diff options
author | Robert Adams | 2012-07-12 15:34:25 -0700 |
---|---|---|
committer | Robert Adams | 2012-07-20 14:02:24 -0700 |
commit | c400918c84fc89ff0209ee05def3bb46206ba5ee (patch) | |
tree | fc28a498207e20136a87528b937ec619ab3cbe3a | |
parent | BulletSim: Add detailed and voluminous debug logging that is enabled (diff) | |
download | opensim-SC_OLD-c400918c84fc89ff0209ee05def3bb46206ba5ee.zip opensim-SC_OLD-c400918c84fc89ff0209ee05def3bb46206ba5ee.tar.gz opensim-SC_OLD-c400918c84fc89ff0209ee05def3bb46206ba5ee.tar.bz2 opensim-SC_OLD-c400918c84fc89ff0209ee05def3bb46206ba5ee.tar.xz |
BulletSim: Add PID variables to physical scene. Not PIDing yet, but soon.
Cleaned up code and got rid of compile warnings.
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 69 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 116 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 13 |
3 files changed, 97 insertions, 101 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index dc0c008..09e1f0c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | |||
@@ -41,7 +41,7 @@ public class BSCharacter : PhysicsActor | |||
41 | 41 | ||
42 | private BSScene _scene; | 42 | private BSScene _scene; |
43 | private String _avName; | 43 | private String _avName; |
44 | private bool _stopped; | 44 | // private bool _stopped; |
45 | private Vector3 _size; | 45 | private Vector3 _size; |
46 | private Vector3 _scale; | 46 | private Vector3 _scale; |
47 | private PrimitiveBaseShape _pbs; | 47 | private PrimitiveBaseShape _pbs; |
@@ -134,9 +134,9 @@ public class BSCharacter : PhysicsActor | |||
134 | { | 134 | { |
135 | base.RequestPhysicsterseUpdate(); | 135 | base.RequestPhysicsterseUpdate(); |
136 | } | 136 | } |
137 | 137 | // No one calls this method so I don't know what it could possibly mean | |
138 | public override bool Stopped { | 138 | public override bool Stopped { |
139 | get { return _stopped; } | 139 | get { return false; } |
140 | } | 140 | } |
141 | public override Vector3 Size { | 141 | public override Vector3 Size { |
142 | get { return _size; } | 142 | get { return _size; } |
@@ -391,52 +391,47 @@ public class BSCharacter : PhysicsActor | |||
391 | _mass = _density * _avatarVolume; | 391 | _mass = _density * _avatarVolume; |
392 | } | 392 | } |
393 | 393 | ||
394 | // Set to 'true' if the individual changed items should be checked | ||
395 | // (someday RequestPhysicsTerseUpdate() will take a bitmap of changed properties) | ||
396 | const bool SHOULD_CHECK_FOR_INDIVIDUAL_CHANGES = false; | ||
397 | |||
398 | // The physics engine says that properties have updated. Update same and inform | 394 | // The physics engine says that properties have updated. Update same and inform |
399 | // the world that things have changed. | 395 | // the world that things have changed. |
400 | public void UpdateProperties(EntityProperties entprop) | 396 | public void UpdateProperties(EntityProperties entprop) |
401 | { | 397 | { |
398 | /* | ||
402 | bool changed = false; | 399 | bool changed = false; |
403 | if (SHOULD_CHECK_FOR_INDIVIDUAL_CHANGES) { | 400 | // we assign to the local variables so the normal set action does not happen |
404 | // we assign to the local variables so the normal set action does not happen | 401 | if (_position != entprop.Position) { |
405 | if (_position != entprop.Position) { | ||
406 | _position = entprop.Position; | ||
407 | changed = true; | ||
408 | } | ||
409 | if (_orientation != entprop.Rotation) { | ||
410 | _orientation = entprop.Rotation; | ||
411 | changed = true; | ||
412 | } | ||
413 | if (_velocity != entprop.Velocity) { | ||
414 | _velocity = entprop.Velocity; | ||
415 | changed = true; | ||
416 | } | ||
417 | if (_acceleration != entprop.Acceleration) { | ||
418 | _acceleration = entprop.Acceleration; | ||
419 | changed = true; | ||
420 | } | ||
421 | if (_rotationalVelocity != entprop.RotationalVelocity) { | ||
422 | _rotationalVelocity = entprop.RotationalVelocity; | ||
423 | changed = true; | ||
424 | } | ||
425 | if (changed) { | ||
426 | // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); | ||
427 | // Avatar movement is not done by generating this event. There is code in the heartbeat | ||
428 | // loop that updates avatars. | ||
429 | // base.RequestPhysicsterseUpdate(); | ||
430 | } | ||
431 | } | ||
432 | else { | ||
433 | _position = entprop.Position; | 402 | _position = entprop.Position; |
403 | changed = true; | ||
404 | } | ||
405 | if (_orientation != entprop.Rotation) { | ||
434 | _orientation = entprop.Rotation; | 406 | _orientation = entprop.Rotation; |
407 | changed = true; | ||
408 | } | ||
409 | if (_velocity != entprop.Velocity) { | ||
435 | _velocity = entprop.Velocity; | 410 | _velocity = entprop.Velocity; |
411 | changed = true; | ||
412 | } | ||
413 | if (_acceleration != entprop.Acceleration) { | ||
436 | _acceleration = entprop.Acceleration; | 414 | _acceleration = entprop.Acceleration; |
415 | changed = true; | ||
416 | } | ||
417 | if (_rotationalVelocity != entprop.RotationalVelocity) { | ||
437 | _rotationalVelocity = entprop.RotationalVelocity; | 418 | _rotationalVelocity = entprop.RotationalVelocity; |
419 | changed = true; | ||
420 | } | ||
421 | if (changed) { | ||
422 | // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); | ||
423 | // Avatar movement is not done by generating this event. There is code in the heartbeat | ||
424 | // loop that updates avatars. | ||
438 | // base.RequestPhysicsterseUpdate(); | 425 | // base.RequestPhysicsterseUpdate(); |
439 | } | 426 | } |
427 | */ | ||
428 | _position = entprop.Position; | ||
429 | _orientation = entprop.Rotation; | ||
430 | _velocity = entprop.Velocity; | ||
431 | _acceleration = entprop.Acceleration; | ||
432 | _rotationalVelocity = entprop.RotationalVelocity; | ||
433 | // Avatars don't report theirr changes the usual way. Changes are checked for in the heartbeat loop. | ||
434 | // base.RequestPhysicsterseUpdate(); | ||
440 | } | 435 | } |
441 | 436 | ||
442 | // Called by the scene when a collision with this object is reported | 437 | // Called by the scene when a collision with this object is reported |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 9b28a06..23b276e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -148,7 +148,7 @@ public sealed class BSPrim : PhysicsActor | |||
148 | { | 148 | { |
149 | // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); | 149 | // m_log.DebugFormat("{0}: Destroy, id={1}", LogHeader, LocalID); |
150 | // Undo any vehicle properties | 150 | // Undo any vehicle properties |
151 | _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE); | 151 | _vehicle.ProcessTypeChange(Vehicle.TYPE_NONE, 1f); |
152 | _scene.RemoveVehiclePrim(this); // just to make sure | 152 | _scene.RemoveVehiclePrim(this); // just to make sure |
153 | 153 | ||
154 | // undo any dependance with/on other objects | 154 | // undo any dependance with/on other objects |
@@ -353,7 +353,7 @@ public sealed class BSPrim : PhysicsActor | |||
353 | } | 353 | } |
354 | set { | 354 | set { |
355 | Vehicle type = (Vehicle)value; | 355 | Vehicle type = (Vehicle)value; |
356 | _vehicle.ProcessTypeChange(type); | 356 | _vehicle.ProcessTypeChange(type, _scene.LastSimulatedTimestep); |
357 | _scene.TaintedObject(delegate() | 357 | _scene.TaintedObject(delegate() |
358 | { | 358 | { |
359 | if (type == Vehicle.TYPE_NONE) | 359 | if (type == Vehicle.TYPE_NONE) |
@@ -371,11 +371,11 @@ public sealed class BSPrim : PhysicsActor | |||
371 | } | 371 | } |
372 | public override void VehicleFloatParam(int param, float value) | 372 | public override void VehicleFloatParam(int param, float value) |
373 | { | 373 | { |
374 | _vehicle.ProcessFloatVehicleParam((Vehicle)param, value); | 374 | _vehicle.ProcessFloatVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); |
375 | } | 375 | } |
376 | public override void VehicleVectorParam(int param, OMV.Vector3 value) | 376 | public override void VehicleVectorParam(int param, OMV.Vector3 value) |
377 | { | 377 | { |
378 | _vehicle.ProcessVectorVehicleParam((Vehicle)param, value); | 378 | _vehicle.ProcessVectorVehicleParam((Vehicle)param, value, _scene.LastSimulatedTimestep); |
379 | } | 379 | } |
380 | public override void VehicleRotationParam(int param, OMV.Quaternion rotation) | 380 | public override void VehicleRotationParam(int param, OMV.Quaternion rotation) |
381 | { | 381 | { |
@@ -1262,78 +1262,66 @@ public sealed class BSPrim : PhysicsActor | |||
1262 | const float POSITION_TOLERANCE = 0.05f; | 1262 | const float POSITION_TOLERANCE = 0.05f; |
1263 | const float ACCELERATION_TOLERANCE = 0.01f; | 1263 | const float ACCELERATION_TOLERANCE = 0.01f; |
1264 | const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; | 1264 | const float ROTATIONAL_VELOCITY_TOLERANCE = 0.01f; |
1265 | const bool SHOULD_DAMP_UPDATES = false; | ||
1266 | 1265 | ||
1267 | public void UpdateProperties(EntityProperties entprop) | 1266 | public void UpdateProperties(EntityProperties entprop) |
1268 | { | 1267 | { |
1268 | /* | ||
1269 | UpdatedProperties changed = 0; | 1269 | UpdatedProperties changed = 0; |
1270 | if (SHOULD_DAMP_UPDATES) | 1270 | // assign to the local variables so the normal set action does not happen |
1271 | // if (_position != entprop.Position) | ||
1272 | if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE)) | ||
1271 | { | 1273 | { |
1272 | // assign to the local variables so the normal set action does not happen | 1274 | _position = entprop.Position; |
1273 | // if (_position != entprop.Position) | 1275 | changed |= UpdatedProperties.Position; |
1274 | if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE)) | ||
1275 | { | ||
1276 | _position = entprop.Position; | ||
1277 | // m_log.DebugFormat("{0}: UpdateProperties: id={1}, pos = {2}", LogHeader, LocalID, _position); | ||
1278 | changed |= UpdatedProperties.Position; | ||
1279 | } | ||
1280 | // if (_orientation != entprop.Rotation) | ||
1281 | if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE)) | ||
1282 | { | ||
1283 | _orientation = entprop.Rotation; | ||
1284 | // m_log.DebugFormat("{0}: UpdateProperties: id={1}, rot = {2}", LogHeader, LocalID, _orientation); | ||
1285 | changed |= UpdatedProperties.Rotation; | ||
1286 | } | ||
1287 | // if (_velocity != entprop.Velocity) | ||
1288 | if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE)) | ||
1289 | { | ||
1290 | _velocity = entprop.Velocity; | ||
1291 | // m_log.DebugFormat("{0}: UpdateProperties: velocity = {1}", LogHeader, _velocity); | ||
1292 | changed |= UpdatedProperties.Velocity; | ||
1293 | } | ||
1294 | // if (_acceleration != entprop.Acceleration) | ||
1295 | if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE)) | ||
1296 | { | ||
1297 | _acceleration = entprop.Acceleration; | ||
1298 | // m_log.DebugFormat("{0}: UpdateProperties: acceleration = {1}", LogHeader, _acceleration); | ||
1299 | changed |= UpdatedProperties.Acceleration; | ||
1300 | } | ||
1301 | // if (_rotationalVelocity != entprop.RotationalVelocity) | ||
1302 | if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE)) | ||
1303 | { | ||
1304 | _rotationalVelocity = entprop.RotationalVelocity; | ||
1305 | // m_log.DebugFormat("{0}: UpdateProperties: rotationalVelocity = {1}", LogHeader, _rotationalVelocity); | ||
1306 | changed |= UpdatedProperties.RotationalVel; | ||
1307 | } | ||
1308 | if (changed != 0) | ||
1309 | { | ||
1310 | // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); | ||
1311 | // Only update the position of single objects and linkset roots | ||
1312 | if (this._parentPrim == null) | ||
1313 | { | ||
1314 | // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); | ||
1315 | base.RequestPhysicsterseUpdate(); | ||
1316 | } | ||
1317 | } | ||
1318 | } | 1276 | } |
1319 | else | 1277 | // if (_orientation != entprop.Rotation) |
1278 | if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE)) | ||
1320 | { | 1279 | { |
1321 | // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. | 1280 | _orientation = entprop.Rotation; |
1322 | 1281 | changed |= UpdatedProperties.Rotation; | |
1323 | // Only updates only for individual prims and for the root object of a linkset. | 1282 | } |
1283 | // if (_velocity != entprop.Velocity) | ||
1284 | if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE)) | ||
1285 | { | ||
1286 | _velocity = entprop.Velocity; | ||
1287 | changed |= UpdatedProperties.Velocity; | ||
1288 | } | ||
1289 | // if (_acceleration != entprop.Acceleration) | ||
1290 | if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE)) | ||
1291 | { | ||
1292 | _acceleration = entprop.Acceleration; | ||
1293 | changed |= UpdatedProperties.Acceleration; | ||
1294 | } | ||
1295 | // if (_rotationalVelocity != entprop.RotationalVelocity) | ||
1296 | if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE)) | ||
1297 | { | ||
1298 | _rotationalVelocity = entprop.RotationalVelocity; | ||
1299 | changed |= UpdatedProperties.RotationalVel; | ||
1300 | } | ||
1301 | if (changed != 0) | ||
1302 | { | ||
1303 | // Only update the position of single objects and linkset roots | ||
1324 | if (this._parentPrim == null) | 1304 | if (this._parentPrim == null) |
1325 | { | 1305 | { |
1326 | // Assign to the local variables so the normal set action does not happen | ||
1327 | _position = entprop.Position; | ||
1328 | _orientation = entprop.Rotation; | ||
1329 | _velocity = entprop.Velocity; | ||
1330 | _acceleration = entprop.Acceleration; | ||
1331 | _rotationalVelocity = entprop.RotationalVelocity; | ||
1332 | // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", | ||
1333 | // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); | ||
1334 | base.RequestPhysicsterseUpdate(); | 1306 | base.RequestPhysicsterseUpdate(); |
1335 | } | 1307 | } |
1336 | } | 1308 | } |
1309 | */ | ||
1310 | |||
1311 | // Don't check for damping here -- it's done in BulletSim and SceneObjectPart. | ||
1312 | // Updates only for individual prims and for the root object of a linkset. | ||
1313 | if (this._parentPrim == null) | ||
1314 | { | ||
1315 | // Assign to the local variables so the normal set action does not happen | ||
1316 | _position = entprop.Position; | ||
1317 | _orientation = entprop.Rotation; | ||
1318 | _velocity = entprop.Velocity; | ||
1319 | _acceleration = entprop.Acceleration; | ||
1320 | _rotationalVelocity = entprop.RotationalVelocity; | ||
1321 | // m_log.DebugFormat("{0}: RequestTerseUpdate. id={1}, ch={2}, pos={3}, rot={4}, vel={5}, acc={6}, rvel={7}", | ||
1322 | // LogHeader, LocalID, changed, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); | ||
1323 | base.RequestPhysicsterseUpdate(); | ||
1324 | } | ||
1337 | } | 1325 | } |
1338 | 1326 | ||
1339 | // I've collided with something | 1327 | // I've collided with something |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index eb1d798..150326e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | |||
@@ -107,6 +107,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
107 | private long m_simulationStep = 0; | 107 | private long m_simulationStep = 0; |
108 | public long SimulationStep { get { return m_simulationStep; } } | 108 | public long SimulationStep { get { return m_simulationStep; } } |
109 | 109 | ||
110 | public float LastSimulatedTimestep { get; private set; } | ||
111 | |||
110 | // A value of the time now so all the collision and update routines do not have to get their own | 112 | // A value of the time now so all the collision and update routines do not have to get their own |
111 | // Set to 'now' just before all the prims and actors are called for collisions and updates | 113 | // Set to 'now' just before all the prims and actors are called for collisions and updates |
112 | private int m_simulationNowTime; | 114 | private int m_simulationNowTime; |
@@ -123,6 +125,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
123 | private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed | 125 | private bool _meshSculptedPrim = true; // cause scuplted prims to get meshed |
124 | private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes | 126 | private bool _forceSimplePrimMeshing = false; // if a cube or sphere, let Bullet do internal shapes |
125 | 127 | ||
128 | public float PID_D { get; private set; } // derivative | ||
129 | public float PID_P { get; private set; } // proportional | ||
130 | |||
126 | public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero | 131 | public const uint TERRAIN_ID = 0; // OpenSim senses terrain with a localID of zero |
127 | public const uint GROUNDPLANE_ID = 1; | 132 | public const uint GROUNDPLANE_ID = 1; |
128 | 133 | ||
@@ -222,6 +227,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
222 | m_maxUpdatesPerFrame = 2048; | 227 | m_maxUpdatesPerFrame = 2048; |
223 | m_maximumObjectMass = 10000.01f; | 228 | m_maximumObjectMass = 10000.01f; |
224 | 229 | ||
230 | PID_D = 2200f; | ||
231 | PID_P = 900f; | ||
232 | |||
225 | parms.defaultFriction = 0.5f; | 233 | parms.defaultFriction = 0.5f; |
226 | parms.defaultDensity = 10.000006836f; // Aluminum g/cm3 | 234 | parms.defaultDensity = 10.000006836f; // Aluminum g/cm3 |
227 | parms.defaultRestitution = 0f; | 235 | parms.defaultRestitution = 0f; |
@@ -278,6 +286,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
278 | m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame); | 286 | m_maxUpdatesPerFrame = pConfig.GetInt("MaxUpdatesPerFrame", m_maxUpdatesPerFrame); |
279 | m_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", m_maximumObjectMass); | 287 | m_maximumObjectMass = pConfig.GetFloat("MaxObjectMass", m_maximumObjectMass); |
280 | 288 | ||
289 | PID_D = pConfig.GetFloat("PIDDerivative", PID_D); | ||
290 | PID_P = pConfig.GetFloat("PIDProportional", PID_P); | ||
291 | |||
281 | parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction); | 292 | parms.defaultFriction = pConfig.GetFloat("DefaultFriction", parms.defaultFriction); |
282 | parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity); | 293 | parms.defaultDensity = pConfig.GetFloat("DefaultDensity", parms.defaultDensity); |
283 | parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution); | 294 | parms.defaultRestitution = pConfig.GetFloat("DefaultRestitution", parms.defaultRestitution); |
@@ -415,6 +426,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
415 | int collidersCount; | 426 | int collidersCount; |
416 | IntPtr collidersPtr; | 427 | IntPtr collidersPtr; |
417 | 428 | ||
429 | LastSimulatedTimestep = timeStep; | ||
430 | |||
418 | // prevent simulation until we've been initialized | 431 | // prevent simulation until we've been initialized |
419 | if (!m_initialized) return 10.0f; | 432 | if (!m_initialized) return 10.0f; |
420 | 433 | ||