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authorRobert Adams2012-10-12 16:03:03 -0700
committerRobert Adams2012-10-19 10:51:58 -0700
commitfd7a097849b8a405bdd62cfe6d4ee2bbf0a3961c (patch)
tree93606a507aa16538a73e10956735a66f4306fe18 /OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
parentminor: Increase attachment name field from 36 to 50 chars in "attachments sho... (diff)
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BulletSim: Update BSCharacter to use API2 interface.
Add capsule shape to BSShapeCollection(). Remember last updated values so inter frame diffs can be computed. Parameterize avatarStandingFriction and reduce to 10 from 999. The latter high value made avatars very hard to push. Set CCD parameters for prims and characters of specified.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs182
1 files changed, 133 insertions, 49 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 2e6b2da..7c2f856 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -41,8 +41,6 @@ public class BSCharacter : BSPhysObject
41 41
42 // private bool _stopped; 42 // private bool _stopped;
43 private OMV.Vector3 _size; 43 private OMV.Vector3 _size;
44 private OMV.Vector3 _scale;
45 private PrimitiveBaseShape _pbs;
46 private bool _grabbed; 44 private bool _grabbed;
47 private bool _selected; 45 private bool _selected;
48 private OMV.Vector3 _position; 46 private OMV.Vector3 _position;
@@ -67,6 +65,10 @@ public class BSCharacter : BSPhysObject
67 private bool _kinematic; 65 private bool _kinematic;
68 private float _buoyancy; 66 private float _buoyancy;
69 67
68 // The friction and velocity of the avatar is modified depending on whether walking or not.
69 private OMV.Vector3 _appliedVelocity; // the last velocity applied to the avatar
70 private float _currentFriction; // the friction currently being used (changed by setVelocity).
71
70 private OMV.Vector3 _PIDTarget; 72 private OMV.Vector3 _PIDTarget;
71 private bool _usePID; 73 private bool _usePID;
72 private float _PIDTau; 74 private float _PIDTau;
@@ -84,13 +86,15 @@ public class BSCharacter : BSPhysObject
84 _flying = isFlying; 86 _flying = isFlying;
85 _orientation = OMV.Quaternion.Identity; 87 _orientation = OMV.Quaternion.Identity;
86 _velocity = OMV.Vector3.Zero; 88 _velocity = OMV.Vector3.Zero;
89 _appliedVelocity = OMV.Vector3.Zero;
87 _buoyancy = ComputeBuoyancyFromFlying(isFlying); 90 _buoyancy = ComputeBuoyancyFromFlying(isFlying);
91 _currentFriction = PhysicsScene.Params.avatarStandingFriction;
88 92
89 // The dimensions of the avatar capsule are kept in the scale. 93 // The dimensions of the avatar capsule are kept in the scale.
90 // Physics creates a unit capsule which is scaled by the physics engine. 94 // Physics creates a unit capsule which is scaled by the physics engine.
91 ComputeAvatarScale(_size); 95 ComputeAvatarScale(_size);
92 _avatarDensity = PhysicsScene.Params.avatarDensity; 96 _avatarDensity = PhysicsScene.Params.avatarDensity;
93 // set _avatarVolume and _mass based on capsule size, _density and _scale 97 // set _avatarVolume and _mass based on capsule size, _density and Scale
94 ComputeAvatarVolumeAndMass(); 98 ComputeAvatarVolumeAndMass();
95 99
96 ShapeData shapeData = new ShapeData(); 100 ShapeData shapeData = new ShapeData();
@@ -99,24 +103,24 @@ public class BSCharacter : BSPhysObject
99 shapeData.Position = _position; 103 shapeData.Position = _position;
100 shapeData.Rotation = _orientation; 104 shapeData.Rotation = _orientation;
101 shapeData.Velocity = _velocity; 105 shapeData.Velocity = _velocity;
102 shapeData.Scale = _scale; 106 shapeData.Scale = Scale;
103 shapeData.Mass = _mass; 107 shapeData.Mass = _mass;
104 shapeData.Buoyancy = _buoyancy; 108 shapeData.Buoyancy = _buoyancy;
105 shapeData.Static = ShapeData.numericFalse; 109 shapeData.Static = ShapeData.numericFalse;
106 shapeData.Friction = PhysicsScene.Params.avatarFriction; 110 shapeData.Friction = PhysicsScene.Params.avatarStandingFriction;
107 shapeData.Restitution = PhysicsScene.Params.avatarRestitution; 111 shapeData.Restitution = PhysicsScene.Params.avatarRestitution;
108 112
109 // do actual create at taint time 113 // do actual create at taint time
110 PhysicsScene.TaintedObject("BSCharacter.create", delegate() 114 PhysicsScene.TaintedObject("BSCharacter.create", delegate()
111 { 115 {
112 DetailLog("{0},BSCharacter.create,taint", LocalID); 116 DetailLog("{0},BSCharacter.create,taint", LocalID);
113 BulletSimAPI.CreateObject(PhysicsScene.WorldID, shapeData); 117 PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null);
118
119 SetPhysicalProperties();
114 120
115 // Set the buoyancy for flying. This will be refactored when all the settings happen in C#. 121 // Set the buoyancy for flying. This will be refactored when all the settings happen in C#.
116 // If not set at creation, the avatar will stop flying when created after crossing a region boundry. 122 // If not set at creation, the avatar will stop flying when created after crossing a region boundry.
117 BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy); 123 ForceBuoyancy = _buoyancy;
118
119 BSBody = new BulletBody(LocalID, BulletSimAPI.GetBodyHandle2(PhysicsScene.World.ptr, LocalID));
120 124
121 // This works here because CreateObject has already put the character into the physical world. 125 // This works here because CreateObject has already put the character into the physical world.
122 BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr, 126 BulletSimAPI.SetCollisionFilterMask2(BSBody.ptr,
@@ -131,10 +135,40 @@ public class BSCharacter : BSPhysObject
131 DetailLog("{0},BSCharacter.Destroy", LocalID); 135 DetailLog("{0},BSCharacter.Destroy", LocalID);
132 PhysicsScene.TaintedObject("BSCharacter.destroy", delegate() 136 PhysicsScene.TaintedObject("BSCharacter.destroy", delegate()
133 { 137 {
134 BulletSimAPI.DestroyObject(PhysicsScene.WorldID, LocalID); 138 PhysicsScene.Shapes.DereferenceBody(BSBody, true, null);
139 PhysicsScene.Shapes.DereferenceShape(BSShape, true, null);
135 }); 140 });
136 } 141 }
137 142
143 private void SetPhysicalProperties()
144 {
145 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr);
146
147 ZeroMotion();
148
149 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSBody.ptr, MassRaw);
150 BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
151
152 // Set the velocity and compute the proper friction
153 ForceVelocity = _velocity;
154
155 BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
156 BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution);
157
158 BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
159 BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
160
161 if (PhysicsScene.Params.ccdMotionThreshold > 0f)
162 {
163 BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold);
164 BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
165 }
166
167 BulletSimAPI.SetActivationState2(BSBody.ptr, (int)ActivationState.DISABLE_DEACTIVATION);
168
169 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
170 }
171
138 public override void RequestPhysicsterseUpdate() 172 public override void RequestPhysicsterseUpdate()
139 { 173 {
140 base.RequestPhysicsterseUpdate(); 174 base.RequestPhysicsterseUpdate();
@@ -147,7 +181,7 @@ public class BSCharacter : BSPhysObject
147 get 181 get
148 { 182 {
149 // Avatar capsule size is kept in the scale parameter. 183 // Avatar capsule size is kept in the scale parameter.
150 return new OMV.Vector3(_scale.X * 2, _scale.Y * 2, _scale.Z); 184 return new OMV.Vector3(Scale.X * 2, Scale.Y * 2, Scale.Z);
151 } 185 }
152 186
153 set { 187 set {
@@ -162,22 +196,25 @@ public class BSCharacter : BSPhysObject
162 196
163 PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() 197 PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
164 { 198 {
165 BulletSimAPI.SetObjectScaleMass(PhysicsScene.WorldID, LocalID, _scale, _mass, true); 199 BulletSimAPI.SetLocalScaling2(BSBody.ptr, Scale);
200 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSBody.ptr, MassRaw);
201 BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
166 }); 202 });
167 203
168 } 204 }
169 } 205 }
170 public override PrimitiveBaseShape Shape { 206 public override OMV.Vector3 Scale { get; set; }
171 set { _pbs = value; 207 private PrimitiveBaseShape _pbs;
172 } 208 public override PrimitiveBaseShape Shape
209 {
210 set { _pbs = value;}
173 } 211 }
212
174 public override bool Grabbed { 213 public override bool Grabbed {
175 set { _grabbed = value; 214 set { _grabbed = value; }
176 }
177 } 215 }
178 public override bool Selected { 216 public override bool Selected {
179 set { _selected = value; 217 set { _selected = value; }
180 }
181 } 218 }
182 public override void CrossingFailure() { return; } 219 public override void CrossingFailure() { return; }
183 public override void link(PhysicsActor obj) { return; } 220 public override void link(PhysicsActor obj) { return; }
@@ -204,7 +241,7 @@ public class BSCharacter : BSPhysObject
204 241
205 public override OMV.Vector3 Position { 242 public override OMV.Vector3 Position {
206 get { 243 get {
207 // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); 244 // _position = BulletSimAPI.GetObjectPosition2(Scene.World.ptr, LocalID);
208 return _position; 245 return _position;
209 } 246 }
210 set { 247 set {
@@ -214,7 +251,7 @@ public class BSCharacter : BSPhysObject
214 PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() 251 PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
215 { 252 {
216 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); 253 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
217 BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); 254 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
218 }); 255 });
219 } 256 }
220 } 257 }
@@ -273,7 +310,7 @@ public class BSCharacter : BSPhysObject
273 BSScene.TaintCallback sanityOperation = delegate() 310 BSScene.TaintCallback sanityOperation = delegate()
274 { 311 {
275 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); 312 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
276 BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); 313 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
277 }; 314 };
278 if (inTaintTime) 315 if (inTaintTime)
279 sanityOperation(); 316 sanityOperation();
@@ -284,11 +321,7 @@ public class BSCharacter : BSPhysObject
284 return ret; 321 return ret;
285 } 322 }
286 323
287 public override float Mass { 324 public override float Mass { get { return _mass; } }
288 get {
289 return _mass;
290 }
291 }
292 325
293 // used when we only want this prim's mass and not the linkset thing 326 // used when we only want this prim's mass and not the linkset thing
294 public override float MassRaw { get {return _mass; } } 327 public override float MassRaw { get {return _mass; } }
@@ -301,15 +334,13 @@ public class BSCharacter : BSPhysObject
301 PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate() 334 PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
302 { 335 {
303 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); 336 DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
304 BulletSimAPI.SetObjectForce(PhysicsScene.WorldID, LocalID, _force); 337 BulletSimAPI.SetObjectForce2(BSBody.ptr, _force);
305 }); 338 });
306 } 339 }
307 } 340 }
308 341
309 public override int VehicleType { 342 // Avatars don't do vehicles
310 get { return 0; } 343 public override int VehicleType { get { return 0; } set { return; } }
311 set { return; }
312 }
313 public override void VehicleFloatParam(int param, float value) { } 344 public override void VehicleFloatParam(int param, float value) { }
314 public override void VehicleVectorParam(int param, OMV.Vector3 value) {} 345 public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
315 public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { } 346 public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
@@ -328,15 +359,35 @@ public class BSCharacter : BSPhysObject
328 PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() 359 PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
329 { 360 {
330 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); 361 DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
331 BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity); 362 ForceVelocity = _velocity;
332 }); 363 });
333 } 364 }
334 } 365 }
335 public override OMV.Vector3 ForceVelocity { 366 public override OMV.Vector3 ForceVelocity {
336 get { return _velocity; } 367 get { return _velocity; }
337 set { 368 set {
369 // Depending on whether the avatar is moving or not, change the friction
370 // to keep the avatar from slipping around
371 if (_velocity.Length() == 0)
372 {
373 if (_currentFriction != PhysicsScene.Params.avatarStandingFriction)
374 {
375 _currentFriction = PhysicsScene.Params.avatarStandingFriction;
376 BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
377 }
378 }
379 else
380 {
381 if (_currentFriction == 999f)
382 {
383 _currentFriction = PhysicsScene.Params.avatarFriction;
384 BulletSimAPI.SetFriction2(BSBody.ptr, _currentFriction);
385 }
386 }
338 _velocity = value; 387 _velocity = value;
339 BulletSimAPI.SetObjectVelocity(PhysicsScene.WorldID, LocalID, _velocity); 388 _appliedVelocity = value;
389 BulletSimAPI.SetLinearVelocity2(BSBody.ptr, _velocity);
390 BulletSimAPI.Activate2(BSBody.ptr, true);
340 } 391 }
341 } 392 }
342 public override OMV.Vector3 Torque { 393 public override OMV.Vector3 Torque {
@@ -360,8 +411,8 @@ public class BSCharacter : BSPhysObject
360 // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation); 411 // m_log.DebugFormat("{0}: set orientation to {1}", LogHeader, _orientation);
361 PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate() 412 PhysicsScene.TaintedObject("BSCharacter.setOrientation", delegate()
362 { 413 {
363 // _position = BulletSimAPI.GetObjectPosition(Scene.WorldID, _localID); 414 // _position = BulletSimAPI.GetPosition2(BSBody.ptr);
364 BulletSimAPI.SetObjectTranslation(PhysicsScene.WorldID, LocalID, _position, _orientation); 415 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
365 }); 416 });
366 } 417 }
367 } 418 }
@@ -389,12 +440,18 @@ public class BSCharacter : BSPhysObject
389 set { _isPhysical = value; 440 set { _isPhysical = value;
390 } 441 }
391 } 442 }
443 public override bool IsSolid {
444 get { return true; }
445 }
446 public override bool IsStatic {
447 get { return false; }
448 }
392 public override bool Flying { 449 public override bool Flying {
393 get { return _flying; } 450 get { return _flying; }
394 set { 451 set {
395 _flying = value; 452 _flying = value;
396 // simulate flying by changing the effect of gravity 453 // simulate flying by changing the effect of gravity
397 this.Buoyancy = ComputeBuoyancyFromFlying(_flying); 454 Buoyancy = ComputeBuoyancyFromFlying(_flying);
398 } 455 }
399 } 456 }
400 // Flying is implimented by changing the avatar's buoyancy. 457 // Flying is implimented by changing the avatar's buoyancy.
@@ -454,10 +511,19 @@ public class BSCharacter : BSPhysObject
454 PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate() 511 PhysicsScene.TaintedObject("BSCharacter.setBuoyancy", delegate()
455 { 512 {
456 DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy); 513 DetailLog("{0},BSCharacter.setBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
457 BulletSimAPI.SetObjectBuoyancy(PhysicsScene.WorldID, LocalID, _buoyancy); 514 ForceBuoyancy = _buoyancy;
458 }); 515 });
459 } 516 }
460 } 517 }
518 public override float ForceBuoyancy {
519 get { return _buoyancy; }
520 set { _buoyancy = value;
521 DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
522 // Buoyancy is faked by changing the gravity applied to the object
523 float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
524 BulletSimAPI.SetGravity2(BSBody.ptr, new OMV.Vector3(0f, 0f, grav));
525 }
526 }
461 527
462 // Used for MoveTo 528 // Used for MoveTo
463 public override OMV.Vector3 PIDTarget { 529 public override OMV.Vector3 PIDTarget {
@@ -518,27 +584,29 @@ public class BSCharacter : BSPhysObject
518 584
519 private void ComputeAvatarScale(OMV.Vector3 size) 585 private void ComputeAvatarScale(OMV.Vector3 size)
520 { 586 {
521 _scale.X = PhysicsScene.Params.avatarCapsuleRadius; 587 OMV.Vector3 newScale = OMV.Vector3.Zero;
522 _scale.Y = PhysicsScene.Params.avatarCapsuleRadius; 588 newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
589 newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
523 590
524 // The 1.15 came from ODE but it seems to cause the avatar to float off the ground 591 // The 1.15 came from ODE but it seems to cause the avatar to float off the ground
525 // _scale.Z = (_size.Z * 1.15f) - (_scale.X + _scale.Y); 592 // Scale.Z = (_size.Z * 1.15f) - (Scale.X + Scale.Y);
526 _scale.Z = (_size.Z) - (_scale.X + _scale.Y); 593 newScale.Z = (_size.Z) - (Scale.X + Scale.Y);
594 Scale = newScale;
527 } 595 }
528 596
529 // set _avatarVolume and _mass based on capsule size, _density and _scale 597 // set _avatarVolume and _mass based on capsule size, _density and Scale
530 private void ComputeAvatarVolumeAndMass() 598 private void ComputeAvatarVolumeAndMass()
531 { 599 {
532 _avatarVolume = (float)( 600 _avatarVolume = (float)(
533 Math.PI 601 Math.PI
534 * _scale.X 602 * Scale.X
535 * _scale.Y // the area of capsule cylinder 603 * Scale.Y // the area of capsule cylinder
536 * _scale.Z // times height of capsule cylinder 604 * Scale.Z // times height of capsule cylinder
537 + 1.33333333f 605 + 1.33333333f
538 * Math.PI 606 * Math.PI
539 * _scale.X 607 * Scale.X
540 * Math.Min(_scale.X, _scale.Y) 608 * Math.Min(Scale.X, Scale.Y)
541 * _scale.Y // plus the volume of the capsule end caps 609 * Scale.Y // plus the volume of the capsule end caps
542 ); 610 );
543 _mass = _avatarDensity * _avatarVolume; 611 _mass = _avatarDensity * _avatarVolume;
544 } 612 }
@@ -555,6 +623,22 @@ public class BSCharacter : BSPhysObject
555 // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. 623 // Do some sanity checking for the avatar. Make sure it's above ground and inbounds.
556 PositionSanityCheck2(true); 624 PositionSanityCheck2(true);
557 625
626 // remember the current and last set values
627 LastEntityProperties = CurrentEntityProperties;
628 CurrentEntityProperties = entprop;
629
630 if (entprop.Velocity != LastEntityProperties.Velocity)
631 {
632 // Changes in the velocity are suppressed in avatars.
633 // That's just the way they are defined.
634 OMV.Vector3 avVel = new OMV.Vector3(_appliedVelocity.X, _appliedVelocity.Y, entprop.Velocity.Z);
635 _velocity = avVel;
636 BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel);
637 }
638
639 // Tell the linkset about this
640 Linkset.UpdateProperties(this);
641
558 // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. 642 // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
559 // base.RequestPhysicsterseUpdate(); 643 // base.RequestPhysicsterseUpdate();
560 644