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authorRobert Adams2012-08-07 17:15:06 -0700
committerRobert Adams2012-08-07 17:15:06 -0700
commit19417fca41e59e931193ee99d3e4a12092488f1f (patch)
tree55e2853fb2f55b04d6ebad151b9921220d417b84
parentRelease http-in URLs when llResetScript is called (diff)
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BulletSim: Added avatar capsule scaling for size of avatar.
This also fixes computation of avatar mass. Added parameter MaxPersistantManifoldPoolSize. Fixed a parameter setting bug which caused crashes of there were more than 400 or so physical objects. I tested up to 5000. Updated BulletSim DLLs and SOs.
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs41
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs8
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs11
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs1
-rwxr-xr-xbin/lib32/BulletSim.dllbin533504 -> 533504 bytes
-rwxr-xr-xbin/lib32/libBulletSim.sobin2341988 -> 2342028 bytes
-rwxr-xr-xbin/lib64/BulletSim.dllbin684544 -> 684544 bytes
-rwxr-xr-xbin/lib64/libBulletSim.sobin2542810 -> 2542786 bytes
8 files changed, 47 insertions, 14 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index ee485b4..d4f5c63 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -102,7 +102,9 @@ public class BSCharacter : PhysicsActor
102 _orientation = Quaternion.Identity; 102 _orientation = Quaternion.Identity;
103 _velocity = Vector3.Zero; 103 _velocity = Vector3.Zero;
104 _buoyancy = ComputeBuoyancyFromFlying(isFlying); 104 _buoyancy = ComputeBuoyancyFromFlying(isFlying);
105 _scale = new Vector3(1f, 1f, 1f); 105 // The dimensions of the avatar capsule are kept in the scale.
106 // Physics creates a unit capsule which is scaled by the physics engine.
107 _scale = new Vector3(_scene.Params.avatarCapsuleRadius, _scene.Params.avatarCapsuleRadius, size.Z);
106 _density = _scene.Params.avatarDensity; 108 _density = _scene.Params.avatarDensity;
107 ComputeAvatarVolumeAndMass(); // set _avatarVolume and _mass based on capsule size, _density and _scale 109 ComputeAvatarVolumeAndMass(); // set _avatarVolume and _mass based on capsule size, _density and _scale
108 110
@@ -150,9 +152,28 @@ public class BSCharacter : PhysicsActor
150 public override bool Stopped { 152 public override bool Stopped {
151 get { return false; } 153 get { return false; }
152 } 154 }
153 public override Vector3 Size { 155 public override Vector3 Size {
154 get { return _size; } 156 get
155 set { _size = value; 157 {
158 // Avatar capsule size is kept in the scale parameter.
159 return new Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z);
160 }
161
162 set {
163 // When an avatar's size is set, only the height is changed
164 // and that really only depends on the radius.
165 _size = value;
166 _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y);
167
168 // TODO: something has to be done with the avatar's vertical position
169
170 ComputeAvatarVolumeAndMass();
171
172 _scene.TaintedObject(delegate()
173 {
174 BulletSimAPI.SetObjectScaleMass(_scene.WorldID, LocalID, _scale, _mass, true);
175 });
176
156 } 177 }
157 } 178 }
158 public override PrimitiveBaseShape Shape { 179 public override PrimitiveBaseShape Shape {
@@ -419,9 +440,15 @@ public class BSCharacter : PhysicsActor
419 { 440 {
420 _avatarVolume = (float)( 441 _avatarVolume = (float)(
421 Math.PI 442 Math.PI
422 * _scene.Params.avatarCapsuleRadius * _scale.X 443 * _scale.X
423 * _scene.Params.avatarCapsuleRadius * _scale.Y 444 * _scale.Y // the area of capsule cylinder
424 * _scene.Params.avatarCapsuleHeight * _scale.Z); 445 * _scale.Z // times height of capsule cylinder
446 + 1.33333333f
447 * Math.PI
448 * _scale.X
449 * Math.Min(_scale.X, _scale.Y)
450 * _scale.Y // plus the volume of the capsule end caps
451 );
425 _mass = _density * _avatarVolume; 452 _mass = _density * _avatarVolume;
426 } 453 }
427 454
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 8e6685b..11868bc 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -977,8 +977,8 @@ public sealed class BSPrim : PhysicsActor
977 { 977 {
978 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1) 978 if (_pbs.ProfileShape == ProfileShape.HalfCircle && _pbs.PathCurve == (byte)Extrusion.Curve1)
979 { 979 {
980 if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z) 980 // if (_size.X == _size.Y && _size.Y == _size.Z && _size.X == _size.Z)
981 { 981 // {
982 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size); 982 // m_log.DebugFormat("{0}: CreateGeom: Defaulting to sphere of size {1}", LogHeader, _size);
983 if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE)) 983 if (forceRebuild || (_shapeType != ShapeData.PhysicsShapeType.SHAPE_SPHERE))
984 { 984 {
@@ -989,7 +989,7 @@ public sealed class BSPrim : PhysicsActor
989 // TODO: do we need to check for and destroy a mesh or hull that might have been left from before? 989 // TODO: do we need to check for and destroy a mesh or hull that might have been left from before?
990 ret = true; 990 ret = true;
991 } 991 }
992 } 992 // }
993 } 993 }
994 else 994 else
995 { 995 {
@@ -1039,7 +1039,7 @@ public sealed class BSPrim : PhysicsActor
1039 // if this new shape is the same as last time, don't recreate the mesh 1039 // if this new shape is the same as last time, don't recreate the mesh
1040 if (_meshKey == newMeshKey) return; 1040 if (_meshKey == newMeshKey) return;
1041 1041
1042 DetailLog("{0},CreateGeomMesh,create,key={1}", LocalID, _meshKey); 1042 DetailLog("{0},CreateGeomMesh,create,key={1}", LocalID, newMeshKey);
1043 // Since we're recreating new, get rid of any previously generated shape 1043 // Since we're recreating new, get rid of any previously generated shape
1044 if (_meshKey != 0) 1044 if (_meshKey != 0)
1045 { 1045 {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 7151908..0e257b6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -1027,14 +1027,19 @@ public class BSScene : PhysicsScene, IPhysicsParameters
1027 (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ), 1027 (s,p,l,v) => { s.UpdateParameterAvatars(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ),
1028 1028
1029 1029
1030 new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default)", 1030 new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
1031 0f, // zero to disable 1031 0f, // zero to disable
1032 (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); }, 1032 (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = cf.GetFloat(p, v); },
1033 (s) => { return s.m_params[0].maxPersistantManifoldPoolSize; }, 1033 (s) => { return s.m_params[0].maxPersistantManifoldPoolSize; },
1034 (s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ), 1034 (s,p,l,v) => { s.m_params[0].maxPersistantManifoldPoolSize = v; } ),
1035 new ParameterDefn("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
1036 0f, // zero to disable
1037 (s,cf,p,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = cf.GetFloat(p, v); },
1038 (s) => { return s.m_params[0].maxCollisionAlgorithmPoolSize; },
1039 (s,p,l,v) => { s.m_params[0].maxCollisionAlgorithmPoolSize = v; } ),
1035 new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count", 1040 new ParameterDefn("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
1036 ConfigurationParameters.numericTrue, 1041 ConfigurationParameters.numericFalse,
1037 (s,cf,p,v) => { s.m_params[0].maxPersistantManifoldPoolSize = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); }, 1042 (s,cf,p,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = s.NumericBool(cf.GetBoolean(p, s.BoolNumeric(v))); },
1038 (s) => { return s.m_params[0].shouldDisableContactPoolDynamicAllocation; }, 1043 (s) => { return s.m_params[0].shouldDisableContactPoolDynamicAllocation; },
1039 (s,p,l,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = v; } ), 1044 (s,p,l,v) => { s.m_params[0].shouldDisableContactPoolDynamicAllocation = v; } ),
1040 new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step", 1045 new ParameterDefn("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 4e05df6..86fc9d2 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -158,6 +158,7 @@ public struct ConfigurationParameters
158 public float avatarContactProcessingThreshold; 158 public float avatarContactProcessingThreshold;
159 159
160 public float maxPersistantManifoldPoolSize; 160 public float maxPersistantManifoldPoolSize;
161 public float maxCollisionAlgorithmPoolSize;
161 public float shouldDisableContactPoolDynamicAllocation; 162 public float shouldDisableContactPoolDynamicAllocation;
162 public float shouldForceUpdateAllAabbs; 163 public float shouldForceUpdateAllAabbs;
163 public float shouldRandomizeSolverOrder; 164 public float shouldRandomizeSolverOrder;
diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll
index 0317523..ca1ee46 100755
--- a/bin/lib32/BulletSim.dll
+++ b/bin/lib32/BulletSim.dll
Binary files differ
diff --git a/bin/lib32/libBulletSim.so b/bin/lib32/libBulletSim.so
index 0ae9a5b..447e73b 100755
--- a/bin/lib32/libBulletSim.so
+++ b/bin/lib32/libBulletSim.so
Binary files differ
diff --git a/bin/lib64/BulletSim.dll b/bin/lib64/BulletSim.dll
index 778e41a..6fc68ab 100755
--- a/bin/lib64/BulletSim.dll
+++ b/bin/lib64/BulletSim.dll
Binary files differ
diff --git a/bin/lib64/libBulletSim.so b/bin/lib64/libBulletSim.so
index a1a4716..7856358 100755
--- a/bin/lib64/libBulletSim.so
+++ b/bin/lib64/libBulletSim.so
Binary files differ