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authorRobert Adams2012-10-09 12:58:06 -0700
committerRobert Adams2012-10-11 14:01:07 -0700
commit68698975f1537725a1f53bc4b2db2cfc798ac7f3 (patch)
tree7a021b67a3bde146160a1e7d8befef053698e71e /OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
parentBulletSim: Fix crash when linking large physical linksets. (diff)
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BulletSim: Add Force* operations to objects to allow direct push to engine.
Update BSDynamics to use same (don't want to delay updates til next taint-time. Suppress queuing a taint update for position and orientation calls if value does not change. Move Bullet timing statistics call from C# back to C++ code. Throttle taints per simulation step and add parameter to set. By default, don't create hulls for physical objects. Add a parameter to turn on and off.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs12
1 files changed, 6 insertions, 6 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 3fb2253..76230a1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -481,7 +481,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
481 m_lastPositionVector = Prim.ForcePosition; 481 m_lastPositionVector = Prim.ForcePosition;
482 482
483 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", 483 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
484 Prim.LocalID, Prim.Position, Prim.Force, Prim.Velocity, Prim.RotationalVelocity); 484 Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity);
485 }// end Step 485 }// end Step
486 486
487 // Apply the effect of the linear motor. 487 // Apply the effect of the linear motor.
@@ -540,7 +540,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
540 // add Gravity and Buoyancy 540 // add Gravity and Buoyancy
541 // There is some gravity, make a gravity force vector that is applied after object velocity. 541 // There is some gravity, make a gravity force vector that is applied after object velocity.
542 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; 542 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
543 Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Mass * (1f - m_VehicleBuoyancy)); 543 Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.MassRaw * (1f - m_VehicleBuoyancy));
544 544
545 /* 545 /*
546 * RA: Not sure why one would do this 546 * RA: Not sure why one would do this
@@ -678,10 +678,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
678 m_newVelocity.Z = 0; 678 m_newVelocity.Z = 0;
679 679
680 // Apply velocity 680 // Apply velocity
681 Prim.Velocity = m_newVelocity; 681 Prim.ForceVelocity = m_newVelocity;
682 // apply gravity force 682 // apply gravity force
683 // Why is this set here? The physics engine already does gravity. 683 // Why is this set here? The physics engine already does gravity.
684 // m_prim.AddForce(grav, false); 684 Prim.AddForce(grav, false);
685 685
686 // Apply friction 686 // Apply friction
687 Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep)); 687 Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep));
@@ -704,7 +704,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
704 // m_lastAngularVelocity // what was last applied to body 704 // m_lastAngularVelocity // what was last applied to body
705 705
706 // Get what the body is doing, this includes 'external' influences 706 // Get what the body is doing, this includes 'external' influences
707 Vector3 angularVelocity = Prim.RotationalVelocity; 707 Vector3 angularVelocity = Prim.ForceRotationalVelocity;
708 708
709 if (m_angularMotorApply > 0) 709 if (m_angularMotorApply > 0)
710 { 710 {
@@ -810,7 +810,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
810 m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; 810 m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
811 811
812 // Apply to the body 812 // Apply to the body
813 Prim.RotationalVelocity = m_lastAngularVelocity; 813 Prim.ForceRotationalVelocity = m_lastAngularVelocity;
814 814
815 VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity); 815 VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity);
816 } //end MoveAngular 816 } //end MoveAngular