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authorRobert Adams2013-02-12 15:45:44 -0800
committerRobert Adams2013-02-12 15:52:10 -0800
commit0194a3d890b95c8a29fcdf130c378e3a8a629c77 (patch)
treedf1d9993266ab8460809fb8c901e7f08d7b3bdba
parentBulletSim: More work on center-of-mass. Remove linksetinfo and rely on simula... (diff)
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BulletSim: fix density since the simulator/viewer track density in a
funny unit that is 100 times real density (default 1000). Fix avatar drifting slowly when stationary flying. Fix for physical prims getting corrected for being under terrain when it was just its geometric center that was below terrain. Add PreUpdatePropertyAction allowing plugable modifiction of phys parameters returned from Bullet. Fix an exception setting GravityMultiplier on initialization. Update DLLs and SOs for good measure (no functional change).
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs13
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs19
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSParam.cs17
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs66
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs55
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs2
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs3
-rwxr-xr-xbin/lib32/BulletSim.dllbin546816 -> 546816 bytes
-rwxr-xr-xbin/lib32/libBulletSim.sobin1695699 -> 1700826 bytes
-rwxr-xr-xbin/lib64/BulletSim.dllbin694272 -> 694784 bytes
-rwxr-xr-xbin/lib64/libBulletSim.sobin1842163 -> 1843498 bytes
11 files changed, 150 insertions, 25 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 04fb05b..8dca7c6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -83,7 +83,7 @@ public sealed class BSCharacter : BSPhysObject
83 _velocity = OMV.Vector3.Zero; 83 _velocity = OMV.Vector3.Zero;
84 _buoyancy = ComputeBuoyancyFromFlying(isFlying); 84 _buoyancy = ComputeBuoyancyFromFlying(isFlying);
85 Friction = BSParam.AvatarStandingFriction; 85 Friction = BSParam.AvatarStandingFriction;
86 Density = BSParam.AvatarDensity; 86 Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor;
87 87
88 // Old versions of ScenePresence passed only the height. If width and/or depth are zero, 88 // Old versions of ScenePresence passed only the height. If width and/or depth are zero,
89 // replace with the default values. 89 // replace with the default values.
@@ -231,6 +231,15 @@ public sealed class BSCharacter : BSPhysObject
231 PhysicsScene.PE.SetFriction(PhysBody, Friction); 231 PhysicsScene.PE.SetFriction(PhysBody, Friction);
232 } 232 }
233 } 233 }
234 else
235 {
236 if (Flying)
237 {
238 // Flying and not collising and velocity nearly zero.
239 ZeroMotion(true /* inTaintTime */);
240 }
241 }
242
234 DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", LocalID, _velocityMotor.TargetValue, IsColliding); 243 DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", LocalID, _velocityMotor.TargetValue, IsColliding);
235 } 244 }
236 else 245 else
@@ -869,7 +878,7 @@ public sealed class BSCharacter : BSPhysObject
869 * Math.Min(Size.X, Size.Y) / 2 878 * Math.Min(Size.X, Size.Y) / 2
870 * Size.Y / 2f // plus the volume of the capsule end caps 879 * Size.Y / 2f // plus the volume of the capsule end caps
871 ); 880 );
872 _mass = Density * _avatarVolume; 881 _mass = Density * BSParam.DensityScaleFactor * _avatarVolume;
873 } 882 }
874 883
875 // The physics engine says that properties have updated. Update same and inform 884 // The physics engine says that properties have updated. Update same and inform
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 1f66b56..4ce58c7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -399,7 +399,7 @@ public sealed class BSLinksetCompound : BSLinkset
399 // Constraint linksets are rebuilt every time. 399 // Constraint linksets are rebuilt every time.
400 // Note that this works for rebuilding just the root after a linkset is taken apart. 400 // Note that this works for rebuilding just the root after a linkset is taken apart.
401 // Called at taint time!! 401 // Called at taint time!!
402 private bool disableCOM = false; // DEBUG DEBUG: disable until we get this debugged 402 private bool disableCOM = true; // DEBUG DEBUG: disable until we get this debugged
403 private void RecomputeLinksetCompound() 403 private void RecomputeLinksetCompound()
404 { 404 {
405 try 405 try
@@ -430,10 +430,10 @@ public sealed class BSLinksetCompound : BSLinkset
430 LinksetRoot.ForcePosition = LinksetRoot.RawPosition; 430 LinksetRoot.ForcePosition = LinksetRoot.RawPosition;
431 431
432 // Update the local transform for the root child shape so it is offset from the <0,0,0> which is COM 432 // Update the local transform for the root child shape so it is offset from the <0,0,0> which is COM
433 PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0, 433 PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0 /* childIndex */,
434 -centerDisplacement, 434 -centerDisplacement,
435 LinksetRoot.RawOrientation, 435 OMV.Quaternion.Identity, // LinksetRoot.RawOrientation,
436 false /* shouldRecalculateLocalAabb */); 436 false /* shouldRecalculateLocalAabb (is done later after linkset built) */);
437 437
438 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}", 438 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}",
439 LinksetRoot.LocalID, centerOfMassW, LinksetRoot.RawPosition, centerDisplacement); 439 LinksetRoot.LocalID, centerOfMassW, LinksetRoot.RawPosition, centerDisplacement);
@@ -463,7 +463,6 @@ public sealed class BSLinksetCompound : BSLinkset
463 // Use call to CreateGeomNonSpecial(). 463 // Use call to CreateGeomNonSpecial().
464 BulletShape saveShape = cPrim.PhysShape; 464 BulletShape saveShape = cPrim.PhysShape;
465 cPrim.PhysShape.Clear(); // Don't let the create free the child's shape 465 cPrim.PhysShape.Clear(); // Don't let the create free the child's shape
466 // PhysicsScene.Shapes.CreateGeomNonSpecial(true, cPrim, null);
467 PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); 466 PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null);
468 BulletShape newShape = cPrim.PhysShape; 467 BulletShape newShape = cPrim.PhysShape;
469 cPrim.PhysShape = saveShape; 468 cPrim.PhysShape = saveShape;
@@ -471,6 +470,8 @@ public sealed class BSLinksetCompound : BSLinkset
471 OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; 470 OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
472 OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; 471 OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
473 PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, offsetPos, offsetRot); 472 PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, offsetPos, offsetRot);
473 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}",
474 LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, newShape, offsetPos, offsetRot);
474 } 475 }
475 else 476 else
476 { 477 {
@@ -484,7 +485,10 @@ public sealed class BSLinksetCompound : BSLinkset
484 } 485 }
485 OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; 486 OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement;
486 OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; 487 OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation;
487 PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot); 488 PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot);
489 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addNonNative,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}",
490 LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot);
491
488 } 492 }
489 memberIndex++; 493 memberIndex++;
490 } 494 }
@@ -503,6 +507,7 @@ public sealed class BSLinksetCompound : BSLinkset
503 Rebuilding = false; 507 Rebuilding = false;
504 } 508 }
505 509
510 // See that the Aabb surrounds the new shape
506 PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape); 511 PhysicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape);
507 } 512 }
508} 513}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 3e0b4bc..329169f 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -49,6 +49,7 @@ public static class BSParam
49 public static float MaxLinearVelocity { get; private set; } 49 public static float MaxLinearVelocity { get; private set; }
50 public static float MaxAngularVelocity { get; private set; } 50 public static float MaxAngularVelocity { get; private set; }
51 public static float MaxAddForceMagnitude { get; private set; } 51 public static float MaxAddForceMagnitude { get; private set; }
52 public static float DensityScaleFactor { get; private set; }
52 53
53 public static float LinearDamping { get; private set; } 54 public static float LinearDamping { get; private set; }
54 public static float AngularDamping { get; private set; } 55 public static float AngularDamping { get; private set; }
@@ -281,29 +282,35 @@ public static class BSParam
281 new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)", 282 new ParameterDefn("MinObjectMass", "Minimum object mass (0.0001)",
282 0.0001f, 283 0.0001f,
283 (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); }, 284 (s,cf,p,v) => { MinimumObjectMass = cf.GetFloat(p, v); },
284 (s) => { return (float)MinimumObjectMass; }, 285 (s) => { return MinimumObjectMass; },
285 (s,p,l,v) => { MinimumObjectMass = v; } ), 286 (s,p,l,v) => { MinimumObjectMass = v; } ),
286 new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)", 287 new ParameterDefn("MaxObjectMass", "Maximum object mass (10000.01)",
287 10000.01f, 288 10000.01f,
288 (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); }, 289 (s,cf,p,v) => { MaximumObjectMass = cf.GetFloat(p, v); },
289 (s) => { return (float)MaximumObjectMass; }, 290 (s) => { return MaximumObjectMass; },
290 (s,p,l,v) => { MaximumObjectMass = v; } ), 291 (s,p,l,v) => { MaximumObjectMass = v; } ),
291 new ParameterDefn("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object", 292 new ParameterDefn("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object",
292 1000.0f, 293 1000.0f,
293 (s,cf,p,v) => { MaxLinearVelocity = cf.GetFloat(p, v); }, 294 (s,cf,p,v) => { MaxLinearVelocity = cf.GetFloat(p, v); },
294 (s) => { return (float)MaxLinearVelocity; }, 295 (s) => { return MaxLinearVelocity; },
295 (s,p,l,v) => { MaxLinearVelocity = v; } ), 296 (s,p,l,v) => { MaxLinearVelocity = v; } ),
296 new ParameterDefn("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object", 297 new ParameterDefn("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object",
297 1000.0f, 298 1000.0f,
298 (s,cf,p,v) => { MaxAngularVelocity = cf.GetFloat(p, v); }, 299 (s,cf,p,v) => { MaxAngularVelocity = cf.GetFloat(p, v); },
299 (s) => { return (float)MaxAngularVelocity; }, 300 (s) => { return MaxAngularVelocity; },
300 (s,p,l,v) => { MaxAngularVelocity = v; } ), 301 (s,p,l,v) => { MaxAngularVelocity = v; } ),
301 // LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject 302 // LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject
302 new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)", 303 new ParameterDefn("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)",
303 20000.0f, 304 20000.0f,
304 (s,cf,p,v) => { MaxAddForceMagnitude = cf.GetFloat(p, v); }, 305 (s,cf,p,v) => { MaxAddForceMagnitude = cf.GetFloat(p, v); },
305 (s) => { return (float)MaxAddForceMagnitude; }, 306 (s) => { return MaxAddForceMagnitude; },
306 (s,p,l,v) => { MaxAddForceMagnitude = v; } ), 307 (s,p,l,v) => { MaxAddForceMagnitude = v; } ),
308 // Density is passed around as 100kg/m3. This scales that to 1kg/m3.
309 new ParameterDefn("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)",
310 0.01f,
311 (s,cf,p,v) => { DensityScaleFactor = cf.GetFloat(p, v); },
312 (s) => { return DensityScaleFactor; },
313 (s,p,l,v) => { DensityScaleFactor = v; } ),
307 314
308 new ParameterDefn("PID_D", "Derivitive factor for motion smoothing", 315 new ParameterDefn("PID_D", "Derivitive factor for motion smoothing",
309 2200f, 316 2200f,
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 8ebb532..f953c1e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -99,6 +99,9 @@ public abstract class BSPhysObject : PhysicsActor
99 CollisionAccumulation = 0; 99 CollisionAccumulation = 0;
100 ColliderIsMoving = false; 100 ColliderIsMoving = false;
101 CollisionScore = 0; 101 CollisionScore = 0;
102
103 // All axis free.
104 LockedAxis = LockedAxisFree;
102 } 105 }
103 106
104 // Tell the object to clean up. 107 // Tell the object to clean up.
@@ -172,7 +175,8 @@ public abstract class BSPhysObject : PhysicsActor
172 MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); 175 MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
173 Friction = matAttrib.friction; 176 Friction = matAttrib.friction;
174 Restitution = matAttrib.restitution; 177 Restitution = matAttrib.restitution;
175 Density = matAttrib.density; 178 Density = matAttrib.density / BSParam.DensityScaleFactor;
179 DetailLog("{0},{1}.SetMaterial,Mat={2},frict={3},rest={4},den={5}", LocalID, TypeName, Material, Friction, Restitution, Density);
176 } 180 }
177 181
178 // Stop all physical motion. 182 // Stop all physical motion.
@@ -220,6 +224,9 @@ public abstract class BSPhysObject : PhysicsActor
220 // computed center-of-mass (like in linksets). 224 // computed center-of-mass (like in linksets).
221 public OMV.Vector3? UserSetCenterOfMass { get; set; } 225 public OMV.Vector3? UserSetCenterOfMass { get; set; }
222 226
227 public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free.
228 public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free
229
223 #region Collisions 230 #region Collisions
224 231
225 // Requested number of milliseconds between collision events. Zero means disabled. 232 // Requested number of milliseconds between collision events. Zero means disabled.
@@ -416,9 +423,7 @@ public abstract class BSPhysObject : PhysicsActor
416 { 423 {
417 // Clean out any existing action 424 // Clean out any existing action
418 UnRegisterPreStepAction(op, id); 425 UnRegisterPreStepAction(op, id);
419
420 RegisteredPrestepActions[identifier] = actn; 426 RegisteredPrestepActions[identifier] = actn;
421
422 PhysicsScene.BeforeStep += actn; 427 PhysicsScene.BeforeStep += actn;
423 } 428 }
424 DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier); 429 DetailLog("{0},BSPhysObject.RegisterPreStepAction,id={1}", LocalID, identifier);
@@ -464,9 +469,7 @@ public abstract class BSPhysObject : PhysicsActor
464 { 469 {
465 // Clean out any existing action 470 // Clean out any existing action
466 UnRegisterPostStepAction(op, id); 471 UnRegisterPostStepAction(op, id);
467
468 RegisteredPoststepActions[identifier] = actn; 472 RegisteredPoststepActions[identifier] = actn;
469
470 PhysicsScene.AfterStep += actn; 473 PhysicsScene.AfterStep += actn;
471 } 474 }
472 DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier); 475 DetailLog("{0},BSPhysObject.RegisterPostStepAction,id={1}", LocalID, identifier);
@@ -503,7 +506,58 @@ public abstract class BSPhysObject : PhysicsActor
503 } 506 }
504 DetailLog("{0},BSPhysObject.UnRegisterAllPostStepActions,", LocalID); 507 DetailLog("{0},BSPhysObject.UnRegisterAllPostStepActions,", LocalID);
505 } 508 }
506 509
510 // When an update to the physical properties happens, this event is fired to let
511 // different actors to modify the update before it is passed around
512 public delegate void PreUpdatePropertyAction(ref EntityProperties entprop);
513 public event PreUpdatePropertyAction OnPreUpdateProperty;
514 protected void TriggerPreUpdatePropertyAction(ref EntityProperties entprop)
515 {
516 PreUpdatePropertyAction actions = OnPreUpdateProperty;
517 if (actions != null)
518 actions(ref entprop);
519 }
520
521 private Dictionary<string, PreUpdatePropertyAction> RegisteredPreUpdatePropertyActions = new Dictionary<string, PreUpdatePropertyAction>();
522 public void RegisterPreUpdatePropertyAction(string identifier, PreUpdatePropertyAction actn)
523 {
524 lock (RegisteredPreUpdatePropertyActions)
525 {
526 // Clean out any existing action
527 UnRegisterPreUpdatePropertyAction(identifier);
528 RegisteredPreUpdatePropertyActions[identifier] = actn;
529 OnPreUpdateProperty += actn;
530 }
531 DetailLog("{0},BSPhysObject.RegisterPreUpdatePropertyAction,id={1}", LocalID, identifier);
532 }
533 public bool UnRegisterPreUpdatePropertyAction(string identifier)
534 {
535 bool removed = false;
536 lock (RegisteredPreUpdatePropertyActions)
537 {
538 if (RegisteredPreUpdatePropertyActions.ContainsKey(identifier))
539 {
540 OnPreUpdateProperty -= RegisteredPreUpdatePropertyActions[identifier];
541 RegisteredPreUpdatePropertyActions.Remove(identifier);
542 removed = true;
543 }
544 }
545 DetailLog("{0},BSPhysObject.UnRegisterPreUpdatePropertyAction,id={1},removed={2}", LocalID, identifier, removed);
546 return removed;
547 }
548 public void UnRegisterAllPreUpdatePropertyActions()
549 {
550 lock (RegisteredPreUpdatePropertyActions)
551 {
552 foreach (KeyValuePair<string, PreUpdatePropertyAction> kvp in RegisteredPreUpdatePropertyActions)
553 {
554 OnPreUpdateProperty -= kvp.Value;
555 }
556 RegisteredPreUpdatePropertyActions.Clear();
557 }
558 DetailLog("{0},BSPhysObject.UnRegisterAllPreUpdatePropertyAction,", LocalID);
559 }
560
507 #endregion // Per Simulation Step actions 561 #endregion // Per Simulation Step actions
508 562
509 // High performance detailed logging routine used by the physical objects. 563 // High performance detailed logging routine used by the physical objects.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index a76f8b9..0323b0d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -242,6 +242,45 @@ public class BSPrim : BSPhysObject
242 public override void LockAngularMotion(OMV.Vector3 axis) 242 public override void LockAngularMotion(OMV.Vector3 axis)
243 { 243 {
244 DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis); 244 DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
245
246 OMV.Vector3 locking = new OMV.Vector3(1f, 1f, 1f);
247 if (axis.X != 1) locking.X = 0f;
248 if (axis.Y != 1) locking.Y = 0f;
249 if (axis.Z != 1) locking.Z = 0f;
250 LockedAxis = locking;
251
252 /* Not implemented yet
253 if (LockedAxis != LockedAxisFree)
254 {
255 // Something is locked so start the thingy that keeps that axis from changing
256 RegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion", delegate(ref EntityProperties entprop)
257 {
258 if (LockedAxis != LockedAxisFree)
259 {
260 if (IsPhysicallyActive)
261 {
262 // Bullet can lock axis but it only works for global axis.
263 // Check if this prim is aligned on global axis and use Bullet's
264 // system if so.
265
266 ForceOrientation = entprop.Rotation;
267 ForceRotationalVelocity = entprop.RotationalVelocity;
268 }
269 }
270 else
271 {
272 UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion");
273 }
274
275 });
276 }
277 else
278 {
279 // Everything seems unlocked
280 UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion");
281 }
282 */
283
245 return; 284 return;
246 } 285 }
247 286
@@ -311,7 +350,8 @@ public class BSPrim : BSPhysObject
311 350
312 float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); 351 float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
313 OMV.Vector3 upForce = OMV.Vector3.Zero; 352 OMV.Vector3 upForce = OMV.Vector3.Zero;
314 if (RawPosition.Z < terrainHeight) 353 float approxSize = Math.Max(Size.X, Math.Max(Size.Y, Size.Z));
354 if ((RawPosition.Z + approxSize / 2f) < terrainHeight)
315 { 355 {
316 DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight); 356 DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
317 float targetHeight = terrainHeight + (Size.Z / 2f); 357 float targetHeight = terrainHeight + (Size.Z / 2f);
@@ -576,6 +616,8 @@ public class BSPrim : BSPhysObject
576 } 616 }
577 } 617 }
578 } 618 }
619 // The simulator/viewer keep density as 100kg/m3.
620 // Remember to use BSParam.DensityScaleFactor to create the physical density.
579 public override float Density 621 public override float Density
580 { 622 {
581 get { return base.Density; } 623 get { return base.Density; }
@@ -1569,7 +1611,8 @@ public class BSPrim : BSPhysObject
1569 profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f; 1611 profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
1570 volume *= (profileEnd - profileBegin); 1612 volume *= (profileEnd - profileBegin);
1571 1613
1572 returnMass = Density * volume; 1614 returnMass = Density * BSParam.DensityScaleFactor * volume;
1615 DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass);
1573 1616
1574 returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass); 1617 returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
1575 1618
@@ -1607,6 +1650,8 @@ public class BSPrim : BSPhysObject
1607 // the world that things have changed. 1650 // the world that things have changed.
1608 public override void UpdateProperties(EntityProperties entprop) 1651 public override void UpdateProperties(EntityProperties entprop)
1609 { 1652 {
1653 TriggerPreUpdatePropertyAction(ref entprop);
1654
1610 // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet 1655 // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
1611 // TODO: handle physics introduced by Bullet with computed vehicle physics. 1656 // TODO: handle physics introduced by Bullet with computed vehicle physics.
1612 if (VehicleController.IsActive) 1657 if (VehicleController.IsActive)
@@ -1619,7 +1664,11 @@ public class BSPrim : BSPhysObject
1619 // Assign directly to the local variables so the normal set actions do not happen 1664 // Assign directly to the local variables so the normal set actions do not happen
1620 _position = entprop.Position; 1665 _position = entprop.Position;
1621 _orientation = entprop.Rotation; 1666 _orientation = entprop.Rotation;
1622 _velocity = entprop.Velocity; 1667 // _velocity = entprop.Velocity;
1668 // DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be
1669 // very sensitive to velocity changes.
1670 if (!entprop.Velocity.ApproxEquals(_velocity, 0.1f))
1671 _velocity = entprop.Velocity;
1623 _acceleration = entprop.Acceleration; 1672 _acceleration = entprop.Acceleration;
1624 _rotationalVelocity = entprop.RotationalVelocity; 1673 _rotationalVelocity = entprop.RotationalVelocity;
1625 1674
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
index b9f2cca..f1c3b5c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
@@ -144,7 +144,7 @@ public class BSPrimDisplaced : BSPrim
144 // Correct for any rotation around the center-of-mass 144 // Correct for any rotation around the center-of-mass
145 // TODO!!! 145 // TODO!!!
146 entprop.Position = entprop.Position + (PositionDisplacement * entprop.Rotation); 146 entprop.Position = entprop.Position + (PositionDisplacement * entprop.Rotation);
147 entprop.Rotation = something; 147 // entprop.Rotation = something;
148 } 148 }
149 149
150 base.UpdateProperties(entprop); 150 base.UpdateProperties(entprop);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
index 96f9762..d65d407 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
@@ -135,7 +135,8 @@ public class BSPrimLinkable : BSPrimDisplaced
135 // When going from non-physical to physical, this re-enables the constraints that 135 // When going from non-physical to physical, this re-enables the constraints that
136 // had been automatically disabled when the mass was set to zero. 136 // had been automatically disabled when the mass was set to zero.
137 // For compound based linksets, this enables and disables interactions of the children. 137 // For compound based linksets, this enables and disables interactions of the children.
138 Linkset.Refresh(this); 138 if (Linkset != null) // null can happen during initialization
139 Linkset.Refresh(this);
139 } 140 }
140 141
141 protected override void MakeDynamic(bool makeStatic) 142 protected override void MakeDynamic(bool makeStatic)
diff --git a/bin/lib32/BulletSim.dll b/bin/lib32/BulletSim.dll
index 4dd2f38..e7a8a41 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 cb8742a..4bf23a6 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 c9f5814..63ac1a9 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 19fc7bf..422681e 100755
--- a/bin/lib64/libBulletSim.so
+++ b/bin/lib64/libBulletSim.so
Binary files differ