From 804b332d45c3989958f5ec08e1509ba373fb84b1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 25 Oct 2012 08:04:20 -0700 Subject: BulletSim: Add banking and other new code to vechile dynamics. Add third party license and contributor in for for Aurora-Sim project for physics code. --- .../Physics/BulletSPlugin/BS6DofConstraint.cs | 2 +- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 2 +- .../BulletSPlugin/BSConstraintCollection.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 489 +++++++++++++-------- .../Physics/BulletSPlugin/BSHingeConstraint.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 2 + .../Physics/BulletSPlugin/BSLinksetConstraints.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 2 +- .../Physics/BulletSPlugin/BSShapeCollection.cs | 2 +- .../Physics/BulletSPlugin/BSTerrainManager.cs | 2 +- 11 files changed, 323 insertions(+), 188 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs index 3306a97..310df3d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BS6DofConstraint.cs @@ -32,7 +32,7 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -public class BS6DofConstraint : BSConstraint +public sealed class BS6DofConstraint : BSConstraint { private static string LogHeader = "[BULLETSIM 6DOF CONSTRAINT]"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index a041ba8..9fea9b8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -34,7 +34,7 @@ using OpenSim.Region.Physics.Manager; namespace OpenSim.Region.Physics.BulletSPlugin { -public class BSCharacter : BSPhysObject +public sealed class BSCharacter : BSPhysObject { private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS CHAR]"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs index 22ea367..b9add06 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSConstraintCollection.cs @@ -33,7 +33,7 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -public class BSConstraintCollection : IDisposable +public sealed class BSConstraintCollection : IDisposable { // private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); // private static readonly string LogHeader = "[CONSTRAINT COLLECTION]"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 117c878..9b59bef 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -52,7 +52,7 @@ using OpenSim.Region.Physics.Manager; namespace OpenSim.Region.Physics.BulletSPlugin { - public class BSDynamics + public sealed class BSDynamics { private BSScene PhysicsScene { get; set; } // the prim this dynamic controller belongs to @@ -72,8 +72,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // LIMIT_ROLL_ONLY private Vector3 m_BlockingEndPoint = Vector3.Zero; private Quaternion m_RollreferenceFrame = Quaternion.Identity; + private Quaternion m_referenceFrame = Quaternion.Identity; + // Linear properties private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time + private Vector3 m_linearMotorOffset = Vector3.Zero; // the point of force can be offset from the center private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL private Vector3 m_newVelocity = Vector3.Zero; // velocity computed to be applied to body private Vector3 m_linearFrictionTimescale = Vector3.Zero; @@ -95,19 +98,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body //Deflection properties - // private float m_angularDeflectionEfficiency = 0; - // private float m_angularDeflectionTimescale = 0; - // private float m_linearDeflectionEfficiency = 0; - // private float m_linearDeflectionTimescale = 0; + private float m_angularDeflectionEfficiency = 0; + private float m_angularDeflectionTimescale = 0; + private float m_linearDeflectionEfficiency = 0; + private float m_linearDeflectionTimescale = 0; //Banking properties - // private float m_bankingEfficiency = 0; - // private float m_bankingMix = 0; - // private float m_bankingTimescale = 0; + private float m_bankingEfficiency = 0; + private float m_bankingMix = 0; + private float m_bankingTimescale = 0; //Hover and Buoyancy properties private float m_VhoverHeight = 0f; -// private float m_VhoverEfficiency = 0f; + private float m_VhoverEfficiency = 0f; private float m_VhoverTimescale = 0f; private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle. @@ -138,10 +141,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin switch (pParam) { case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: - // m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f); + m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f); break; case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: - // m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); + m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: m_angularMotorDecayTimescale = Math.Max(pValue, 0.01f); @@ -150,20 +153,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_angularMotorTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.BANKING_EFFICIENCY: - // m_bankingEfficiency = Math.Max(pValue, 0.01f); + m_bankingEfficiency = Math.Max(-1f, Math.Min(pValue, 1f)); break; case Vehicle.BANKING_MIX: - // m_bankingMix = Math.Max(pValue, 0.01f); + m_bankingMix = Math.Max(pValue, 0.01f); break; case Vehicle.BANKING_TIMESCALE: - // m_bankingTimescale = Math.Max(pValue, 0.01f); + m_bankingTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.BUOYANCY: m_VehicleBuoyancy = Math.Max(-1f, Math.Min(pValue, 1f)); break; -// case Vehicle.HOVER_EFFICIENCY: -// m_VhoverEfficiency = Math.Max(0f, Math.Min(pValue, 1f)); -// break; + case Vehicle.HOVER_EFFICIENCY: + m_VhoverEfficiency = Math.Max(0f, Math.Min(pValue, 1f)); + break; case Vehicle.HOVER_HEIGHT: m_VhoverHeight = pValue; break; @@ -171,10 +174,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_VhoverTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: - // m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f); + m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f); break; case Vehicle.LINEAR_DEFLECTION_TIMESCALE: - // m_linearDeflectionTimescale = Math.Max(pValue, 0.01f); + m_linearDeflectionTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: m_linearMotorDecayTimescale = Math.Max(pValue, 0.01f); @@ -196,7 +199,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin break; case Vehicle.ANGULAR_MOTOR_DIRECTION: m_angularMotorDirection = new Vector3(pValue, pValue, pValue); - m_angularMotorApply = 10; + m_angularMotorApply = 100; break; case Vehicle.LINEAR_FRICTION_TIMESCALE: m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); @@ -206,7 +209,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue); break; case Vehicle.LINEAR_MOTOR_OFFSET: - // m_linearMotorOffset = new Vector3(pValue, pValue, pValue); + m_linearMotorOffset = new Vector3(pValue, pValue, pValue); break; } @@ -221,15 +224,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); break; case Vehicle.ANGULAR_MOTOR_DIRECTION: - m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); // Limit requested angular speed to 2 rps= 4 pi rads/sec - if (m_angularMotorDirection.X > 12.56f) m_angularMotorDirection.X = 12.56f; - if (m_angularMotorDirection.X < - 12.56f) m_angularMotorDirection.X = - 12.56f; - if (m_angularMotorDirection.Y > 12.56f) m_angularMotorDirection.Y = 12.56f; - if (m_angularMotorDirection.Y < - 12.56f) m_angularMotorDirection.Y = - 12.56f; - if (m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f; - if (m_angularMotorDirection.Z < - 12.56f) m_angularMotorDirection.Z = - 12.56f; - m_angularMotorApply = 10; + pValue.X = Math.Max(-12.56f, Math.Min(pValue.X, 12.56f)); + pValue.Y = Math.Max(-12.56f, Math.Min(pValue.Y, 12.56f)); + pValue.Z = Math.Max(-12.56f, Math.Min(pValue.Z, 12.56f)); + m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); + m_angularMotorApply = 100; break; case Vehicle.LINEAR_FRICTION_TIMESCALE: m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); @@ -239,7 +239,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); break; case Vehicle.LINEAR_MOTOR_OFFSET: - // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); + m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); break; case Vehicle.BLOCK_EXIT: m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z); @@ -253,7 +253,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin switch (pParam) { case Vehicle.REFERENCE_FRAME: - // m_referenceFrame = pValue; + m_referenceFrame = pValue; break; case Vehicle.ROLL_FRAME: m_RollreferenceFrame = pValue; @@ -265,21 +265,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin { VDetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", Prim.LocalID, pParam, remove); VehicleFlag parm = (VehicleFlag)pParam; - if (remove) + if (pParam == -1) + m_flags = (VehicleFlag)0; + else { - if (pParam == -1) - { - m_flags = (VehicleFlag)0; - } - else - { + if (remove) m_flags &= ~parm; - } - } - else { - m_flags |= parm; + else + m_flags |= parm; } - }//end ProcessVehicleFlags + } internal void ProcessTypeChange(Vehicle pType) { @@ -288,99 +283,142 @@ namespace OpenSim.Region.Physics.BulletSPlugin Type = pType; switch (pType) { - case Vehicle.TYPE_NONE: - m_linearFrictionTimescale = new Vector3(0, 0, 0); - m_angularFrictionTimescale = new Vector3(0, 0, 0); + case Vehicle.TYPE_NONE: m_linearMotorDirection = Vector3.Zero; m_linearMotorTimescale = 0; m_linearMotorDecayTimescale = 0; + m_linearFrictionTimescale = new Vector3(0, 0, 0); + m_angularMotorDirection = Vector3.Zero; - m_angularMotorTimescale = 0; m_angularMotorDecayTimescale = 0; + m_angularMotorTimescale = 0; + m_angularFrictionTimescale = new Vector3(0, 0, 0); + m_VhoverHeight = 0; + m_VhoverEfficiency = 0; m_VhoverTimescale = 0; m_VehicleBuoyancy = 0; + + m_linearDeflectionEfficiency = 1; + m_linearDeflectionTimescale = 1; + + m_angularDeflectionEfficiency = 0; + m_angularDeflectionTimescale = 1000; + + m_verticalAttractionEfficiency = 0; + m_verticalAttractionTimescale = 0; + + m_bankingEfficiency = 0; + m_bankingTimescale = 1000; + m_bankingMix = 1; + + m_referenceFrame = Quaternion.Identity; m_flags = (VehicleFlag)0; break; case Vehicle.TYPE_SLED: - m_linearFrictionTimescale = new Vector3(30, 1, 1000); - m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); m_linearMotorDirection = Vector3.Zero; m_linearMotorTimescale = 1000; m_linearMotorDecayTimescale = 120; + m_linearFrictionTimescale = new Vector3(30, 1, 1000); + m_angularMotorDirection = Vector3.Zero; m_angularMotorTimescale = 1000; m_angularMotorDecayTimescale = 120; + m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); + m_VhoverHeight = 0; -// m_VhoverEfficiency = 1; + m_VhoverEfficiency = 10; // TODO: this looks wrong!! m_VhoverTimescale = 10; m_VehicleBuoyancy = 0; - // m_linearDeflectionEfficiency = 1; - // m_linearDeflectionTimescale = 1; - // m_angularDeflectionEfficiency = 1; - // m_angularDeflectionTimescale = 1000; - // m_bankingEfficiency = 0; - // m_bankingMix = 1; - // m_bankingTimescale = 10; - // m_referenceFrame = Quaternion.Identity; + + m_linearDeflectionEfficiency = 1; + m_linearDeflectionTimescale = 1; + + m_angularDeflectionEfficiency = 1; + m_angularDeflectionTimescale = 1000; + + m_verticalAttractionEfficiency = 0; + m_verticalAttractionTimescale = 0; + + m_bankingEfficiency = 0; + m_bankingTimescale = 10; + m_bankingMix = 1; + + m_referenceFrame = Quaternion.Identity; m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); break; case Vehicle.TYPE_CAR: - m_linearFrictionTimescale = new Vector3(100, 2, 1000); - m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); m_linearMotorDirection = Vector3.Zero; m_linearMotorTimescale = 1; m_linearMotorDecayTimescale = 60; + m_linearFrictionTimescale = new Vector3(100, 2, 1000); + m_angularMotorDirection = Vector3.Zero; m_angularMotorTimescale = 1; m_angularMotorDecayTimescale = 0.8f; + m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); + m_VhoverHeight = 0; -// m_VhoverEfficiency = 0; + m_VhoverEfficiency = 0; m_VhoverTimescale = 1000; m_VehicleBuoyancy = 0; - // // m_linearDeflectionEfficiency = 1; - // // m_linearDeflectionTimescale = 2; - // // m_angularDeflectionEfficiency = 0; - // m_angularDeflectionTimescale = 10; + + m_linearDeflectionEfficiency = 1; + m_linearDeflectionTimescale = 2; + + m_angularDeflectionEfficiency = 0; + m_angularDeflectionTimescale = 10; + m_verticalAttractionEfficiency = 1f; m_verticalAttractionTimescale = 10f; - // m_bankingEfficiency = -0.2f; - // m_bankingMix = 1; - // m_bankingTimescale = 1; - // m_referenceFrame = Quaternion.Identity; + + m_bankingEfficiency = -0.2f; + m_bankingMix = 1; + m_bankingTimescale = 1; + + m_referenceFrame = Quaternion.Identity; + m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY + | VehicleFlag.HOVER_TERRAIN_ONLY + | VehicleFlag.HOVER_GLOBAL_HEIGHT); m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY - | VehicleFlag.LIMIT_MOTOR_UP); - m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); - m_flags |= (VehicleFlag.HOVER_UP_ONLY); + | VehicleFlag.LIMIT_MOTOR_UP + | VehicleFlag.HOVER_UP_ONLY); break; case Vehicle.TYPE_BOAT: - m_linearFrictionTimescale = new Vector3(10, 3, 2); - m_angularFrictionTimescale = new Vector3(10,10,10); m_linearMotorDirection = Vector3.Zero; m_linearMotorTimescale = 5; m_linearMotorDecayTimescale = 60; + m_linearFrictionTimescale = new Vector3(10, 3, 2); + m_angularMotorDirection = Vector3.Zero; m_angularMotorTimescale = 4; m_angularMotorDecayTimescale = 4; + m_angularFrictionTimescale = new Vector3(10,10,10); + m_VhoverHeight = 0; -// m_VhoverEfficiency = 0.5f; + m_VhoverEfficiency = 0.5f; m_VhoverTimescale = 2; m_VehicleBuoyancy = 1; - // m_linearDeflectionEfficiency = 0.5f; - // m_linearDeflectionTimescale = 3; - // m_angularDeflectionEfficiency = 0.5f; - // m_angularDeflectionTimescale = 5; + + m_linearDeflectionEfficiency = 0.5f; + m_linearDeflectionTimescale = 3; + + m_angularDeflectionEfficiency = 0.5f; + m_angularDeflectionTimescale = 5; + m_verticalAttractionEfficiency = 0.5f; m_verticalAttractionTimescale = 5f; - // m_bankingEfficiency = -0.3f; - // m_bankingMix = 0.8f; - // m_bankingTimescale = 1; - // m_referenceFrame = Quaternion.Identity; + + m_bankingEfficiency = -0.3f; + m_bankingMix = 0.8f; + m_bankingTimescale = 1; + + m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.LIMIT_ROLL_ONLY @@ -390,28 +428,35 @@ namespace OpenSim.Region.Physics.BulletSPlugin | VehicleFlag.HOVER_WATER_ONLY); break; case Vehicle.TYPE_AIRPLANE: - m_linearFrictionTimescale = new Vector3(200, 10, 5); - m_angularFrictionTimescale = new Vector3(20, 20, 20); m_linearMotorDirection = Vector3.Zero; m_linearMotorTimescale = 2; m_linearMotorDecayTimescale = 60; + m_linearFrictionTimescale = new Vector3(200, 10, 5); + m_angularMotorDirection = Vector3.Zero; m_angularMotorTimescale = 4; m_angularMotorDecayTimescale = 4; + m_angularFrictionTimescale = new Vector3(20, 20, 20); + m_VhoverHeight = 0; -// m_VhoverEfficiency = 0.5f; + m_VhoverEfficiency = 0.5f; m_VhoverTimescale = 1000; m_VehicleBuoyancy = 0; - // m_linearDeflectionEfficiency = 0.5f; - // m_linearDeflectionTimescale = 3; - // m_angularDeflectionEfficiency = 1; - // m_angularDeflectionTimescale = 2; + + m_linearDeflectionEfficiency = 0.5f; + m_linearDeflectionTimescale = 3; + + m_angularDeflectionEfficiency = 1; + m_angularDeflectionTimescale = 2; + m_verticalAttractionEfficiency = 0.9f; m_verticalAttractionTimescale = 2f; - // m_bankingEfficiency = 1; - // m_bankingMix = 0.7f; - // m_bankingTimescale = 2; - // m_referenceFrame = Quaternion.Identity; + + m_bankingEfficiency = 1; + m_bankingMix = 0.7f; + m_bankingTimescale = 2; + + m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT @@ -421,28 +466,36 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); break; case Vehicle.TYPE_BALLOON: - m_linearFrictionTimescale = new Vector3(5, 5, 5); - m_angularFrictionTimescale = new Vector3(10, 10, 10); m_linearMotorDirection = Vector3.Zero; m_linearMotorTimescale = 5; + m_linearFrictionTimescale = new Vector3(5, 5, 5); m_linearMotorDecayTimescale = 60; + m_angularMotorDirection = Vector3.Zero; m_angularMotorTimescale = 6; + m_angularFrictionTimescale = new Vector3(10, 10, 10); m_angularMotorDecayTimescale = 10; + m_VhoverHeight = 5; -// m_VhoverEfficiency = 0.8f; + m_VhoverEfficiency = 0.8f; m_VhoverTimescale = 10; m_VehicleBuoyancy = 1; - // m_linearDeflectionEfficiency = 0; - // m_linearDeflectionTimescale = 5; - // m_angularDeflectionEfficiency = 0; - // m_angularDeflectionTimescale = 5; + + m_linearDeflectionEfficiency = 0; + m_linearDeflectionTimescale = 5; + + m_angularDeflectionEfficiency = 0; + m_angularDeflectionTimescale = 5; + m_verticalAttractionEfficiency = 1f; m_verticalAttractionTimescale = 100f; - // m_bankingEfficiency = 0; - // m_bankingMix = 0.7f; - // m_bankingTimescale = 5; - // m_referenceFrame = Quaternion.Identity; + + m_bankingEfficiency = 0; + m_bankingMix = 0.7f; + m_bankingTimescale = 5; + m_referenceFrame = Quaternion.Identity; + + m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_UP_ONLY @@ -452,21 +505,27 @@ namespace OpenSim.Region.Physics.BulletSPlugin | VehicleFlag.HOVER_GLOBAL_HEIGHT); break; } - }//end SetDefaultsForType + } // Some of the properties of this prim may have changed. // Do any updating needed for a vehicle public void Refresh() { - if (!IsActive) - return; - - // Set the prim's inertia to zero. The vehicle code handles that and this - // removes the motion and torque actions introduced by Bullet. - Vector3 inertia = Vector3.Zero; - // comment out for DEBUG test - // BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia); - // BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); + /* + * Doesnt work unless BSDynamics senses and corrects for all collisions + if (IsActive) + BulletSimAPI.AddToCollisionFlags2(Prim.BSBody.ptr, CollisionFlags.CF_KINEMATIC_OBJECT); + else + BulletSimAPI.RemoveFromCollisionFlags2(Prim.BSBody.ptr, CollisionFlags.CF_KINEMATIC_OBJECT); + */ + /* + * Doesn't work because with zero inertia, Bullet will not apply any forces to the object. + if (IsActive) + { + BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, Vector3.Zero); + BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); + } + */ } // One step of the vehicle properties for the next 'pTimestep' seconds. @@ -478,6 +537,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin MoveAngular(pTimestep); LimitRotation(pTimestep); + /* Experimental + // Wonder if Bullet could handle collision penetration while this applies the forces. + // Apply the computed forces on the vehicle + Prim.ForcePosition += Prim.ForceVelocity * Prim.MassRaw * pTimestep; + + if (Prim.ForceRotationalVelocity != Vector3.Zero) + { + Quaternion newOrientation = Prim.ForceOrientation; + newOrientation.Normalize(); + Quaternion appliedRotation = new Quaternion((Prim.ForceRotationalVelocity * pTimestep), 0f); + newOrientation += (appliedRotation * newOrientation) * 0.5f; + newOrientation.Normalize(); + Prim.ForceOrientation = newOrientation; + } + */ + // remember the position so next step we can limit absolute movement effects m_lastPositionVector = Prim.ForcePosition; @@ -489,59 +564,46 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Also does hover and float. private void MoveLinear(float pTimestep) { - // m_linearMotorDirection is the direction we are moving relative to the vehicle coordinates - // m_lastLinearVelocityVector is the speed we are moving in that direction + // m_linearMotorDirection is the target direction we are moving relative to the vehicle coordinates + // m_lastLinearVelocityVector is the current speed we are moving in that direction if (m_linearMotorDirection.LengthSquared() > 0.001f) { Vector3 origDir = m_linearMotorDirection; Vector3 origVel = m_lastLinearVelocityVector; // add drive to body - // Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale / pTimestep); Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale / pTimestep); // lastLinearVelocityVector is the current body velocity vector - // RA: Not sure what the *10 is for. A correction for pTimestep? - // m_lastLinearVelocityVector += (addAmount*10); m_lastLinearVelocityVector += addAmount; - // Limit the velocity vector to less than the last set linear motor direction - if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X)) - m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X; - if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y)) - m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y; - if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z)) - m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z; - - /* - // decay applied velocity - Vector3 decayfraction = Vector3.One/(m_linearMotorDecayTimescale / pTimestep); - // (RA: do not know where the 0.5f comes from) - m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f; - */ float keepfraction = 1.0f - (1.0f / (m_linearMotorDecayTimescale / pTimestep)); m_linearMotorDirection *= keepfraction; VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},notDecay={4},dir={5},vel={6}", Prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector); + + // convert requested object velocity to object relative vector + m_newVelocity = m_lastLinearVelocityVector * Prim.ForceOrientation; } else { // if what remains of direction is very small, zero it. m_linearMotorDirection = Vector3.Zero; m_lastLinearVelocityVector = Vector3.Zero; + m_newVelocity = Vector3.Zero; + VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID); } - // convert requested object velocity to object relative vector - Quaternion rotq = Prim.ForceOrientation; - m_newVelocity = m_lastLinearVelocityVector * rotq; + // m_newVelocity is velocity computed from linear motor // Add the various forces into m_dir which will be our new direction vector (velocity) // add Gravity and Buoyancy // There is some gravity, make a gravity force vector that is applied after object velocity. // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Linkset.LinksetMass * (1f - m_VehicleBuoyancy)); + // Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Linkset.LinksetMass * (1f - m_VehicleBuoyancy)); + Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy); /* * RA: Not sure why one would do this @@ -567,6 +629,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin } // Check if hovering + // m_VhoverEfficiency: 0=bouncy, 1=totally damped + // m_VhoverTimescale: time to achieve height if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) { // We should hover, get the target height @@ -597,13 +661,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin } else { - float herr0 = pos.Z - m_VhoverTargetHeight; + float horizontalError = pos.Z - m_VhoverTargetHeight; + // RA: where does the 50 come from> + float horizontalCorrectionVelocity = ((horizontalError * 50.0f) / (m_VhoverTimescale / pTimestep)); // Replace Vertical speed with correction figure if significant - if (Math.Abs(herr0) > 0.01f) + if (Math.Abs(horizontalError) > 0.01f) { - m_newVelocity.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale); + m_newVelocity.Z += horizontalCorrectionVelocity; //KF: m_VhoverEfficiency is not yet implemented } + else if (horizontalError < -0.01) + { + m_newVelocity.Z -= horizontalCorrectionVelocity; + } else { m_newVelocity.Z = 0f; @@ -678,16 +748,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_flags & (VehicleFlag.NO_Z)) != 0) m_newVelocity.Z = 0; - // Apply velocity - Prim.ForceVelocity = m_newVelocity; - // apply gravity force - // Why is this set here? The physics engine already does gravity. - Prim.AddForce(grav, false, true); - // Apply friction Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep)); m_lastLinearVelocityVector *= keepFraction; + // Apply velocity + // Prim.ForceVelocity = m_newVelocity; + Prim.AddForce(m_newVelocity, false); + VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}", Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction); @@ -717,11 +785,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 origDir = m_angularMotorDirection; // ramp up to new value - // new velocity += error / ( time to get there / step interval) - // requested speed - last motor speed - m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep); - m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); - m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); + // new velocity += error / ( time to get there / step interval) + // requested speed - last motor speed + m_angularMotorVelocity += (m_angularMotorDirection - m_angularMotorVelocity) / (m_angularMotorTimescale / pTimestep); VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},origDir={5},vel={6}", Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity); @@ -732,46 +798,50 @@ namespace OpenSim.Region.Physics.BulletSPlugin { // No motor recently applied, keep the body velocity // and decay the velocity - m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep); - if (m_angularMotorVelocity.LengthSquared() < 0.00001) + if (m_angularMotorVelocity.LengthSquared() < 0.0001) m_angularMotorVelocity = Vector3.Zero; + else + m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep); } // end motor section - // Vertical attractor section + #region Vertical attactor + Vector3 vertattr = Vector3.Zero; Vector3 deflection = Vector3.Zero; Vector3 banking = Vector3.Zero; if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero) { - float VAservo = 0.2f / (m_verticalAttractionTimescale / pTimestep); + float VAservo = 0.2f; + if (Prim.Linkset.LinksetIsColliding) + VAservo = 0.05f / (m_verticalAttractionTimescale / pTimestep); + VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); // get present body rotation Quaternion rotq = Prim.ForceOrientation; // vector pointing up - Vector3 verterr = Vector3.Zero; - verterr.Z = 1.0f; + Vector3 verticalError = Vector3.UnitZ; // rotate it to Body Angle - verterr = verterr * rotq; - // verterr.X and .Y are the World error amounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1. + verticalError = verticalError * rotq; + // verticalError.X and .Y are the World error amounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1. // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body. // Error is 0 (no error) to +/- 2 (max error) - if (verterr.Z < 0.0f) + if (verticalError.Z < 0.0f) { - verterr.X = 2.0f - verterr.X; - verterr.Y = 2.0f - verterr.Y; + verticalError.X = 2.0f - verticalError.X; + verticalError.Y = 2.0f - verticalError.Y; } // scale it by VAservo - verterr = verterr * VAservo; + verticalError = verticalError * VAservo; - // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so + // As the body rotates around the X axis, then verticalError.Y increases; Rotated around Y then .X increases, so // Change Body angular velocity X based on Y, and Y based on X. Z is not changed. - vertattr.X = verterr.Y; - vertattr.Y = - verterr.X; + vertattr.X = verticalError.Y; + vertattr.Y = - verticalError.X; vertattr.Z = 0f; // scaling appears better usingsquare-law @@ -779,10 +849,77 @@ namespace OpenSim.Region.Physics.BulletSPlugin vertattr.X += bounce * angularVelocity.X; vertattr.Y += bounce * angularVelocity.Y; - VDetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}", - Prim.LocalID, verterr, bounce, vertattr); + VDetailLog("{0},MoveAngular,verticalAttraction,verticalError={1},bounce={2},vertattr={3}", + Prim.LocalID, verticalError, bounce, vertattr); + + } + #endregion // Vertical attactor + + #region Deflection + + //Forward is the prefered direction, but if the reference frame has changed, we need to take this into account as well + Vector3 PreferredAxisOfMotion = + new Vector3((10*(m_angularDeflectionEfficiency/m_angularDeflectionTimescale)), 0, 0); + PreferredAxisOfMotion *= Quaternion.Add(Prim.ForceOrientation, m_referenceFrame); + + //Multiply it so that it scales linearly + //deflection = PreferredAxisOfMotion; + + //deflection = ((PreferredAxisOfMotion * m_angularDeflectionEfficiency) / (m_angularDeflectionTimescale / pTimestep)); + + #endregion - } // else vertical attractor is off + #region Banking + + if (m_bankingEfficiency != 0) + { + Vector3 dir = Vector3.One * Prim.ForceOrientation; + float mult = (m_bankingMix*m_bankingMix)*-1*(m_bankingMix < 0 ? -1 : 1); + //Changes which way it banks in and out of turns + + //Use the square of the efficiency, as it looks much more how SL banking works + float effSquared = (m_bankingEfficiency*m_bankingEfficiency); + if (m_bankingEfficiency < 0) + effSquared *= -1; //Keep the negative! + + float mix = Math.Abs(m_bankingMix); + if (m_angularMotorVelocity.X == 0) + { + /*if (!parent.Orientation.ApproxEquals(this.m_referenceFrame, 0.25f)) + { + Vector3 axisAngle; + float angle; + parent.Orientation.GetAxisAngle(out axisAngle, out angle); + Vector3 rotatedVel = parent.Velocity * parent.Orientation; + if ((rotatedVel.X < 0 && axisAngle.Y > 0) || (rotatedVel.X > 0 && axisAngle.Y < 0)) + m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (1f) * 10; + else + m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (-1f) * 10; + }*/ + } + else + banking.Z += (effSquared*(mult*mix))*(m_angularMotorVelocity.X) * 4; + if (!Prim.Linkset.LinksetIsColliding && Math.Abs(m_angularMotorVelocity.X) > mix) + //If they are colliding, we probably shouldn't shove the prim around... probably + { + float angVelZ = m_angularMotorVelocity.X*-1; + /*if(angVelZ > mix) + angVelZ = mix; + else if(angVelZ < -mix) + angVelZ = -mix;*/ + //This controls how fast and how far the banking occurs + Vector3 bankingRot = new Vector3(angVelZ*(effSquared*mult), 0, 0); + if (bankingRot.X > 3) + bankingRot.X = 3; + else if (bankingRot.X < -3) + bankingRot.X = -3; + bankingRot *= Prim.ForceOrientation; + banking += bankingRot; + } + m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency; + } + + #endregion m_lastVertAttractor = vertattr; @@ -811,7 +948,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; // Apply to the body - Prim.ForceRotationalVelocity = m_lastAngularVelocity; + // Prim.ForceRotationalVelocity = m_lastAngularVelocity; + Prim.AddAngularForce(m_lastAngularVelocity, false); VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity); } //end MoveAngular @@ -820,38 +958,31 @@ namespace OpenSim.Region.Physics.BulletSPlugin { Quaternion rotq = Prim.ForceOrientation; Quaternion m_rot = rotq; - bool changed = false; if (m_RollreferenceFrame != Quaternion.Identity) { if (rotq.X >= m_RollreferenceFrame.X) { m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2); - changed = true; } if (rotq.Y >= m_RollreferenceFrame.Y) { m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2); - changed = true; } if (rotq.X <= -m_RollreferenceFrame.X) { m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2); - changed = true; } if (rotq.Y <= -m_RollreferenceFrame.Y) { m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2); - changed = true; } - changed = true; } if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0) { m_rot.X = 0; m_rot.Y = 0; - changed = true; } - if (changed) + if (rotq != m_rot) { Prim.ForceOrientation = m_rot; VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs index 7c8a215..76bd930 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSHingeConstraint.cs @@ -32,7 +32,7 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -class BSHingeConstraint : BSConstraint +public sealed class BSHingeConstraint : BSConstraint { public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index c984824..24fe6b9 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs @@ -88,6 +88,8 @@ public abstract class BSLinkset } } + public virtual bool LinksetIsColliding { get { return false; } } + public OMV.Vector3 CenterOfMass { get { return ComputeLinksetCenterOfMass(); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs index 8a750b5..003c294 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs @@ -32,7 +32,7 @@ using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -public class BSLinksetConstraints : BSLinkset +public sealed class BSLinksetConstraints : BSLinkset { // private static string LogHeader = "[BULLETSIM LINKSET CONSTRAINTS]"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 38ab3de..39d20dc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -311,6 +311,7 @@ public sealed class BSPrim : BSPhysObject if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); + // TODO: a floating motor so object will bob in the water if (Position.Z < waterHeight) { _position.Z = waterHeight; @@ -902,7 +903,8 @@ public sealed class BSPrim : BSPhysObject } // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object. - BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); + if (fSum != OMV.Vector3.Zero) + BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); }; if (inTaintTime) addForceOperation(); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index db0c99e..9e95ce5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -62,7 +62,7 @@ using OpenMetaverse; // namespace OpenSim.Region.Physics.BulletSPlugin { -public class BSScene : PhysicsScene, IPhysicsParameters +public sealed class BSScene : PhysicsScene, IPhysicsParameters { private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); private static readonly string LogHeader = "[BULLETS SCENE]"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 30fa50a..1c0e6f5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -34,7 +34,7 @@ using OpenSim.Region.Physics.ConvexDecompositionDotNet; namespace OpenSim.Region.Physics.BulletSPlugin { -public class BSShapeCollection : IDisposable +public sealed class BSShapeCollection : IDisposable { private static string LogHeader = "[BULLETSIM SHAPE COLLECTION]"; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 880859a..11298fe 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -40,7 +40,7 @@ using OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { -public class BSTerrainManager +public sealed class BSTerrainManager { static string LogHeader = "[BULLETSIM TERRAIN MANAGER]"; 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