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authorRobert Adams2011-07-22 15:23:57 -0700
committerMic Bowman2011-07-22 15:23:57 -0700
commit869883f2dc51f2b2210ccf8fd41f3de0c07e39fc (patch)
tree9da95f3b54517e3025ca7f248ccb8103bbee9bb0
parentMerge branch 'bulletsim' of ssh://opensimulator.org/var/git/opensim into bull... (diff)
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BulletSim: fix buoyancy for prims. Start of configurable physics parameters.
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs12
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs97
-rwxr-xr-xbin/BulletSim-x86_64.dllbin754176 -> 754688 bytes
-rwxr-xr-xbin/BulletSim.dllbin654336 -> 654336 bytes
-rwxr-xr-xbin/libBulletSim.sobin1734582 -> 1734638 bytes
5 files changed, 92 insertions, 17 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index dbd7285..82361ad 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -107,7 +107,7 @@ public class BSCharacter : PhysicsActor
107 shapeData.Velocity = _velocity; 107 shapeData.Velocity = _velocity;
108 shapeData.Scale = _scale; 108 shapeData.Scale = _scale;
109 shapeData.Mass = _mass; 109 shapeData.Mass = _mass;
110 shapeData.Buoyancy = isFlying ? 0f : 1f; 110 shapeData.Buoyancy = isFlying ? 1f : 0f;
111 shapeData.Static = ShapeData.numericFalse; 111 shapeData.Static = ShapeData.numericFalse;
112 112
113 // do actual create at taint time 113 // do actual create at taint time
@@ -258,7 +258,7 @@ public class BSCharacter : PhysicsActor
258 _scene.TaintedObject(delegate() 258 _scene.TaintedObject(delegate()
259 { 259 {
260 // simulate flying by changing the effect of gravity 260 // simulate flying by changing the effect of gravity
261 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _flying ? 0f : 1f); 261 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _flying ? 1f : 0f);
262 }); 262 });
263 } 263 }
264 } 264 }
@@ -296,7 +296,13 @@ public class BSCharacter : PhysicsActor
296 } 296 }
297 public override float Buoyancy { 297 public override float Buoyancy {
298 get { return _buoyancy; } 298 get { return _buoyancy; }
299 set { _buoyancy = value; } 299 set { _buoyancy = value;
300 _scene.TaintedObject(delegate()
301 {
302 // simulate flying by changing the effect of gravity
303 BulletSimAPI.SetObjectBuoyancy(_scene.WorldID, LocalID, _buoyancy);
304 });
305 }
300 } 306 }
301 307
302 // Used for MoveTo 308 // Used for MoveTo
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 062945f..7c11f2b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -37,7 +37,6 @@ using OpenMetaverse;
37using OpenSim.Region.Framework; 37using OpenSim.Region.Framework;
38 38
39// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) 39// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
40// Fix folding up feet
41// Parameterize BulletSim. Pass a structure of parameters to the C++ code. Capsule size, friction, ... 40// Parameterize BulletSim. Pass a structure of parameters to the C++ code. Capsule size, friction, ...
42// Adjust character capsule size when height is adjusted (ScenePresence.SetHeight) 41// Adjust character capsule size when height is adjusted (ScenePresence.SetHeight)
43// Test sculpties 42// Test sculpties
@@ -108,6 +107,31 @@ public class BSScene : PhysicsScene
108 private List<TaintCallback> _taintedObjects; 107 private List<TaintCallback> _taintedObjects;
109 private Object _taintLock = new Object(); 108 private Object _taintLock = new Object();
110 109
110 // A pointer to an instance if this structure is passed to the C++ code
111 // Format of this structure must match the definition in the C++ code
112 private struct ConfigurationParameters
113 {
114 public float defaultFriction;
115 public float defaultDensity;
116 public float collisionMargin;
117 public float gravity;
118
119 public float linearDamping;
120 public float angularDamping;
121 public float deactivationTime;
122 public float linearSleepingThreshold;
123 public float angularSleepingThreshold;
124
125 public float terrainFriction;
126 public float terrainHitFriction;
127 public float terrainRestitution;
128 public float avatarFriction;
129 public float avatarCapsuleRadius;
130 public float avatarCapsuleHeight;
131 }
132 ConfigurationParameters m_params;
133 GCHandle m_paramsHandle;
134
111 private BulletSimAPI.DebugLogCallback debugLogCallbackHandle; 135 private BulletSimAPI.DebugLogCallback debugLogCallbackHandle;
112 136
113 public BSScene(string identifier) 137 public BSScene(string identifier)
@@ -116,16 +140,12 @@ public class BSScene : PhysicsScene
116 140
117 public override void Initialise(IMesher meshmerizer, IConfigSource config) 141 public override void Initialise(IMesher meshmerizer, IConfigSource config)
118 { 142 {
119 if (config != null) 143 m_params = new ConfigurationParameters();
120 { 144 m_paramsHandle = GCHandle.Alloc(m_params, GCHandleType.Pinned);
121 IConfig pConfig = config.Configs["BulletSim"]; 145
122 if (pConfig != null) 146 // Set default values for physics parameters plus any overrides from the ini file
123 { 147 GetInitialParameterValues(config);
124 DefaultFriction = pConfig.GetFloat("Friction", DefaultFriction); 148
125 DefaultDensity = pConfig.GetFloat("Density", DefaultDensity);
126 // TODO: a lot more parameters that are passed to BulletSim
127 }
128 }
129 // if Debug, enable logging from the unmanaged code 149 // if Debug, enable logging from the unmanaged code
130 if (m_log.IsDebugEnabled) 150 if (m_log.IsDebugEnabled)
131 { 151 {
@@ -134,9 +154,6 @@ public class BSScene : PhysicsScene
134 BulletSimAPI.SetDebugLogCallback(debugLogCallbackHandle); 154 BulletSimAPI.SetDebugLogCallback(debugLogCallbackHandle);
135 } 155 }
136 156
137 _meshSculptedPrim = true; // mesh sculpted prims
138 _forceSimplePrimMeshing = false; // use complex meshing if called for
139
140 _taintedObjects = new List<TaintCallback>(); 157 _taintedObjects = new List<TaintCallback>();
141 158
142 mesher = meshmerizer; 159 mesher = meshmerizer;
@@ -155,6 +172,58 @@ public class BSScene : PhysicsScene
155 m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject()); 172 m_maxUpdatesPerFrame, m_updateArrayPinnedHandle.AddrOfPinnedObject());
156 } 173 }
157 174
175 private void GetInitialParameterValues(IConfigSource config)
176 {
177 _meshSculptedPrim = true; // mesh sculpted prims
178 _forceSimplePrimMeshing = false; // use complex meshing if called for
179
180 // Set the default values for the physics parameters
181 m_params.defaultFriction = 0.70f;
182 m_params.defaultDensity = 10.000006836f; // Aluminum g/cm3
183 m_params.collisionMargin = 0.0f;
184 m_params.gravity = -9.80665f;
185
186 m_params.linearDamping = 0.1f;
187 m_params.angularDamping = 0.85f;
188 m_params.deactivationTime = 0.2f;
189 m_params.linearSleepingThreshold = 0.8f;
190 m_params.angularSleepingThreshold = 1.0f;
191
192 m_params.terrainFriction = 0.85f;
193 m_params.terrainHitFriction = 0.8f;
194 m_params.terrainRestitution = 0.2f;
195 m_params.avatarFriction = 0.85f;
196 m_params.avatarCapsuleRadius = 0.37f;
197 m_params.avatarCapsuleHeight = 1.5f; // 2.140599f
198
199 if (config != null)
200 {
201 // If there are specifications in the ini file, use those values
202 IConfig pConfig = config.Configs["BulletSim"];
203 if (pConfig != null)
204 {
205 _meshSculptedPrim = pConfig.GetBoolean("MeshSculptedPrim", true);
206 _forceSimplePrimMeshing = pConfig.GetBoolean("ForceSimplePrimMeshing", false);
207
208 m_params.defaultFriction = pConfig.GetFloat("DefaultFriction", m_params.defaultFriction);
209 m_params.defaultDensity = pConfig.GetFloat("DefaultDensity", m_params.defaultDensity);
210 m_params.collisionMargin = pConfig.GetFloat("CollisionMargin", m_params.collisionMargin);
211 m_params.gravity = pConfig.GetFloat("Gravity", m_params.gravity);
212 m_params.linearDamping = pConfig.GetFloat("LinearDamping", m_params.linearDamping);
213 m_params.angularDamping = pConfig.GetFloat("AngularDamping", m_params.angularDamping);
214 m_params.deactivationTime = pConfig.GetFloat("DeactivationTime", m_params.deactivationTime);
215 m_params.linearSleepingThreshold = pConfig.GetFloat("LinearSleepingThreshold", m_params.linearSleepingThreshold);
216 m_params.angularSleepingThreshold = pConfig.GetFloat("AngularSleepingThreshold", m_params.angularSleepingThreshold);
217 m_params.terrainFriction = pConfig.GetFloat("TerrainFriction", m_params.terrainFriction);
218 m_params.terrainHitFriction = pConfig.GetFloat("TerrainHitFriction", m_params.terrainHitFriction);
219 m_params.terrainRestitution = pConfig.GetFloat("TerrainRestitution", m_params.terrainRestitution);
220 m_params.avatarFriction = pConfig.GetFloat("AvatarFriction", m_params.avatarFriction);
221 m_params.avatarCapsuleRadius = pConfig.GetFloat("AvatarCapsuleRadius", m_params.avatarCapsuleRadius);
222 m_params.avatarCapsuleHeight = pConfig.GetFloat("AvatarCapsuleHeight", m_params.avatarCapsuleHeight);
223 }
224 }
225 }
226
158 // Called directly from unmanaged code so don't do much 227 // Called directly from unmanaged code so don't do much
159 private void BulletLogger(string msg) 228 private void BulletLogger(string msg)
160 { 229 {
diff --git a/bin/BulletSim-x86_64.dll b/bin/BulletSim-x86_64.dll
index 6370984..6e1b9f0 100755
--- a/bin/BulletSim-x86_64.dll
+++ b/bin/BulletSim-x86_64.dll
Binary files differ
diff --git a/bin/BulletSim.dll b/bin/BulletSim.dll
index 2918130..c9f9637 100755
--- a/bin/BulletSim.dll
+++ b/bin/BulletSim.dll
Binary files differ
diff --git a/bin/libBulletSim.so b/bin/libBulletSim.so
index 56c4103..8da2c9f 100755
--- a/bin/libBulletSim.so
+++ b/bin/libBulletSim.so
Binary files differ