From 6a5d08819725a836a4072dec3bd3f84a1bd39ffb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 24 Jan 2013 16:26:04 -0800 Subject: BulletSim: reduce the force of gravity on ground vehicles when they are on the ground. Makes them a little more stable. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 11 +++++++++++ 1 file changed, 11 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index f1ef449..7ad7c89 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -158,6 +158,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin get { return (Type != Vehicle.TYPE_NONE && Prim.IsPhysicallyActive); } } + // Return 'true' if this a vehicle that should be sitting on the ground + public bool IsGroundVehicle + { + get { return (Type == Vehicle.TYPE_CAR || Type == Vehicle.TYPE_SLED); } + } + #region Vehicle parameter setting internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) { @@ -1176,6 +1182,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin private void ApplyGravity(float pTimeStep) { Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass; + + // Hack to reduce downward force if the vehicle is probably sitting on the ground + if (Prim.IsColliding && IsGroundVehicle) + appliedGravity *= 0.2f; + VehicleAddForce(appliedGravity); VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},appliedForce-{2}", -- cgit v1.1 From 5128ae7b8685a583b3d53428f5bbba5ba5e65549 Mon Sep 17 00:00:00 2001 From: teravus Date: Fri, 25 Jan 2013 20:15:37 -0500 Subject: * This adds llVolumeDetect functionality to the C# implementation of BulletSim. --- OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs | 202 +++++++++++++---------- 1 file changed, 116 insertions(+), 86 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs index f63d83c..04e77b8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSAPIXNA.cs @@ -137,6 +137,7 @@ private sealed class BulletConstraintXNA : BulletConstraint internal int LastEntityProperty = 0; internal EntityProperties[] UpdatedObjects; + internal Dictionary specialCollisionObjects; private static int m_collisionsThisFrame; private BSScene PhysicsScene { get; set; } @@ -158,7 +159,13 @@ private sealed class BulletConstraintXNA : BulletConstraint { DiscreteDynamicsWorld world = (pWorld as BulletWorldXNA).world; RigidBody body = ((BulletBodyXNA)pBody).rigidBody; - world.RemoveRigidBody(body); + CollisionObject collisionObject = ((BulletBodyXNA)pBody).body; + if (body != null) + world.RemoveRigidBody(body); + else if (collisionObject != null) + world.RemoveCollisionObject(collisionObject); + else + return false; return true; } @@ -182,7 +189,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void SetRestitution(BulletBody pCollisionObject, float pRestitution) { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; collisionObject.SetRestitution(pRestitution); } @@ -219,13 +226,13 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void SetCcdMotionThreshold(BulletBody pCollisionObject, float pccdMotionThreashold) { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; collisionObject.SetCcdMotionThreshold(pccdMotionThreashold); } public override void SetCcdSweptSphereRadius(BulletBody pCollisionObject, float pCcdSweptSphereRadius) { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; collisionObject.SetCcdSweptSphereRadius(pCcdSweptSphereRadius); } @@ -262,7 +269,7 @@ private sealed class BulletConstraintXNA : BulletConstraint } else { - world.AddCollisionObject(rbody); + world.AddCollisionObject(cbody); } cbody.SetWorldTransform(origPos); @@ -303,7 +310,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override bool SetCollisionGroupMask(BulletBody pCollisionObject, uint pGroup, uint pMask) { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; collisionObject.GetBroadphaseHandle().m_collisionFilterGroup = (BulletXNA.BulletCollision.CollisionFilterGroups) pGroup; if ((uint) collisionObject.GetBroadphaseHandle().m_collisionFilterGroup == 0) @@ -390,7 +397,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void SetTranslation(BulletBody pCollisionObject, Vector3 _position, Quaternion _orientation) { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; IndexedVector3 vposition = new IndexedVector3(_position.X, _position.Y, _position.Z); IndexedQuaternion vquaternion = new IndexedQuaternion(_orientation.X, _orientation.Y, _orientation.Z, _orientation.W); @@ -418,8 +425,11 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void SetMassProps(BulletBody pBody, float pphysMass, Vector3 plocalInertia) { RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); - body.SetMassProps(pphysMass, inertia); + if (body != null) // Can't set mass props on collision object. + { + IndexedVector3 inertia = new IndexedVector3(plocalInertia.X, plocalInertia.Y, plocalInertia.Z); + body.SetMassProps(pphysMass, inertia); + } } @@ -432,7 +442,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void SetFriction(BulletBody pCollisionObject, float _currentFriction) { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; collisionObject.SetFriction(_currentFriction); } @@ -459,7 +469,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override CollisionFlags RemoveFromCollisionFlags(BulletBody pCollisionObject, CollisionFlags pcollisionFlags) { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; CollisionFlags existingcollisionFlags = (CollisionFlags)(uint)collisionObject.GetCollisionFlags(); existingcollisionFlags &= ~pcollisionFlags; collisionObject.SetCollisionFlags((BulletXNA.BulletCollision.CollisionFlags)(uint)existingcollisionFlags); @@ -494,8 +504,11 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void SetGravity(BulletBody pBody, Vector3 pGravity) { RigidBody body = (pBody as BulletBodyXNA).rigidBody; - IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); - body.SetGravity(gravity); + if (body != null) // Can't set collisionobject.set gravity + { + IndexedVector3 gravity = new IndexedVector3(pGravity.X, pGravity.Y, pGravity.Z); + body.SetGravity(gravity); + } } public override bool DestroyConstraint(BulletWorld pWorld, BulletConstraint pConstraint) @@ -733,7 +746,8 @@ private sealed class BulletConstraintXNA : BulletConstraint public override void UpdateInertiaTensor(BulletBody pBody) { RigidBody body = (pBody as BulletBodyXNA).rigidBody; - body.UpdateInertiaTensor(); + if (body != null) // can't update inertia tensor on CollisionObject + body.UpdateInertiaTensor(); } public override void RecalculateCompoundShapeLocalAabb(BulletShape pCompoundShape) @@ -770,7 +784,7 @@ private sealed class BulletConstraintXNA : BulletConstraint public override CollisionObjectTypes GetBodyType(BulletBody pCollisionObject) { - CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).rigidBody; + CollisionObject collisionObject = (pCollisionObject as BulletBodyXNA).body; return (CollisionObjectTypes)(int) collisionObject.GetInternalType(); } @@ -889,7 +903,18 @@ private sealed class BulletConstraintXNA : BulletConstraint world.RemoveRigidBody(bo); } } - + if (co != null) + { + if (co.GetUserPointer() != null) + { + uint localId = (uint) co.GetUserPointer(); + if (specialCollisionObjects.ContainsKey(localId)) + { + specialCollisionObjects.Remove(localId); + } + } + } + } public override void Shutdown(BulletWorld pWorld) @@ -1050,7 +1075,7 @@ private sealed class BulletConstraintXNA : BulletConstraint Vector3 worldExtent = new Vector3(Constants.RegionSize, Constants.RegionSize, Constants.RegionHeight); m_maxCollisions = maxCollisions; m_maxUpdatesPerFrame = maxUpdates; - + specialCollisionObjects = new Dictionary(); return new BulletWorldXNA(1, PhysicsScene, BSAPIXNA.Initialize2(worldExtent, configparms, maxCollisions, ref collisionArray, maxUpdates, ref updateArray, null)); } @@ -1310,6 +1335,12 @@ private sealed class BulletConstraintXNA : BulletConstraint CollisionShape shape = (pShape as BulletShapeXNA).shape; gObj.SetCollisionShape(shape); gObj.SetUserPointer(pLocalID); + + if (specialCollisionObjects.ContainsKey(pLocalID)) + specialCollisionObjects[pLocalID] = gObj; + else + specialCollisionObjects.Add(pLocalID, gObj); + // TODO: Add to Special CollisionObjects! return new BulletBodyXNA(pLocalID, gObj); } @@ -1399,7 +1430,7 @@ private sealed class BulletConstraintXNA : BulletConstraint } public override BulletShape GetChildShapeFromCompoundShapeIndex(BulletShape cShape, int indx) { - /* TODO */ + if (cShape == null) return null; CompoundShape compoundShape = (cShape as BulletShapeXNA).shape as CompoundShape; @@ -1407,7 +1438,7 @@ private sealed class BulletConstraintXNA : BulletConstraint BulletShape retShape = new BulletShapeXNA(shape, BSShapeTypeFromBroadPhaseNativeType(shape.GetShapeType())); - return null; + return retShape; } public BSPhysicsShapeType BSShapeTypeFromBroadPhaseNativeType(BroadphaseNativeTypes pin) @@ -1802,26 +1833,29 @@ private sealed class BulletConstraintXNA : BulletConstraint numSimSteps = world.StepSimulation(timeStep, m_maxSubSteps, m_fixedTimeStep); int updates = 0; - - + PersistentManifold contactManifold; + CollisionObject objA; + CollisionObject objB; + ManifoldPoint manifoldPoint; + PairCachingGhostObject pairCachingGhostObject; m_collisionsThisFrame = 0; int numManifolds = world.GetDispatcher().GetNumManifolds(); for (int j = 0; j < numManifolds; j++) { - PersistentManifold contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j); + contactManifold = world.GetDispatcher().GetManifoldByIndexInternal(j); int numContacts = contactManifold.GetNumContacts(); if (numContacts == 0) continue; - CollisionObject objA = contactManifold.GetBody0() as CollisionObject; - CollisionObject objB = contactManifold.GetBody1() as CollisionObject; + objA = contactManifold.GetBody0() as CollisionObject; + objB = contactManifold.GetBody1() as CollisionObject; - ManifoldPoint manifoldPoint = contactManifold.GetContactPoint(0); - IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB(); - IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A + manifoldPoint = contactManifold.GetContactPoint(0); + //IndexedVector3 contactPoint = manifoldPoint.GetPositionWorldOnB(); + // IndexedVector3 contactNormal = -manifoldPoint.m_normalWorldOnB; // make relative to A - RecordCollision(this, objA, objB, contactPoint, contactNormal,manifoldPoint.GetDistance()); + RecordCollision(this, objA, objB, manifoldPoint.GetPositionWorldOnB(), -manifoldPoint.m_normalWorldOnB, manifoldPoint.GetDistance()); m_collisionsThisFrame ++; if (m_collisionsThisFrame >= 9999999) break; @@ -1829,12 +1863,19 @@ private sealed class BulletConstraintXNA : BulletConstraint } - updatedEntityCount = LastEntityProperty; - updatedEntities = UpdatedObjects; - + foreach (GhostObject ghostObject in specialCollisionObjects.Values) + { + pairCachingGhostObject = ghostObject as PairCachingGhostObject; + if (pairCachingGhostObject != null) + { + RecordGhostCollisions(pairCachingGhostObject); + } + } + updatedEntityCount = LastEntityProperty; + updatedEntities = UpdatedObjects; collidersCount = LastCollisionDesc; colliders = UpdatedCollisions; @@ -1860,60 +1901,49 @@ private sealed class BulletConstraintXNA : BulletConstraint } public void RecordGhostCollisions(PairCachingGhostObject obj) { - /* - *void BulletSim::RecordGhostCollisions(btPairCachingGhostObject* obj) -{ - btManifoldArray manifoldArray; - btBroadphasePairArray& pairArray = obj->getOverlappingPairCache()->getOverlappingPairArray(); - int numPairs = pairArray.size(); - - // For all the pairs of sets of contact points - for (int i=0; i < numPairs; i++) - { - if (m_collisionsThisFrame >= m_maxCollisionsPerFrame) - break; - - manifoldArray.clear(); - const btBroadphasePair& pair = pairArray[i]; - - // The real representation is over in the world pair cache - btBroadphasePair* collisionPair = m_worldData.dynamicsWorld->getPairCache()->findPair(pair.m_pProxy0,pair.m_pProxy1); - if (!collisionPair) - continue; - - if (collisionPair->m_algorithm) - collisionPair->m_algorithm->getAllContactManifolds(manifoldArray); - - // The collision pair has sets of collision points (manifolds) - for (int j=0; j < manifoldArray.size(); j++) - { - btPersistentManifold* contactManifold = manifoldArray[j]; - int numContacts = contactManifold->getNumContacts(); - - const btCollisionObject* objA = static_cast(contactManifold->getBody0()); - const btCollisionObject* objB = static_cast(contactManifold->getBody1()); - - // TODO: this is a more thurough check than the regular collision code -- - // here we find the penetrating contact in the manifold but for regular - // collisions we assume the first point in the manifold is good enough. - // Decide of this extra checking is required or if first point is good enough. - for (int p=0; p < numContacts; p++) - { - const btManifoldPoint& pt = contactManifold->getContactPoint(p); - // If a penetrating contact, this is a hit - if (pt.getDistance()<0.f) - { - const btVector3& contactPoint = pt.getPositionWorldOnA(); - const btVector3& normalOnA = -pt.m_normalWorldOnB; - RecordCollision(objA, objB, contactPoint, normalOnA, pt.getDistance()); - // Only one contact point for each set of colliding objects - break; - } - } - } - } -} - */ + IOverlappingPairCache cache = obj.GetOverlappingPairCache(); + ObjectArray pairs = cache.GetOverlappingPairArray(); + + DiscreteDynamicsWorld world = (PhysicsScene.World as BulletWorldXNA).world; + PersistentManifoldArray manifoldArray = new PersistentManifoldArray(); + BroadphasePair collisionPair; + PersistentManifold contactManifold; + + CollisionObject objA; + CollisionObject objB; + + ManifoldPoint pt; + + int numPairs = pairs.Count; + + for (int i = 0; i < numPairs; i++) + { + manifoldArray.Clear(); + if (LastCollisionDesc < UpdatedCollisions.Length) + break; + collisionPair = world.GetPairCache().FindPair(pairs[i].m_pProxy0, pairs[i].m_pProxy1); + if (collisionPair == null) + continue; + + collisionPair.m_algorithm.GetAllContactManifolds(manifoldArray); + for (int j = 0; j < manifoldArray.Count; j++) + { + contactManifold = manifoldArray[j]; + int numContacts = contactManifold.GetNumContacts(); + objA = contactManifold.GetBody0() as CollisionObject; + objB = contactManifold.GetBody1() as CollisionObject; + for (int p = 0; p < numContacts; p++) + { + pt = contactManifold.GetContactPoint(p); + if (pt.GetDistance() < 0.0f) + { + RecordCollision(this, objA, objB, pt.GetPositionWorldOnA(), -pt.m_normalWorldOnB,pt.GetDistance()); + break; + } + } + } + } + } private static void RecordCollision(BSAPIXNA world, CollisionObject objA, CollisionObject objB, IndexedVector3 contact, IndexedVector3 norm, float penetration) { @@ -1934,7 +1964,7 @@ private sealed class BulletConstraintXNA : BulletConstraint contactNormal = -contactNormal; } - ulong collisionID = ((ulong) idA << 32) | idB; + //ulong collisionID = ((ulong) idA << 32) | idB; CollisionDesc cDesc = new CollisionDesc() { -- cgit v1.1