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author | Robert Adams | 2012-10-10 13:56:16 -0700 |
---|---|---|
committer | Robert Adams | 2012-10-11 14:01:18 -0700 |
commit | 3a458e2a36253f6514720213deaa19372b06cc52 (patch) | |
tree | 7d0d849232391402e74bf83909e4256ce890abb5 /OpenSim/Region/Physics/BulletSPlugin | |
parent | BulletSim: Change defaults for constraint CFM and ERP to make large linksets ... (diff) | |
download | opensim-SC_OLD-3a458e2a36253f6514720213deaa19372b06cc52.zip opensim-SC_OLD-3a458e2a36253f6514720213deaa19372b06cc52.tar.gz opensim-SC_OLD-3a458e2a36253f6514720213deaa19372b06cc52.tar.bz2 opensim-SC_OLD-3a458e2a36253f6514720213deaa19372b06cc52.tar.xz |
BulletSim: Use full linkset mass when computing vehicle gravity force. Add taint-time specification to new AddForce().
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 6 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 9 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 12 |
3 files changed, 16 insertions, 11 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 76230a1..56342b8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | |||
@@ -462,7 +462,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
462 | return; | 462 | return; |
463 | 463 | ||
464 | // Set the prim's inertia to zero. The vehicle code handles that and this | 464 | // Set the prim's inertia to zero. The vehicle code handles that and this |
465 | // removes the torque action introduced by Bullet. | 465 | // removes the motion and torque actions introduced by Bullet. |
466 | Vector3 inertia = Vector3.Zero; | 466 | Vector3 inertia = Vector3.Zero; |
467 | BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia); | 467 | BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, inertia); |
468 | BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); | 468 | BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); |
@@ -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.MassRaw * (1f - m_VehicleBuoyancy)); | 543 | Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Linkset.LinksetMass * (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 |
@@ -681,7 +681,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
681 | Prim.ForceVelocity = 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 | Prim.AddForce(grav, false); | 684 | Prim.AddForce(grav, false, true); |
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)); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index b84ccdc..43b1262 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | |||
@@ -165,13 +165,11 @@ public class BSLinkset | |||
165 | // May be called at runtime or taint-time (just pass the appropriate flag). | 165 | // May be called at runtime or taint-time (just pass the appropriate flag). |
166 | public void Refresh(BSPhysObject requestor, bool inTaintTime) | 166 | public void Refresh(BSPhysObject requestor, bool inTaintTime) |
167 | { | 167 | { |
168 | // If there are no children, there can't be any constraints to recompute | 168 | // If there are no children, not physical or not root, I am not the one that recomputes the constraints |
169 | if (!HasAnyChildren) | 169 | // (For the moment, static linksets do create constraints so remove the test for physical.) |
170 | if (!HasAnyChildren || /*!requestor.IsPhysical ||*/ !IsRoot(requestor)) | ||
170 | return; | 171 | return; |
171 | 172 | ||
172 | // Only the root does the recomputation | ||
173 | if (IsRoot(requestor)) | ||
174 | { | ||
175 | BSScene.TaintCallback refreshOperation = delegate() | 173 | BSScene.TaintCallback refreshOperation = delegate() |
176 | { | 174 | { |
177 | RecomputeLinksetConstraintVariables(); | 175 | RecomputeLinksetConstraintVariables(); |
@@ -182,7 +180,6 @@ public class BSLinkset | |||
182 | refreshOperation(); | 180 | refreshOperation(); |
183 | else | 181 | else |
184 | PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation); | 182 | PhysicsScene.TaintedObject("BSLinkSet.Refresh", refreshOperation); |
185 | } | ||
186 | } | 183 | } |
187 | 184 | ||
188 | // The object is going dynamic (physical). Do any setup necessary | 185 | // The object is going dynamic (physical). Do any setup necessary |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index b26f049..692713d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -855,6 +855,9 @@ public sealed class BSPrim : BSPhysObject | |||
855 | 855 | ||
856 | private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>(); | 856 | private List<OMV.Vector3> m_accumulatedForces = new List<OMV.Vector3>(); |
857 | public override void AddForce(OMV.Vector3 force, bool pushforce) { | 857 | public override void AddForce(OMV.Vector3 force, bool pushforce) { |
858 | AddForce(force, pushforce, false); | ||
859 | } | ||
860 | public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { | ||
858 | // for an object, doesn't matter if force is a pushforce or not | 861 | // for an object, doesn't matter if force is a pushforce or not |
859 | if (force.IsFinite()) | 862 | if (force.IsFinite()) |
860 | { | 863 | { |
@@ -867,11 +870,12 @@ public sealed class BSPrim : BSPhysObject | |||
867 | m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); | 870 | m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); |
868 | return; | 871 | return; |
869 | } | 872 | } |
870 | PhysicsScene.TaintedObject("BSPrim.AddForce", delegate() | 873 | BSScene.TaintCallback addForceOperation = delegate() |
871 | { | 874 | { |
872 | OMV.Vector3 fSum = OMV.Vector3.Zero; | 875 | OMV.Vector3 fSum = OMV.Vector3.Zero; |
873 | lock (m_accumulatedForces) | 876 | lock (m_accumulatedForces) |
874 | { | 877 | { |
878 | // Sum the accumulated additional forces for one big force to apply once. | ||
875 | foreach (OMV.Vector3 v in m_accumulatedForces) | 879 | foreach (OMV.Vector3 v in m_accumulatedForces) |
876 | { | 880 | { |
877 | fSum += v; | 881 | fSum += v; |
@@ -881,7 +885,11 @@ public sealed class BSPrim : BSPhysObject | |||
881 | // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); | 885 | // DetailLog("{0},BSPrim.AddObjectForce,taint,force={1}", LocalID, fSum); |
882 | // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object. | 886 | // For unknown reasons, "ApplyCentralForce" adds this force to the total force on the object. |
883 | BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); | 887 | BulletSimAPI.ApplyCentralForce2(BSBody.ptr, fSum); |
884 | }); | 888 | }; |
889 | if (inTaintTime) | ||
890 | addForceOperation(); | ||
891 | else | ||
892 | PhysicsScene.TaintedObject("BSPrim.AddForce", addForceOperation); | ||
885 | } | 893 | } |
886 | 894 | ||
887 | public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { | 895 | public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { |