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authorRobert Adams2012-12-26 10:25:50 -0800
committerRobert Adams2012-12-26 10:25:50 -0800
commit225b564573a5ac12ca1b1e592834476feccf8ebb (patch)
tree4adccb61ae3850d07b458c0c594e83812d7bac4d
parentBulletSim: make llBuoyancy work. For some reason, Bullet resets an (diff)
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BulletSim: scale the force for external AddForce by the simulation
step time so it will be applied completely the next step. The internal AddForce routine does not scale the force.
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs12
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs4
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt4
3 files changed, 19 insertions, 1 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 0d13096..9013414 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1014,7 +1014,9 @@ public sealed class BSPrim : BSPhysObject
1014 public override float APIDDamping { set { return; } } 1014 public override float APIDDamping { set { return; } }
1015 1015
1016 public override void AddForce(OMV.Vector3 force, bool pushforce) { 1016 public override void AddForce(OMV.Vector3 force, bool pushforce) {
1017 AddForce(force, pushforce, false); 1017 // Since this force is being applied in only one step, make this a force per second.
1018 OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep;
1019 AddForce(addForce, pushforce, false);
1018 } 1020 }
1019 // Applying a force just adds this to the total force on the object. 1021 // Applying a force just adds this to the total force on the object.
1020 // This added force will only last the next simulation tick. 1022 // This added force will only last the next simulation tick.
@@ -1022,8 +1024,16 @@ public sealed class BSPrim : BSPhysObject
1022 // for an object, doesn't matter if force is a pushforce or not 1024 // for an object, doesn't matter if force is a pushforce or not
1023 if (force.IsFinite()) 1025 if (force.IsFinite())
1024 { 1026 {
1027 float magnitude = force.Length();
1028 if (magnitude > 20000f)
1029 {
1030 // Force has a limit
1031 force = force / magnitude * 20000f;
1032 }
1033
1025 OMV.Vector3 addForce = force; 1034 OMV.Vector3 addForce = force;
1026 DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); 1035 DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
1036
1027 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() 1037 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
1028 { 1038 {
1029 // Bullet adds this central force to the total force for this tick 1039 // Bullet adds this central force to the total force for this tick
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 0022e45..b67c0ed 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -495,6 +495,10 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
495 495
496 InTaintTime = false; // Only used for debugging so locking is not necessary. 496 InTaintTime = false; // Only used for debugging so locking is not necessary.
497 497
498 // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world.
499 // Only enable this in a limited test world with few objects.
500 // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG
501
498 // step the physical world one interval 502 // step the physical world one interval
499 m_simulationStep++; 503 m_simulationStep++;
500 int numSubSteps = 0; 504 int numSubSteps = 0;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index 9d07d72..78cc26c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -35,6 +35,8 @@ Border crossing with linked vehicle causes crash
35Vehicles (Move smoothly) 35Vehicles (Move smoothly)
36Add vehicle collisions so IsColliding is properly reported. 36Add vehicle collisions so IsColliding is properly reported.
37 Needed for banking, limitMotorUp, movementLimiting, ... 37 Needed for banking, limitMotorUp, movementLimiting, ...
38VehicleAddForce is not scaled by the simulation step but it is only
39 applied for one step. Should it be scaled?
38Some vehicles should not be able to turn if no speed or off ground. 40Some vehicles should not be able to turn if no speed or off ground.
39Cannot edit/move a vehicle being ridden: it jumps back to the origional position. 41Cannot edit/move a vehicle being ridden: it jumps back to the origional position.
40Neb car jiggling left and right 42Neb car jiggling left and right
@@ -92,6 +94,8 @@ Should the different PID factors have non-equal contributions for different
92Selecting and deselecting physical objects causes CPU processing time to jump 94Selecting and deselecting physical objects causes CPU processing time to jump
93 http://www.youtube.com/watch?v=Hjg57fWg8yI&hd=1 95 http://www.youtube.com/watch?v=Hjg57fWg8yI&hd=1
94 put thousand physical objects, select and deselect same. CPU time will be large. 96 put thousand physical objects, select and deselect same. CPU time will be large.
97Re-implement buoyancy as a separate force on the object rather than diddling gravity.
98 Register a pre-step event to add the force.
95 99
96LINKSETS 100LINKSETS
97====================================================== 101======================================================