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authorRobert Adams2012-12-11 00:13:13 -0800
committerRobert Adams2012-12-11 00:13:13 -0800
commit8b861e880ad128edc0267b8e2d5931cfc8a142bc (patch)
tree5b003bc0c79c2d3c7f4efa0de1ba6d75db5a1bdf
parentBulletSim: set mass for single prim linksets when going physical. This fixes ... (diff)
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BulletSim: add ini file and command line parameters to control
dumping of physical vehicle parameters (out of Bullet) on each simulation step and to optionally scale vehicle angular velocity by the time step. The latter looks to be part of a difference between angular parameters for ODE and BulletSim. SL docs say angular velocity is measured in radians/timeScale. Not sure if this is different than what ODE does.
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs9
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs12
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs2
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt7
4 files changed, 22 insertions, 8 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index cb84456..acddc09 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -570,8 +570,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
570 BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); 570 BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
571 BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); 571 BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr);
572 572
573 VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}", 573 VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}",
574 Prim.LocalID, friction, localInertia, angularDamping); 574 Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping);
575 } 575 }
576 else 576 else
577 { 577 {
@@ -1057,7 +1057,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1057 // TODO: Should this be applied as an angular force (torque)? 1057 // TODO: Should this be applied as an angular force (torque)?
1058 if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f)) 1058 if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f))
1059 { 1059 {
1060 Vector3 scaledCorrection = m_lastAngularCorrection * pTimestep; 1060 // DEBUG DEBUG DEBUG: optionally scale the angular velocity. Debugging SL vs ODE turning functions.
1061 Vector3 scaledCorrection = m_lastAngularCorrection;
1062 if (PhysicsScene.VehicleScaleAngularVelocityByTimestep)
1063 scaledCorrection *= pTimestep;
1061 VehicleRotationalVelocity = scaledCorrection; 1064 VehicleRotationalVelocity = scaledCorrection;
1062 1065
1063 VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}", 1066 VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}",
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 17cc7b4..f4f2801 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -188,6 +188,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
188 private bool m_physicsLoggingDoFlush; 188 private bool m_physicsLoggingDoFlush;
189 // 'true' of the vehicle code is to log lots of details 189 // 'true' of the vehicle code is to log lots of details
190 public bool VehicleLoggingEnabled { get; private set; } 190 public bool VehicleLoggingEnabled { get; private set; }
191 public bool VehiclePhysicalLoggingEnabled { get; private set; }
192 public bool VehicleScaleAngularVelocityByTimestep { get; private set; }
191 193
192 #region Construction and Initialization 194 #region Construction and Initialization
193 public BSScene(string identifier) 195 public BSScene(string identifier)
@@ -297,6 +299,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
297 m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false); 299 m_physicsLoggingDoFlush = pConfig.GetBoolean("PhysicsLoggingDoFlush", false);
298 // Very detailed logging for vehicle debugging 300 // Very detailed logging for vehicle debugging
299 VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false); 301 VehicleLoggingEnabled = pConfig.GetBoolean("VehicleLoggingEnabled", false);
302 VehiclePhysicalLoggingEnabled = pConfig.GetBoolean("VehiclePhysicalLoggingEnabled", false);
300 303
301 // Do any replacements in the parameters 304 // Do any replacements in the parameters
302 m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName); 305 m_physicsLoggingPrefix = m_physicsLoggingPrefix.Replace("%REGIONNAME%", RegionName);
@@ -501,7 +504,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
501 504
502 try 505 try
503 { 506 {
504 // if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG 507 if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG
505 if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); 508 if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount();
506 509
507 numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, 510 numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep,
@@ -510,7 +513,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
510 if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); 513 if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime);
511 DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}", 514 DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}",
512 DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); 515 DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount);
513 // if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG 516 if (VehiclePhysicalLoggingEnabled) DumpVehicles(); // DEBUG
514 } 517 }
515 catch (Exception e) 518 catch (Exception e)
516 { 519 {
@@ -1226,6 +1229,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
1226 (s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); }, 1229 (s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); },
1227 (s) => { return s.m_params[0].vehicleAngularDamping; }, 1230 (s) => { return s.m_params[0].vehicleAngularDamping; },
1228 (s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ), 1231 (s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ),
1232 new ParameterDefn("VehicleScaleAngularVelocityByTimestep", "If true, scale angular turning by timestep",
1233 ConfigurationParameters.numericFalse,
1234 (s,cf,p,v) => { s.VehicleScaleAngularVelocityByTimestep = cf.GetBoolean(p, s.BoolNumeric(v)); },
1235 (s) => { return s.NumericBool(s.VehicleScaleAngularVelocityByTimestep); },
1236 (s,p,l,v) => { s.VehicleScaleAngularVelocityByTimestep = s.BoolNumeric(v); } ),
1229 1237
1230 new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", 1238 new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
1231 0f, 1239 0f,
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 74b4371..4ab9a99 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -793,7 +793,7 @@ public sealed class BSShapeCollection : IDisposable
793 BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL); 793 BulletShape newShape = new BulletShape(hullPtr, BSPhysicsShapeType.SHAPE_HULL);
794 newShape.shapeKey = newHullKey; 794 newShape.shapeKey = newHullKey;
795 795
796 return newShape; // 'true' means a new shape has been added to this prim 796 return newShape;
797 } 797 }
798 798
799 // Callback from convex hull creater with a newly created hull. 799 // Callback from convex hull creater with a newly created hull.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index a2161c3..4b6e9a4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -38,7 +38,8 @@ Disable activity of passive linkset children.
38Scenes with hundred of thousands of static objects take a lot of physics CPU time. 38Scenes with hundred of thousands of static objects take a lot of physics CPU time.
39BSPrim.Force should set a continious force on the prim. The force should be 39BSPrim.Force should set a continious force on the prim. The force should be
40 applied each tick. Some limits? 40 applied each tick. Some limits?
41Single prim vehicles don't seem to properly vehiclize. 41Linksets should allow collisions to individual children
42 Add LocalID to children shapes in LinksetCompound and create events for individuals
42Gun sending shooter flying. 43Gun sending shooter flying.
43Collision margin (gap between physical objects lying on each other) 44Collision margin (gap between physical objects lying on each other)
44Boundry checking (crashes related to crossing boundry) 45Boundry checking (crashes related to crossing boundry)
@@ -145,4 +146,6 @@ Linkset implementation using compound shapes. (Resolution: implemented LinksetCo
145Light cycle falling over when driving (Resolution: implemented VerticalAttractor) 146Light cycle falling over when driving (Resolution: implemented VerticalAttractor)
146Light cycle not banking (Resolution: It doesn't. Banking is roll adding yaw.) 147Light cycle not banking (Resolution: It doesn't. Banking is roll adding yaw.)
147Package Bullet source mods for Bullet internal stats output 148Package Bullet source mods for Bullet internal stats output
148 (Resolution: move code into WorldData.h rather than relying on patches) \ No newline at end of file 149 (Resolution: move code into WorldData.h rather than relying on patches)
150Single prim vehicles don't seem to properly vehiclize.
151 (Resolution: mass was not getting set properly for single prim linksets)