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authorRobert Adams2013-02-07 11:53:49 -0800
committerRobert Adams2013-02-07 17:13:27 -0800
commitebb63b55aab98da6d44e82fc0ecfd5d22f245172 (patch)
tree4c695e5e577547e5c2562f23f8bb1ad06177447f
parentExtend TestJsonReadNotecard() for reads to non-root locations and fake stores. (diff)
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BulletSim: add user setting of friction, density and restitution.
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs5
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs17
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs99
3 files changed, 94 insertions, 27 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 192bcb5..d694a6a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -749,9 +749,10 @@ public sealed class BSCharacter : BSPhysObject
749 _buoyancy = value; 749 _buoyancy = value;
750 DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); 750 DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
751 // Buoyancy is faked by changing the gravity applied to the object 751 // Buoyancy is faked by changing the gravity applied to the object
752 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); 752 float grav = BSParam.Gravity * (1f - _buoyancy);
753 Gravity = new OMV.Vector3(0f, 0f, grav);
753 if (PhysBody.HasPhysicalBody) 754 if (PhysBody.HasPhysicalBody)
754 PhysicsScene.PE.SetGravity(PhysBody, new OMV.Vector3(0f, 0f, grav)); 755 PhysicsScene.PE.SetGravity(PhysBody, Gravity);
755 } 756 }
756 } 757 }
757 758
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index ec25aa9..0b35f3a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -78,6 +78,10 @@ public abstract class BSPhysObject : PhysicsActor
78 Name = name; // PhysicsActor also has the name of the object. Someday consolidate. 78 Name = name; // PhysicsActor also has the name of the object. Someday consolidate.
79 TypeName = typeName; 79 TypeName = typeName;
80 80
81 // Initialize variables kept in base.
82 GravityModifier = 1.0f;
83 Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
84
81 // We don't have any physical representation yet. 85 // We don't have any physical representation yet.
82 PhysBody = new BulletBody(localID); 86 PhysBody = new BulletBody(localID);
83 PhysShape = new BulletShape(); 87 PhysShape = new BulletShape();
@@ -88,8 +92,8 @@ public abstract class BSPhysObject : PhysicsActor
88 92
89 LastAssetBuildFailed = false; 93 LastAssetBuildFailed = false;
90 94
91 // Default material type 95 // Default material type. Also sets Friction, Restitution and Density.
92 Material = MaterialAttributes.Material.Wood; 96 SetMaterial((int)MaterialAttributes.Material.Wood);
93 97
94 CollisionCollection = new CollisionEventUpdate(); 98 CollisionCollection = new CollisionEventUpdate();
95 CollisionsLastTick = CollisionCollection; 99 CollisionsLastTick = CollisionCollection;
@@ -122,6 +126,8 @@ public abstract class BSPhysObject : PhysicsActor
122 // 'inWorld' true if the object has already been added to the dynamic world. 126 // 'inWorld' true if the object has already been added to the dynamic world.
123 public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld); 127 public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
124 128
129 // The gravity being applied to the object. A function of default grav, GravityModifier and Buoyancy.
130 public virtual OMV.Vector3 Gravity { get; set; }
125 // The last value calculated for the prim's inertia 131 // The last value calculated for the prim's inertia
126 public OMV.Vector3 Inertia { get; set; } 132 public OMV.Vector3 Inertia { get; set; }
127 133
@@ -164,15 +170,16 @@ public abstract class BSPhysObject : PhysicsActor
164 public override void SetMaterial(int material) 170 public override void SetMaterial(int material)
165 { 171 {
166 Material = (MaterialAttributes.Material)material; 172 Material = (MaterialAttributes.Material)material;
173 MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
174 Friction = matAttrib.friction;
175 Restitution = matAttrib.restitution;
176 Density = matAttrib.density;
167 } 177 }
168 178
169 // Stop all physical motion. 179 // Stop all physical motion.
170 public abstract void ZeroMotion(bool inTaintTime); 180 public abstract void ZeroMotion(bool inTaintTime);
171 public abstract void ZeroAngularMotion(bool inTaintTime); 181 public abstract void ZeroAngularMotion(bool inTaintTime);
172 182
173 // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
174 public virtual void StepVehicle(float timeStep) { }
175
176 // Update the physical location and motion of the object. Called with data from Bullet. 183 // Update the physical location and motion of the object. Called with data from Bullet.
177 public abstract void UpdateProperties(EntityProperties entprop); 184 public abstract void UpdateProperties(EntityProperties entprop);
178 185
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 54bf063..a86932a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -55,7 +55,6 @@ public sealed class BSPrim : BSPhysObject
55 private OMV.Vector3 _position; 55 private OMV.Vector3 _position;
56 56
57 private float _mass; // the mass of this object 57 private float _mass; // the mass of this object
58 private float _density;
59 private OMV.Vector3 _force; 58 private OMV.Vector3 _force;
60 private OMV.Vector3 _velocity; 59 private OMV.Vector3 _velocity;
61 private OMV.Vector3 _torque; 60 private OMV.Vector3 _torque;
@@ -64,8 +63,6 @@ public sealed class BSPrim : BSPhysObject
64 private int _physicsActorType; 63 private int _physicsActorType;
65 private bool _isPhysical; 64 private bool _isPhysical;
66 private bool _flying; 65 private bool _flying;
67 private float _friction;
68 private float _restitution;
69 private bool _setAlwaysRun; 66 private bool _setAlwaysRun;
70 private bool _throttleUpdates; 67 private bool _throttleUpdates;
71 private bool _floatOnWater; 68 private bool _floatOnWater;
@@ -101,12 +98,6 @@ public sealed class BSPrim : BSPhysObject
101 _isPhysical = pisPhysical; 98 _isPhysical = pisPhysical;
102 _isVolumeDetect = false; 99 _isVolumeDetect = false;
103 100
104 // Someday set default attributes based on the material but, for now, we don't know the prim material yet.
105 // MaterialAttributes primMat = BSMaterials.GetAttributes(Material, pisPhysical);
106 _density = PhysicsScene.Params.defaultDensity;
107 _friction = PhysicsScene.Params.defaultFriction;
108 _restitution = PhysicsScene.Params.defaultRestitution;
109
110 VehicleController = new BSDynamics(PhysicsScene, this); // add vehicleness 101 VehicleController = new BSDynamics(PhysicsScene, this); // add vehicleness
111 102
112 _mass = CalculateMass(); 103 _mass = CalculateMass();
@@ -457,11 +448,6 @@ public sealed class BSPrim : BSPhysObject
457 { 448 {
458 AddObjectToPhysicalWorld(); 449 AddObjectToPhysicalWorld();
459 } 450 }
460
461 // Must set gravity after it has been added to the world because, for unknown reasons,
462 // adding the object resets the object's gravity to world gravity
463 PhysicsScene.PE.SetGravity(PhysBody, grav);
464
465 } 451 }
466 } 452 }
467 } 453 }
@@ -469,7 +455,7 @@ public sealed class BSPrim : BSPhysObject
469 // Return what gravity should be set to this very moment 455 // Return what gravity should be set to this very moment
470 public OMV.Vector3 ComputeGravity(float buoyancy) 456 public OMV.Vector3 ComputeGravity(float buoyancy)
471 { 457 {
472 OMV.Vector3 ret = PhysicsScene.DefaultGravity; 458 OMV.Vector3 ret = PhysicsScene.DefaultGravity * GravityModifier;
473 459
474 if (!IsStatic) 460 if (!IsStatic)
475 ret *= (1f - buoyancy); 461 ret *= (1f - buoyancy);
@@ -596,6 +582,74 @@ public sealed class BSPrim : BSPhysObject
596 } 582 }
597 return; 583 return;
598 } 584 }
585 public override void SetMaterial(int material)
586 {
587 base.SetMaterial(material);
588 PhysicsScene.TaintedObject("BSPrim.SetMaterial", delegate()
589 {
590 UpdatePhysicalParameters();
591 });
592 }
593 public override float Friction
594 {
595 get { return base.Friction; }
596 set
597 {
598 if (base.Friction != value)
599 {
600 base.Friction = value;
601 PhysicsScene.TaintedObject("BSPrim.setFriction", delegate()
602 {
603 UpdatePhysicalParameters();
604 });
605 }
606 }
607 }
608 public override float Restitution
609 {
610 get { return base.Restitution; }
611 set
612 {
613 if (base.Restitution != value)
614 {
615 base.Restitution = value;
616 PhysicsScene.TaintedObject("BSPrim.setRestitution", delegate()
617 {
618 UpdatePhysicalParameters();
619 });
620 }
621 }
622 }
623 public override float Density
624 {
625 get { return base.Density; }
626 set
627 {
628 if (base.Density != value)
629 {
630 base.Density = value;
631 PhysicsScene.TaintedObject("BSPrim.setDensity", delegate()
632 {
633 UpdatePhysicalParameters();
634 });
635 }
636 }
637 }
638 public override float GravityModifier
639 {
640 get { return base.GravityModifier; }
641 set
642 {
643 if (base.GravityModifier != value)
644 {
645 base.GravityModifier = value;
646 PhysicsScene.TaintedObject("BSPrim.setGravityModifier", delegate()
647 {
648 UpdatePhysicalParameters();
649 });
650 }
651 }
652 }
599 public override OMV.Vector3 RawVelocity 653 public override OMV.Vector3 RawVelocity
600 { 654 {
601 get { return _velocity; } 655 get { return _velocity; }
@@ -810,8 +864,8 @@ public sealed class BSPrim : BSPhysObject
810 864
811 // Set various physical properties so other object interact properly 865 // Set various physical properties so other object interact properly
812 MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); 866 MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
813 PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction); 867 PhysicsScene.PE.SetFriction(PhysBody, Friction);
814 PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution); 868 PhysicsScene.PE.SetRestitution(PhysBody, Restitution);
815 869
816 // Mass is zero which disables a bunch of physics stuff in Bullet 870 // Mass is zero which disables a bunch of physics stuff in Bullet
817 UpdatePhysicalMassProperties(0f, false); 871 UpdatePhysicalMassProperties(0f, false);
@@ -840,8 +894,8 @@ public sealed class BSPrim : BSPhysObject
840 894
841 // Set various physical properties so other object interact properly 895 // Set various physical properties so other object interact properly
842 MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true); 896 MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
843 PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction); 897 PhysicsScene.PE.SetFriction(PhysBody, Friction);
844 PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution); 898 PhysicsScene.PE.SetRestitution(PhysBody, Restitution);
845 899
846 // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382 900 // per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
847 // Since this can be called multiple times, only zero forces when becoming physical 901 // Since this can be called multiple times, only zero forces when becoming physical
@@ -940,6 +994,11 @@ public sealed class BSPrim : BSPhysObject
940 if (PhysBody.HasPhysicalBody) 994 if (PhysBody.HasPhysicalBody)
941 { 995 {
942 PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); 996 PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
997
998 // Must set gravity after it has been added to the world because, for unknown reasons,
999 // adding the object resets the object's gravity to world gravity
1000 OMV.Vector3 grav = ComputeGravity(Buoyancy);
1001 PhysicsScene.PE.SetGravity(PhysBody, grav);
943 } 1002 }
944 else 1003 else
945 { 1004 {
@@ -1581,7 +1640,7 @@ public sealed class BSPrim : BSPhysObject
1581 profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f; 1640 profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
1582 volume *= (profileEnd - profileBegin); 1641 volume *= (profileEnd - profileBegin);
1583 1642
1584 returnMass = _density * volume; 1643 returnMass = Density * volume;
1585 1644
1586 /* Comment out code that computes the mass of the linkset. That is done in the Linkset class. 1645 /* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
1587 if (IsRootOfLinkset) 1646 if (IsRootOfLinkset)