (s,p,l,v) => { s.UnmanagedParams[0].shouldSplitSimulationIslands = v; } ), new ParameterDefn("ShouldEnableFrictionCaching", "Enable friction computation caching", - ConfigurationParameters.numericFalse, + ConfigurationParameters.numericTrue, (s,cf,p,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); }, (s) => { return s.UnmanagedParams[0].shouldEnableFrictionCaching; }, (s,p,l,v) => { s.UnmanagedParams[0].shouldEnableFrictionCaching = v; } ), -- cgit v1.1 From 0374b2a0b4a88706f5269a55bac7aa2640f82256 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 15 Jan 2013 02:21:38 -0800 Subject: BulletSim: fix logic for enabling unmanaged code debug messages. Free pinned memory when physics engine is unloaded. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs index 9ff7084..ae54499 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIUnman.cs @@ -166,7 +166,7 @@ public override BulletWorld Initialize(Vector3 maxPosition, ConfigurationParamet // If Debug logging level, enable logging from the unmanaged code m_DebugLogCallbackHandle = null; - if (BSScene.m_log.IsDebugEnabled || PhysicsScene.PhysicsLogging.Enabled) + if (BSScene.m_log.IsDebugEnabled && PhysicsScene.PhysicsLogging.Enabled) { BSScene.m_log.DebugFormat("{0}: Initialize: Setting debug callback for unmanaged code", BSScene.LogHeader); if (PhysicsScene.PhysicsLogging.Enabled) @@ -212,6 +212,19 @@ public override void Shutdown(BulletWorld world) { BulletWorldUnman worldu = world as BulletWorldUnman; BSAPICPP.Shutdown2(worldu.ptr); + + if (m_paramsHandle.IsAllocated) + { + m_paramsHandle.Free(); + } + if (m_collisionArrayPinnedHandle.IsAllocated) + { + m_collisionArrayPinnedHandle.Free(); + } + if (m_updateArrayPinnedHandle.IsAllocated) + { + m_updateArrayPinnedHandle.Free(); + } } public override bool PushUpdate(BulletBody obj) -- cgit v1.1 From 181d4c6fcbf1560fcf100b5a6ec98d15ad2fe5cc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 15 Jan 2013 02:58:14 -0800 Subject: BulletSim: temporarily disable banking and direction deflection because the computations are wrong. Add VehicleTorqueImpulse routines. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 32 ++++++++++++++++------ .../Physics/BulletSPlugin/BSLinksetCompound.cs | 7 +++-- 2 files changed, 29 insertions(+), 10 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index bcebaec..f5826bc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -124,9 +124,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin static readonly float PIOverTwo = ((float)Math.PI) / 2f; // For debugging, flags to turn on and off individual corrections. - private bool enableAngularVerticalAttraction = true; - private bool enableAngularDeflection = true; - private bool enableAngularBanking = true; + private bool enableAngularVerticalAttraction; + private bool enableAngularDeflection; + private bool enableAngularBanking; public BSDynamics(BSScene myScene, BSPrim myPrim) { @@ -141,8 +141,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin public void SetupVehicleDebugging() { enableAngularVerticalAttraction = true; - enableAngularDeflection = true; - enableAngularBanking = true; + enableAngularDeflection = false; + enableAngularBanking = false; if (BSParam.VehicleDebuggingEnabled != ConfigurationParameters.numericFalse) { enableAngularVerticalAttraction = false; @@ -649,6 +649,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin private Quaternion m_knownOrientation; private Vector3 m_knownRotationalVelocity; private Vector3 m_knownRotationalForce; + private Vector3 m_knownRotationalImpulse; private Vector3 m_knownForwardVelocity; // vehicle relative forward speed private const int m_knownChangedPosition = 1 << 0; @@ -658,9 +659,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin private const int m_knownChangedOrientation = 1 << 4; private const int m_knownChangedRotationalVelocity = 1 << 5; private const int m_knownChangedRotationalForce = 1 << 6; - private const int m_knownChangedTerrainHeight = 1 << 7; - private const int m_knownChangedWaterLevel = 1 << 8; - private const int m_knownChangedForwardVelocity = 1 << 9; + private const int m_knownChangedRotationalImpulse = 1 << 7; + private const int m_knownChangedTerrainHeight = 1 << 8; + private const int m_knownChangedWaterLevel = 1 << 9; + private const int m_knownChangedForwardVelocity = 1 <<10; private void ForgetKnownVehicleProperties() { @@ -700,6 +702,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity); } + if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0) + Prim.ApplyTorqueImpulse((Vector3)m_knownRotationalImpulse, true /*inTaintTime*/); + if ((m_knownChanged & m_knownChangedRotationalForce) != 0) { Prim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/); @@ -843,6 +848,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_knownChanged |= m_knownChangedRotationalForce; m_knownHas |= m_knownChangedRotationalForce; } + private void VehicleAddRotationalImpulse(Vector3 pImpulse) + { + if ((m_knownHas & m_knownChangedRotationalImpulse) == 0) + { + m_knownRotationalImpulse = Vector3.Zero; + m_knownHas |= m_knownChangedRotationalImpulse; + } + m_knownRotationalImpulse += pImpulse; + m_knownChanged |= m_knownChangedRotationalImpulse; + } + // Vehicle relative forward velocity private Vector3 VehicleForwardVelocity { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 5a1b5c7..2dc89b5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -195,8 +195,11 @@ public sealed class BSLinksetCompound : BSLinkset && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) { // TODO: replace this with are calculation of the child prim's orientation and pos. - updated.LinksetInfo = null; - ScheduleRebuild(updated); + // TODO: for the moment, don't rebuild the compound shape. + // This is often just the car turning its wheels. When we can just reorient the one + // member shape of the compound shape, the overhead of rebuilding won't be a problem. + // updated.LinksetInfo = null; + // ScheduleRebuild(updated); } } -- cgit v1.1 From 021964c6e0648cf0e75b46864bef55afb7ff0a1f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 15 Jan 2013 04:24:24 -0800 Subject: BulletSim: tweeks to improve hover. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 26 +++++++++++++++++----- 1 file changed, 21 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index f5826bc..e434412 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1047,16 +1047,32 @@ namespace OpenSim.Region.Physics.BulletSPlugin else { // Error is positive if below the target and negative if above. - float verticalError = m_VhoverTargetHeight - VehiclePosition.Z; - float verticalCorrectionVelocity = verticalError / m_VhoverTimescale * pTimestep; + Vector3 hpos = VehiclePosition; + float verticalError = m_VhoverTargetHeight - hpos.Z; + float verticalCorrection = verticalError / m_VhoverTimescale; + verticalCorrection *= m_VhoverEfficiency; + + hpos.Z += verticalCorrection; + VehiclePosition = hpos; + + // Since we are hovering, we need to do the opposite of falling -- get rid of world Z + Vector3 vel = VehicleVelocity; + vel.Z = 0f; + VehicleVelocity = vel; + + /* + float verticalCorrectionVelocity = verticalError / m_VhoverTimescale; + Vector3 verticalCorrection = new Vector3(0f, 0f, verticalCorrectionVelocity); + verticalCorrection *= m_vehicleMass; // TODO: implement m_VhoverEfficiency correctly - VehicleAddForceImpulse(new Vector3(0f, 0f, verticalCorrectionVelocity)); + VehicleAddForceImpulse(verticalCorrection); + */ - VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corrVel={7}", + VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corr={7}", Prim.LocalID, VehiclePosition, m_VhoverEfficiency, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight, - verticalError, verticalCorrectionVelocity); + verticalError, verticalCorrection); } } -- cgit v1.1 From daef2b8d87300f02bef7edf01ae67c8c6a50af46 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 15 Jan 2013 12:55:55 -0800 Subject: BulletSim: reduce maximum force a script can apply (like in llApplyImpulse) to the documented maximum from the outragious number previously. --- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 862dbf6..3e80aa4 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -94,16 +94,16 @@ public static class BSParam public static float PID_D { get; private set; } // derivative public static float PID_P { get; private set; } // proportional - // Various constants that come from that other virtual world that shall not be named + // Various constants that come from that other virtual world that shall not be named. public const float MinGravityZ = -1f; public const float MaxGravityZ = 28f; public const float MinFriction = 0f; public const float MaxFriction = 255f; - public const float MinDensity = 0f; + public const float MinDensity = 0.01f; public const float MaxDensity = 22587f; public const float MinRestitution = 0f; public const float MaxRestitution = 1f; - public const float MaxAddForceMagnitude = 20000f; + public const float MaxAddForceMagnitude = 20f; // =========================================================================== public delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); -- cgit v1.1 From 61ff79587bea373278771f9529b582db2e05afdd Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 15 Jan 2013 12:57:12 -0800 Subject: BulletSim: add debugging messages to know when assets for physical objects have been fetched. Update TODO list with more work. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 5 ++- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 4 +-- .../Physics/BulletSPlugin/BSShapeCollection.cs | 42 ++++++++++++++-------- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 17 +++++++++ 4 files changed, 51 insertions(+), 17 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index a5fec87..2e900b3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -855,7 +855,10 @@ public sealed class BSCharacter : BSPhysObject _rotationalVelocity = entprop.RotationalVelocity; // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. - PositionSanityCheck(true); + if (PositionSanityCheck(true)) + { + entprop.Position = _position; + } // remember the current and last set values LastEntityProperties = CurrentEntityProperties; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 2dc89b5..eff909c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -108,8 +108,8 @@ public sealed class BSLinksetCompound : BSLinkset // Schedule a refresh to happen after all the other taint processing. private void ScheduleRebuild(BSPhysObject requestor) { - DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2}", - requestor.LocalID, Rebuilding, HasAnyChildren); + DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1},hasChildren={2},actuallyScheduling={3}", + requestor.LocalID, Rebuilding, HasAnyChildren, (!Rebuilding && HasAnyChildren)); // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. // If a linkset with just a root prim (simple non-linked prim) don't bother rebuilding. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index addab29..4f0d345 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -513,6 +513,7 @@ public sealed class BSShapeCollection : IDisposable return ret; } + // return 'true' if the shape was changed public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) { @@ -872,8 +873,7 @@ public sealed class BSShapeCollection : IDisposable { prim.LastAssetBuildFailed = true; BSPhysObject xprim = prim; - DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lID={1},lastFailed={2}", - LogHeader, prim.LocalID, prim.LastAssetBuildFailed); + DetailLog("{0},BSShapeCollection.VerifyMeshCreated,fetchAsset,lastFailed={1}", prim.LocalID, prim.LastAssetBuildFailed); Util.FireAndForget(delegate { RequestAssetDelegate assetProvider = PhysicsScene.RequestAssetMethod; @@ -882,19 +882,34 @@ public sealed class BSShapeCollection : IDisposable BSPhysObject yprim = xprim; // probably not necessary, but, just in case. assetProvider(yprim.BaseShape.SculptTexture, delegate(AssetBase asset) { - if (!yprim.BaseShape.SculptEntry) - return; - if (yprim.BaseShape.SculptTexture.ToString() != asset.ID) - return; - - yprim.BaseShape.SculptData = asset.Data; - // This will cause the prim to see that the filler shape is not the right - // one and try again to build the object. - // No race condition with the normal shape setting since the rebuild is at taint time. - yprim.ForceBodyShapeRebuild(false); + bool assetFound = false; // DEBUG DEBUG + string mismatchIDs = String.Empty; // DEBUG DEBUG + if (yprim.BaseShape.SculptEntry) + { + if (yprim.BaseShape.SculptTexture.ToString() == asset.ID) + { + yprim.BaseShape.SculptData = asset.Data; + // This will cause the prim to see that the filler shape is not the right + // one and try again to build the object. + // No race condition with the normal shape setting since the rebuild is at taint time. + yprim.ForceBodyShapeRebuild(false /* inTaintTime */); + assetFound = true; + } + else + { + mismatchIDs = yprim.BaseShape.SculptTexture.ToString() + "/" + asset.ID; + } + } + DetailLog("{0},BSShapeCollection,fetchAssetCallback,found={1},isSculpt={2},ids={3}", + yprim.LocalID, assetFound, yprim.BaseShape.SculptEntry, mismatchIDs ); }); } + else + { + PhysicsScene.Logger.ErrorFormat("{0} Physical object requires asset but no asset provider. Name={1}", + LogHeader, PhysicsScene.Name); + } }); } else @@ -907,8 +922,7 @@ public sealed class BSShapeCollection : IDisposable } // While we figure out the real problem, stick in a simple box for the object. - BulletShape fillinShape = - BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); + BulletShape fillinShape = BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); return fillinShape; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 59cbab9..067e64a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,7 +1,23 @@ CURRENT PRIORITIES ================================================= +Crazyness during 20130115 office hours was PositionAdjustUnderground for both char and prim + m1:logs/20130115.0934/physics-BulletSim-20130115083613.log + Creation of Neb's terrain made the terrain "disappear". Everything started to fall + and then get restored to be above terrain. +Create tests for different interface components + Have test objects/scripts measure themselves and turn color if correct/bad + Test functions in SL and calibrate correctness there + Create auto rezzer and tracker to run through the tests +Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 + Msg Kayaker on OSGrid when working +Teravus llMoveToTarget script debug + Mixing of hover, buoyancy/gravity, moveToTarget, into one force +Surf board debugging +Boats floating at proper level Nebadon vehicles turning funny in arena limitMotorUp calibration (more down?) +llRotLookAt +llLookAt Vehicle angular vertical attraction Vehicle angular deflection Preferred orientation angular correction fix @@ -167,6 +183,7 @@ Enforce physical parameter min/max: Restitution [0, 1] http://wiki.secondlife.com/wiki/Physics_Material_Settings_test Avatar attachments have no mass? http://forums-archive.secondlife.com/54/f0/31796/1.html +Keep avatar scaling correct. http://pennycow.blogspot.fr/2011/07/matter-of-scale.html INTERNAL IMPROVEMENT/CLEANUP ================================================= -- cgit v1.1 From 5d098d8f17fe24d9ad2999ddce819787d02989ce Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 15 Jan 2013 15:07:38 -0800 Subject: BulletSim: don't modify angular parameters when doing LIMIT_MOTOR_UP. 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. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 12 +++++------ .../Physics/BulletSPlugin/BSLinksetCompound.cs | 2 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 18 ++++++++-------- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 24 +++++++++++----------- 5 files changed, 30 insertions(+), 28 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 2e900b3..87a06c1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -215,7 +215,7 @@ public sealed class BSCharacter : BSPhysObject // Add special movement force to allow avatars to walk up stepped surfaces. moveForce += WalkUpStairs(); - DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce); + // DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce); PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce); }); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index e434412..6601479 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1160,8 +1160,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin if (!Prim.IsColliding && VehicleVelocity.Z > 0.1) { // Get rid of any of the velocity vector that is pushing us up. - VehicleVelocity += new Vector3(0, 0, -VehicleVelocity.Z); + float upVelocity = VehicleVelocity.Z; + VehicleVelocity += new Vector3(0, 0, -upVelocity); + /* // If we're pointed up into the air, we should nose down Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; // The rotation around the Y axis is pitch up or down @@ -1175,11 +1177,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin VDetailLog("{0}, MoveLinear,limitMotorUp,newVel={1},pntDir={2},corrFrc={3},aCorr={4}", Prim.LocalID, VehicleVelocity, pointingDirection, angularCorrectionForce, angularCorrectionVector); } - else - { - VDetailLog("{0}, MoveLinear,limitMotorUp,newVel={1},pntDir={2}", - Prim.LocalID, VehicleVelocity, pointingDirection); - } + */ + VDetailLog("{0}, MoveLinear,limitMotorUp,collide={1},upVel={2},newVel={3}", + Prim.LocalID, Prim.IsColliding, upVelocity, VehicleVelocity); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index eff909c..8c9a774 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -311,7 +311,7 @@ public sealed class BSLinksetCompound : BSLinkset else { // Rebuild the compound shape with the child removed - ScheduleRebuild(child); + ScheduleRebuild(LinksetRoot); } } return; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 4f0d345..9fbfcdc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -442,7 +442,8 @@ public sealed class BSShapeCollection : IDisposable return ret; } - // Create a mesh/hull shape or a native shape if 'nativeShapePossible' is 'true'. + // Create a mesh, hull or native shape. + // Return 'true' if the prim's shape was changed. public bool CreateGeomNonSpecial(bool forceRebuild, BSPhysObject prim, ShapeDestructionCallback shapeCallback) { bool ret = false; @@ -472,7 +473,7 @@ public sealed class BSShapeCollection : IDisposable if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}", prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type); - // It doesn't look like Bullet scales spheres so make sure the scales are all equal + // It doesn't look like Bullet scales native spheres so make sure the scales are all equal if ((pbs.ProfileShape == ProfileShape.HalfCircle && pbs.PathCurve == (byte)Extrusion.Curve1) && pbs.Scale.X == pbs.Scale.Y && pbs.Scale.Y == pbs.Scale.Z) { @@ -484,9 +485,9 @@ public sealed class BSShapeCollection : IDisposable { ret = GetReferenceToNativeShape(prim, BSPhysicsShapeType.SHAPE_SPHERE, FixedShapeKey.KEY_SPHERE, shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},shape={2}", - prim.LocalID, forceRebuild, prim.PhysShape); } + if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,sphere,force={1},rebuilt={2},shape={3}", + prim.LocalID, forceRebuild, ret, prim.PhysShape); } if (!haveShape && pbs.ProfileShape == ProfileShape.Square && pbs.PathCurve == (byte)Extrusion.Straight) { @@ -498,9 +499,9 @@ public sealed class BSShapeCollection : IDisposable { ret = GetReferenceToNativeShape( prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX, shapeCallback); - if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},shape={2}", - prim.LocalID, forceRebuild, prim.PhysShape); } + if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,box,force={1},rebuilt={2},shape={3}", + prim.LocalID, forceRebuild, ret, prim.PhysShape); } } @@ -513,7 +514,7 @@ public sealed class BSShapeCollection : IDisposable return ret; } - // return 'true' if the shape was changed + // return 'true' if the prim's shape was changed. public bool CreateGeomMeshOrHull(BSPhysObject prim, ShapeDestructionCallback shapeCallback) { @@ -921,8 +922,9 @@ public sealed class BSShapeCollection : IDisposable } } - // While we figure out the real problem, stick in a simple box for the object. + // While we wait for the mesh defining asset to be loaded, stick in a simple box for the object. BulletShape fillinShape = BuildPhysicalNativeShape(prim, BSPhysicsShapeType.SHAPE_BOX, FixedShapeKey.KEY_BOX); + DetailLog("{0},BSShapeCollection.VerifyMeshCreated,boxTempShape", prim.LocalID); return fillinShape; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 067e64a..53b5530 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -1,18 +1,9 @@ CURRENT PRIORITIES ================================================= -Crazyness during 20130115 office hours was PositionAdjustUnderground for both char and prim - m1:logs/20130115.0934/physics-BulletSim-20130115083613.log - Creation of Neb's terrain made the terrain "disappear". Everything started to fall - and then get restored to be above terrain. -Create tests for different interface components - Have test objects/scripts measure themselves and turn color if correct/bad - Test functions in SL and calibrate correctness there - Create auto rezzer and tracker to run through the tests Mantis 6040 script http://opensimulator.org/mantis/view.php?id=6040 Msg Kayaker on OSGrid when working Teravus llMoveToTarget script debug Mixing of hover, buoyancy/gravity, moveToTarget, into one force -Surf board debugging Boats floating at proper level Nebadon vehicles turning funny in arena limitMotorUp calibration (more down?) @@ -25,8 +16,6 @@ vehicle angular banking Avatars walking up stairs (HALF DONE) Radius of the capsule affects ability to climb edges. Vehicle movement on terrain smoothness -Surfboard go wonky when turning - Angular motor direction is global coordinates rather than local coordinates? Boats float low in the water (DONE) Avatar movement flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE) @@ -43,6 +32,10 @@ Add material densities to the material types CRASHES ================================================= +Crazyness during 20130115 office hours was PositionAdjustUnderground for both char and prim + m1:logs/20130115.0934/physics-BulletSim-20130115083613.log + Creation of Neb's terrain made the terrain "disappear". Everything started to fall + and then get restored to be above terrain. 20121129.1411: editting/moving phys object across region boundries causes crash getPos-> btRigidBody::upcast -> getBodyType -> BOOM 20121128.1600: mesh object not rezzing (no physics mesh). @@ -149,6 +142,10 @@ Eliminate collisions between objects in a linkset. (LinksetConstraint) MORE ====================================================== +Create tests for different interface components + Have test objects/scripts measure themselves and turn color if correct/bad + Test functions in SL and calibrate correctness there + Create auto rezzer and tracker to run through the tests Use the HACD convex hull routine in Bullet rather than the C# version. Do we need to do convex hulls all the time? Can complex meshes be left meshes? There is some problem with meshes and collisions @@ -304,4 +301,7 @@ Disable activity of passive linkset children. (DONE) Since the linkset is a compound object, the old prims are left lying around and need to be phantomized so they don't collide, ... Remove HeightmapInfo from terrain specification (DONE) - Since C++ code does not need terrain height, this structure et al are not needed. \ No newline at end of file + Since C++ code does not need terrain height, this structure et al are not needed. +Surfboard go wonky when turning (DONE) + Angular motor direction is global coordinates rather than local coordinates? + (Resolution: made angular motor direction correct coordinate system) \ No newline at end of file -- cgit v1.1 From 8ee9daa121440ad550676814fe60e6b6c0c5d701 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 15 Jan 2013 21:08:11 -0800 Subject: BulletSim: add the editting children in linkset going phantom bug to TODO list. --- OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 2 ++ 1 file changed, 2 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 53b5530..d4545f7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -120,6 +120,8 @@ Physical and phantom will drop through the terrain LINKSETS ====================================================== +Editing a child of a linkset causes the child to go phantom + Move a child prim once when it is physical and can never move it again without it going phantom Offset the center of the linkset to be the geometric center of all the prims Not quite the same as the center-of-gravity Linksets should allow collisions to individual children -- cgit v1.1