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authorRobert Adams2012-12-27 13:13:35 -0800
committerRobert Adams2012-12-27 22:12:26 -0800
commite57c0e6731bff376186ecba2530e76b697ab5887 (patch)
tree1bdd63e70bab1f773d1ceee670f037971dce1d52 /OpenSim/Region/Physics/BulletSPlugin
parentBulletSim: fix odd code that wasn't really recomputing the mass of a (diff)
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BulletSim: fix buoyancy so it's properly set by a script when an
object is selected. Update TODO list.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs2
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSMotors.cs4
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs29
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt24
4 files changed, 44 insertions, 15 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 4e02904..19ce62b 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -5,7 +5,7 @@
5 * Redistribution and use in source and binary forms, with or without 5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met: 6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright 7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclat simer. 8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD 9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the 10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution. 11 * documentation and/or other materials provided with the distribution.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index 9e1a9ba..817a5f7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -241,8 +241,8 @@ public class BSVMotor : BSMotor
241 241
242 public override string ToString() 242 public override string ToString()
243 { 243 {
244 return String.Format("<{0},curr={1},targ={2},decayTS={3},frictTS={4}>", 244 return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4},frictTS={5}>",
245 UseName, CurrentValue, TargetValue, TargetValueDecayTimeScale, FrictionTimescale); 245 UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale, FrictionTimescale);
246 } 246 }
247} 247}
248 248
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index c7a81e0..f804a0f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -94,7 +94,7 @@ public sealed class BSPrim : BSPhysObject
94 _size = size; 94 _size = size;
95 Scale = size; // prims are the size the user wants them to be (different for BSCharactes). 95 Scale = size; // prims are the size the user wants them to be (different for BSCharactes).
96 _orientation = rotation; 96 _orientation = rotation;
97 _buoyancy = 1f; 97 _buoyancy = 0f;
98 _velocity = OMV.Vector3.Zero; 98 _velocity = OMV.Vector3.Zero;
99 _rotationalVelocity = OMV.Vector3.Zero; 99 _rotationalVelocity = OMV.Vector3.Zero;
100 BaseShape = pbs; 100 BaseShape = pbs;
@@ -408,12 +408,15 @@ public sealed class BSPrim : BSPhysObject
408 { 408 {
409 if (IsStatic) 409 if (IsStatic)
410 { 410 {
411 BulletSimAPI.SetGravity2(PhysBody.ptr, PhysicsScene.DefaultGravity);
411 Inertia = OMV.Vector3.Zero; 412 Inertia = OMV.Vector3.Zero;
412 BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia); 413 BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia);
413 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); 414 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
414 } 415 }
415 else 416 else
416 { 417 {
418 OMV.Vector3 grav = ComputeGravity();
419
417 if (inWorld) 420 if (inWorld)
418 { 421 {
419 // Changing interesting properties doesn't change proxy and collision cache 422 // Changing interesting properties doesn't change proxy and collision cache
@@ -422,13 +425,16 @@ public sealed class BSPrim : BSPhysObject
422 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); 425 BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
423 } 426 }
424 427
428 // The computation of mass props requires gravity to be set on the object.
429 BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
430
425 Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); 431 Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass);
426 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); 432 BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia);
427 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); 433 BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr);
428 434
429 // center of mass is at the zero of the object 435 // center of mass is at the zero of the object
430 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); 436 // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation);
431 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},inWorld={3}", LocalID, physMass, Inertia, inWorld); 437 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},grav={3},inWorld={4}", LocalID, physMass, Inertia, grav, inWorld);
432 438
433 if (inWorld) 439 if (inWorld)
434 { 440 {
@@ -437,13 +443,23 @@ public sealed class BSPrim : BSPhysObject
437 443
438 // Must set gravity after it has been added to the world because, for unknown reasons, 444 // Must set gravity after it has been added to the world because, for unknown reasons,
439 // adding the object resets the object's gravity to world gravity 445 // adding the object resets the object's gravity to world gravity
440 OMV.Vector3 grav = PhysicsScene.DefaultGravity * (1f - Buoyancy);
441 BulletSimAPI.SetGravity2(PhysBody.ptr, grav); 446 BulletSimAPI.SetGravity2(PhysBody.ptr, grav);
442 447
443 } 448 }
444 } 449 }
445 } 450 }
446 451
452 // Return what gravity should be set to this very moment
453 private OMV.Vector3 ComputeGravity()
454 {
455 OMV.Vector3 ret = PhysicsScene.DefaultGravity;
456
457 if (!IsStatic)
458 ret *= (1f - Buoyancy);
459
460 return ret;
461 }
462
447 // Is this used? 463 // Is this used?
448 public override OMV.Vector3 CenterOfMass 464 public override OMV.Vector3 CenterOfMass
449 { 465 {
@@ -669,7 +685,7 @@ public sealed class BSPrim : BSPhysObject
669 _isPhysical = value; 685 _isPhysical = value;
670 PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate() 686 PhysicsScene.TaintedObject("BSPrim.setIsPhysical", delegate()
671 { 687 {
672 // DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical); 688 DetailLog("{0},setIsPhysical,taint,isPhys={1}", LocalID, _isPhysical);
673 SetObjectDynamic(true); 689 SetObjectDynamic(true);
674 // whether phys-to-static or static-to-phys, the object is not moving. 690 // whether phys-to-static or static-to-phys, the object is not moving.
675 ZeroMotion(true); 691 ZeroMotion(true);
@@ -726,6 +742,10 @@ public sealed class BSPrim : BSPhysObject
726 742
727 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr); 743 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr);
728 744
745 // TODO: Fix this. Total kludge because adding object to world resets its gravity to default.
746 // Replace this when the new AddObjectToWorld function is complete.
747 BulletSimAPI.SetGravity2(PhysBody.ptr, ComputeGravity());
748
729 // Rebuild its shape 749 // Rebuild its shape
730 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr); 750 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, PhysBody.ptr);
731 751
@@ -976,6 +996,7 @@ public sealed class BSPrim : BSPhysObject
976 _buoyancy = value; 996 _buoyancy = value;
977 // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); 997 // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
978 // Force the recalculation of the various inertia,etc variables in the object 998 // Force the recalculation of the various inertia,etc variables in the object
999 DetailLog("{0},BSPrim.ForceBuoyancy,buoy={1},mass={2}", LocalID, _buoyancy, _mass);
979 UpdatePhysicalMassProperties(_mass, true); 1000 UpdatePhysicalMassProperties(_mass, true);
980 ActivateIfPhysical(false); 1001 ActivateIfPhysical(false);
981 } 1002 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index bc6dd7e..a66508a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -1,22 +1,21 @@
1CURRENT PRIORITIES 1CURRENT PRIORITIES
2================================================= 2=================================================
3Smooth avatar movement with motor (DONE) 3Redo BulletSimAPI to allow native C# implementation of Bullet option.
4 Should motor update be all at taint-time? (Yes, DONE) 4Avatar movement
5 Fix avatar slowly sliding when standing (zero motion when stopped) 5 flying into a wall doesn't stop avatar who keeps appearing to move through the obsticle
6llApplyImpulse() 6 walking up stairs is not calibrated correctly (stairs out of Kepler cabin)
7 Compare mass/movement in OS and SL. Calibrate actions. 7 avatar capsule rotation completed
8llSetBuoyancy()
9Boats float low in the water
10Enable vehicle border crossings (at least as poorly as ODE) 8Enable vehicle border crossings (at least as poorly as ODE)
11 Terrain skirts 9 Terrain skirts
12 Avatar created in previous region and not new region when crossing border 10 Avatar created in previous region and not new region when crossing border
13 Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) 11 Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
14Add material densities to the material types.
15Vehicle movement on terrain smoothness 12Vehicle movement on terrain smoothness
16Vehicle script tuning/debugging 13Vehicle script tuning/debugging
17 Avanti speed script 14 Avanti speed script
18 Weapon shooter script 15 Weapon shooter script
19limitMotorUp calibration (more down?) 16limitMotorUp calibration (more down?)
17Boats float low in the water
18Add material densities to the material types.
20 19
21CRASHES 20CRASHES
22================================================= 21=================================================
@@ -243,3 +242,12 @@ Should vehicle angular/linear movement friction happen after all the components
243 What is expected by some vehicles (turning up friction to moderate speed)) 242 What is expected by some vehicles (turning up friction to moderate speed))
244Tune terrain/object friction to be closer to SL. 243Tune terrain/object friction to be closer to SL.
245 (Resolution: added material type with friction and resolution) 244 (Resolution: added material type with friction and resolution)
245Smooth avatar movement with motor (DONE)
246 Should motor update be all at taint-time? (Yes, DONE)
247 Fix avatar slowly sliding when standing (zero motion when stopped) (DONE)
248 (Resolution: added BSVMotor for avatar starting and stopping)
249llApplyImpulse()
250 Compare mass/movement in OS and SL. Calibrate actions. (DONE)
251 (Resolution: tested on SL and OS. AddForce scales the force for timestep)
252llSetBuoyancy() (DONE)
253 (Resolution: Bullet resets object gravity when added to world. Moved set gravity)