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authorRobert Adams2012-12-22 17:09:40 -0800
committerRobert Adams2012-12-22 17:09:40 -0800
commit30807b81cc9f91917fd3b4bf8dc24a1622013afa (patch)
treee3e4984f6f8af806c7da6801640e4832ecd88ff8
parentBulletSim: remove post step one-time taints (doesn't make any sense). Rename ... (diff)
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BulletSim: modify avatar motor code to make falling movement better. Clean up some usages. Disable motor when done.
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs75
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs2
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt3
3 files changed, 45 insertions, 35 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 01cd279..8e059ee 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -158,6 +158,7 @@ public sealed class BSCharacter : BSPhysObject
158 _velocityMotor.Reset(); 158 _velocityMotor.Reset();
159 _velocityMotor.SetCurrent(_velocity); 159 _velocityMotor.SetCurrent(_velocity);
160 _velocityMotor.SetTarget(_velocity); 160 _velocityMotor.SetTarget(_velocity);
161 _velocityMotor.Enabled = false;
161 162
162 // This will enable or disable the flying buoyancy of the avatar. 163 // This will enable or disable the flying buoyancy of the avatar.
163 // Needs to be reset especially when an avatar is recreated after crossing a region boundry. 164 // Needs to be reset especially when an avatar is recreated after crossing a region boundry.
@@ -435,13 +436,13 @@ public sealed class BSCharacter : BSPhysObject
435 OMV.Vector3 targetVel = value; 436 OMV.Vector3 targetVel = value;
436 PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate() 437 PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
437 { 438 {
438 float timeStep = 0.089f; // DEBUG DEBUG FIX FIX FIX
439 _velocityMotor.Reset(); 439 _velocityMotor.Reset();
440 _velocityMotor.SetTarget(targetVel); 440 _velocityMotor.SetTarget(targetVel);
441 _velocityMotor.SetCurrent(_velocity); 441 _velocityMotor.SetCurrent(_velocity);
442 // Compute a velocity value and make sure it gets pushed into the avatar. 442 _velocityMotor.Enabled = true;
443 // This makes sure the avatar will start from a stop. 443
444 ForceVelocity = _velocityMotor.Step(timeStep); 444 // Make sure a property update happens next step so the motor gets incorporated.
445 BulletSimAPI.PushUpdate2(PhysBody.ptr);
445 }); 446 });
446 } 447 }
447 } 448 }
@@ -450,12 +451,15 @@ public sealed class BSCharacter : BSPhysObject
450 get { return _velocity; } 451 get { return _velocity; }
451 set { 452 set {
452 _velocity = value; 453 _velocity = value;
453 _velocityMotor.Reset();
454 _velocityMotor.SetCurrent(_velocity);
455 _velocityMotor.SetTarget(_velocity);
456 // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); 454 // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
457 PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() 455 PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
458 { 456 {
457 _velocityMotor.Reset();
458 _velocityMotor.SetCurrent(_velocity);
459 _velocityMotor.SetTarget(_velocity);
460 // Even though the motor is initialized, it's not used and the velocity goes straight into the avatar.
461 _velocityMotor.Enabled = false;
462
459 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); 463 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
460 ForceVelocity = _velocity; 464 ForceVelocity = _velocity;
461 }); 465 });
@@ -466,6 +470,7 @@ public sealed class BSCharacter : BSPhysObject
466 set { 470 set {
467 PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity"); 471 PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
468 472
473 _velocity = value;
469 // Depending on whether the avatar is moving or not, change the friction 474 // Depending on whether the avatar is moving or not, change the friction
470 // to keep the avatar from slipping around 475 // to keep the avatar from slipping around
471 if (_velocity.Length() == 0) 476 if (_velocity.Length() == 0)
@@ -486,7 +491,6 @@ public sealed class BSCharacter : BSPhysObject
486 BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction); 491 BulletSimAPI.SetFriction2(PhysBody.ptr, _currentFriction);
487 } 492 }
488 } 493 }
489 _velocity = value;
490 // Remember the set velocity so we can suppress the reduction by friction, ... 494 // Remember the set velocity so we can suppress the reduction by friction, ...
491 _appliedVelocity = value; 495 _appliedVelocity = value;
492 496
@@ -746,39 +750,42 @@ public sealed class BSCharacter : BSPhysObject
746 _velocity = entprop.Velocity; 750 _velocity = entprop.Velocity;
747 _acceleration = entprop.Acceleration; 751 _acceleration = entprop.Acceleration;
748 _rotationalVelocity = entprop.RotationalVelocity; 752 _rotationalVelocity = entprop.RotationalVelocity;
753
749 // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. 754 // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
750 PositionSanityCheck(true); 755 PositionSanityCheck(true);
751 756
757 if (_velocityMotor.Enabled)
758 {
759 // TODO: Decide if the step parameters should be changed depending on the avatar's
760 // state (flying, colliding, ...).
761
762 OMV.Vector3 stepVelocity = _velocityMotor.Step(PhysicsScene.LastTimeStep);
763
764 // If falling, we keep the world's downward vector no matter what the other axis specify.
765 if (!Flying && !IsColliding)
766 {
767 stepVelocity.Z = entprop.Velocity.Z;
768 DetailLog("{0},BSCharacter.UpdateProperties,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
769 }
770
771 // If the user has said stop and we've stopped applying velocity correction,
772 // the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer.
773 if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero)
774 {
775 stepVelocity = OMV.Vector3.Zero;
776 _velocityMotor.Enabled = false;
777 DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);
778 }
779
780 _velocity = stepVelocity;
781 entprop.Velocity = _velocity;
782 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
783 }
784
752 // remember the current and last set values 785 // remember the current and last set values
753 LastEntityProperties = CurrentEntityProperties; 786 LastEntityProperties = CurrentEntityProperties;
754 CurrentEntityProperties = entprop; 787 CurrentEntityProperties = entprop;
755 788
756 // Avatars don't respond to world friction, etc. They only go the speed I tell them too.
757 // Special kludge here for falling. Even though the target velocity might not have a
758 // Z component, the avatar could be falling (walked off a ledge, stopped flying, ...)
759 // and that velocity component must be retained.
760 float timeStep = 0.089f; // DEBUG DEBUG FIX FIX FIX
761 OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep);
762 // Remove next line so avatars don't fly up forever. DEBUG DEBUG this is only temporary.
763 // stepVelocity.Z += entprop.Velocity.Z;
764 _velocity = stepVelocity;
765 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, _velocity);
766 /*
767 OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep);
768 OMV.Vector3 avVel = new OMV.Vector3(stepVelocity.X, stepVelocity.Y, entprop.Velocity.Z);
769 _velocity = avVel;
770 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel);
771
772 if (entprop.Velocity != LastEntityProperties.Velocity)
773 {
774 // Changes in the velocity are suppressed in avatars.
775 // That's just the way they are defined.
776 OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
777 _velocity = avVel;
778 BulletSimAPI.SetLinearVelocity2(PhysBody.ptr, avVel);
779 }
780 */
781
782 // Tell the linkset about value changes 789 // Tell the linkset about value changes
783 Linkset.UpdateProperties(this, true); 790 Linkset.UpdateProperties(this, true);
784 791
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 19de1e5..c76f869 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -153,7 +153,7 @@ public abstract class BSPhysObject : PhysicsActor
153 public abstract OMV.Quaternion ForceOrientation { get; set; } 153 public abstract OMV.Quaternion ForceOrientation { get; set; }
154 154
155 // The system is telling us the velocity it wants to move at. 155 // The system is telling us the velocity it wants to move at.
156 protected OMV.Vector3 m_targetVelocity; 156 // protected OMV.Vector3 m_targetVelocity; // use the definition in PhysicsActor
157 public override OMV.Vector3 TargetVelocity 157 public override OMV.Vector3 TargetVelocity
158 { 158 {
159 get { return m_targetVelocity; } 159 get { return m_targetVelocity; }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index c084ab4..9a7e965 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -112,6 +112,9 @@ Test avatar walking up stairs. How does compare with SL.
112Debounce avatar contact so legs don't keep folding up when standing. 112Debounce avatar contact so legs don't keep folding up when standing.
113Implement LSL physics controls. Like STATUS_ROTATE_X. 113Implement LSL physics controls. Like STATUS_ROTATE_X.
114Add border extensions to terrain to help region crossings and objects leaving region. 114Add border extensions to terrain to help region crossings and objects leaving region.
115Use a different capsule shape for avatar when sitting
116 LL uses a pyrimidal shape scaled by the avatar's bounding box
117 http://wiki.secondlife.com/wiki/File:Avmeshforms.png
115 118
116Performance test with lots of avatars. Can BulletSim support a thousand? 119Performance test with lots of avatars. Can BulletSim support a thousand?
117Optimize collisions in C++: only send up to the object subscribed to collisions. 120Optimize collisions in C++: only send up to the object subscribed to collisions.