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authorRobert Adams2012-12-11 00:13:13 -0800
committerRobert Adams2012-12-11 00:13:13 -0800
commit8b861e880ad128edc0267b8e2d5931cfc8a142bc (patch)
tree5b003bc0c79c2d3c7f4efa0de1ba6d75db5a1bdf /OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs9
1 files changed, 6 insertions, 3 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}",