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authorRobert Adams2012-12-20 10:19:16 -0800
committerRobert Adams2012-12-20 10:19:16 -0800
commite73dac4debcf79cba83b94255d62fce0815871cb (patch)
tree112874cfde43f38ada43dddebfc5a0661756d39a /OpenSim/Region/Physics/BulletSPlugin
parentBulletSim: reorganize motor step code to separate error computation allowing ... (diff)
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BulletSim: angularMotorUp working again (seems a little slow as it takes longer than timescale to correct, but getting better). Disabled angularDeflection (need to resolve interactions between angular corrections). Update TODO list.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs65
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt33
2 files changed, 66 insertions, 32 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 912aadd..77ec76d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -91,6 +91,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
91 private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body 91 private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
92 92
93 //Deflection properties 93 //Deflection properties
94 private BSVMotor m_angularDeflectionMotor = new BSVMotor("AngularDeflection");
94 private float m_angularDeflectionEfficiency = 0; 95 private float m_angularDeflectionEfficiency = 0;
95 private float m_angularDeflectionTimescale = 0; 96 private float m_angularDeflectionTimescale = 0;
96 private float m_linearDeflectionEfficiency = 0; 97 private float m_linearDeflectionEfficiency = 0;
@@ -102,6 +103,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
102 private float m_bankingTimescale = 0; 103 private float m_bankingTimescale = 0;
103 104
104 //Hover and Buoyancy properties 105 //Hover and Buoyancy properties
106 private BSVMotor m_hoverMotor = new BSVMotor("Hover");
105 private float m_VhoverHeight = 0f; 107 private float m_VhoverHeight = 0f;
106 private float m_VhoverEfficiency = 0f; 108 private float m_VhoverEfficiency = 0f;
107 private float m_VhoverTimescale = 0f; 109 private float m_VhoverTimescale = 0f;
@@ -118,6 +120,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
118 // Timescale > cutoff means no vert attractor. 120 // Timescale > cutoff means no vert attractor.
119 private float m_verticalAttractionTimescale = 510f; 121 private float m_verticalAttractionTimescale = 510f;
120 122
123 // Just some recomputed constants:
124 static readonly float PIOverFour = ((float)Math.PI) / 4f;
125 static readonly float PIOverTwo = ((float)Math.PI) / 2f;
126
121 public BSDynamics(BSScene myScene, BSPrim myPrim) 127 public BSDynamics(BSScene myScene, BSPrim myPrim)
122 { 128 {
123 PhysicsScene = myScene; 129 PhysicsScene = myScene;
@@ -563,9 +569,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
563 // Vehicles report collision events so we know when it's on the ground 569 // Vehicles report collision events so we know when it's on the ground
564 BulletSimAPI.AddToCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS); 570 BulletSimAPI.AddToCollisionFlags2(Prim.PhysBody.ptr, CollisionFlags.BS_VEHICLE_COLLISIONS);
565 571
566 // DEBUG DEBUG DEBUG: use uniform inertia to smooth movement added by Bullet
567 // Vector3 localInertia = new Vector3(1f, 1f, 1f);
568 // Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass);
569 Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass); 572 Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(Prim.PhysShape.ptr, m_vehicleMass);
570 BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); 573 BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
571 BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); 574 BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr);
@@ -613,7 +616,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
613 private Quaternion? m_knownOrientation; 616 private Quaternion? m_knownOrientation;
614 private Vector3? m_knownRotationalVelocity; 617 private Vector3? m_knownRotationalVelocity;
615 private Vector3 m_knownRotationalForce; 618 private Vector3 m_knownRotationalForce;
616 private float? m_knownForwardSpeed; 619 private Vector3? m_knownForwardVelocity; // vehicle relative forward speed
617 620
618 private const int m_knownChangedPosition = 1 << 0; 621 private const int m_knownChangedPosition = 1 << 0;
619 private const int m_knownChangedVelocity = 1 << 1; 622 private const int m_knownChangedVelocity = 1 << 1;
@@ -632,7 +635,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
632 m_knownOrientation = null; 635 m_knownOrientation = null;
633 m_knownRotationalVelocity = null; 636 m_knownRotationalVelocity = null;
634 m_knownRotationalForce = Vector3.Zero; 637 m_knownRotationalForce = Vector3.Zero;
635 m_knownForwardSpeed = null; 638 m_knownForwardVelocity = null;
636 m_knownChanged = 0; 639 m_knownChanged = 0;
637 } 640 }
638 private void PushKnownChanged() 641 private void PushKnownChanged()
@@ -755,13 +758,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin
755 m_knownRotationalForce += aForce; 758 m_knownRotationalForce += aForce;
756 m_knownChanged |= m_knownChangedRotationalForce; 759 m_knownChanged |= m_knownChangedRotationalForce;
757 } 760 }
761 // Vehicle relative forward velocity
762 private Vector3 VehicleForwardVelocity
763 {
764 get
765 {
766 if (m_knownForwardVelocity == null)
767 m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation));
768 return (Vector3)m_knownForwardVelocity;
769 }
770 }
758 private float VehicleForwardSpeed 771 private float VehicleForwardSpeed
759 { 772 {
760 get 773 get
761 { 774 {
762 if (m_knownForwardSpeed == null) 775 return VehicleForwardVelocity.X;
763 m_knownForwardSpeed = (VehicleVelocity * Quaternion.Inverse(VehicleOrientation)).X;
764 return (float)m_knownForwardSpeed;
765 } 776 }
766 } 777 }
767 778
@@ -1025,7 +1036,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1025 // set directly on the vehicle. 1036 // set directly on the vehicle.
1026 private void MoveAngular(float pTimestep) 1037 private void MoveAngular(float pTimestep)
1027 { 1038 {
1028 // The user wants how many radians per second angular change? 1039 // The user wants this many radians per second angular change?
1029 Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); 1040 Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
1030 1041
1031 // ================================================================== 1042 // ==================================================================
@@ -1137,27 +1148,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1137 // Y error means needed rotation around X axis and visa versa. 1148 // Y error means needed rotation around X axis and visa versa.
1138 // Since the error goes from zero to one, the asin is the corresponding angle. 1149 // Since the error goes from zero to one, the asin is the corresponding angle.
1139 ret.X = (float)Math.Asin(verticalError.Y); 1150 ret.X = (float)Math.Asin(verticalError.Y);
1140 ret.Y = (float)Math.Asin(verticalError.X); 1151 // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
1152 ret.Y = -(float)Math.Asin(verticalError.X);
1141 1153
1142 // If verticalError.Z is negative, the vehicle is upside down. Add additional push. 1154 // If verticalError.Z is negative, the vehicle is upside down. Add additional push.
1143 if (verticalError.Z < 0f) 1155 if (verticalError.Z < 0f)
1144 { 1156 {
1145 ret.X += (float)Math.PI / 4f; 1157 ret.X += PIOverFour;
1146 ret.Y += (float)Math.PI / 4f; 1158 ret.Y += PIOverFour;
1147 } 1159 }
1148 1160
1149 // Put the signs back on so the rotation is in the correct direction.
1150 ret.X *= (float)Math.Sign(verticalError.Y);
1151 // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
1152 ret.Y *= -(float)Math.Sign(verticalError.X);
1153
1154 // 'ret' is now the necessary velocity to correct tilt in one second. 1161 // 'ret' is now the necessary velocity to correct tilt in one second.
1155 // Correction happens over a number of seconds. 1162 // Correction happens over a number of seconds.
1156 Vector3 unscaledContrib = ret; 1163 Vector3 unscaledContrib = ret;
1157 ret /= m_verticalAttractionTimescale; 1164 ret /= m_verticalAttractionTimescale;
1158 1165
1159 VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},vertAttr={4}", 1166 VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}",
1160 Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, ret); 1167 Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, ret);
1161 } 1168 }
1162 return ret; 1169 return ret;
1163 } 1170 }
@@ -1170,6 +1177,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1170 public Vector3 ComputeAngularDeflection() 1177 public Vector3 ComputeAngularDeflection()
1171 { 1178 {
1172 Vector3 ret = Vector3.Zero; 1179 Vector3 ret = Vector3.Zero;
1180 return ret; // DEBUG DEBUG DEBUG
1181 // Disable angular deflection for the moment.
1182 // Since angularMotorUp and angularDeflection are computed independently, they will calculate
1183 // approximately the same X or Y correction. When added together (when contributions are combined)
1184 // this creates an over-correction and then wabbling as the target is overshot.
1185 // TODO: rethink how the different correction computations inter-relate.
1173 1186
1174 if (m_angularDeflectionEfficiency != 0) 1187 if (m_angularDeflectionEfficiency != 0)
1175 { 1188 {
@@ -1181,15 +1194,24 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1181 Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; 1194 Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
1182 pointingDirection.Normalize(); 1195 pointingDirection.Normalize();
1183 1196
1184 // The difference between what is and what should be 1197 // The difference between what is and what should be.
1185 Vector3 deflectionError = movingDirection - pointingDirection; 1198 Vector3 deflectionError = movingDirection - pointingDirection;
1186 1199
1200 // Don't try to correct very large errors (not our job)
1201 if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f;
1202 if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f;
1203 if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f;
1204
1205 // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);
1206
1187 // Scale the correction by recovery timescale and efficiency 1207 // Scale the correction by recovery timescale and efficiency
1188 ret = (-deflectionError * VehicleForwardSpeed) * m_angularDeflectionEfficiency; 1208 ret = (-deflectionError) * m_angularDeflectionEfficiency;
1189 ret /= m_angularDeflectionTimescale; 1209 ret /= m_angularDeflectionTimescale;
1190 1210
1191 VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", 1211 VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
1192 Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret); 1212 Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret);
1213 VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}",
1214 Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale);
1193 } 1215 }
1194 return ret; 1216 return ret;
1195 } 1217 }
@@ -1305,6 +1327,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1305 private float ClampInRange(float low, float val, float high) 1327 private float ClampInRange(float low, float val, float high)
1306 { 1328 {
1307 return Math.Max(low, Math.Min(val, high)); 1329 return Math.Max(low, Math.Min(val, high));
1330 // return Utils.Clamp(val, low, high);
1308 } 1331 }
1309 1332
1310 // Invoke the detailed logger and output something if it's enabled. 1333 // Invoke the detailed logger and output something if it's enabled.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index ad4e42b..8a9aec9 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -8,9 +8,10 @@ Enable vehicle border crossings (at least as poorly as ODE)
8 Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) 8 Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
9Calibrate turning radius (DONE) 9Calibrate turning radius (DONE)
10limitMotorUp calibration (more down?) 10limitMotorUp calibration (more down?)
11study PID motors (include 'efficiency' implementation 11study PID motors (include 'efficiency' implementation (DONE)
12 Add to avatar movement 12 Add to avatar movement
13 13
14
14CRASHES 15CRASHES
15================================================= 16=================================================
1620121129.1411: editting/moving phys object across region boundries causes crash 1720121129.1411: editting/moving phys object across region boundries causes crash
@@ -25,7 +26,6 @@ CRASHES
25VEHICLES TODO LIST: 26VEHICLES TODO LIST:
26================================================= 27=================================================
27Border crossing with linked vehicle causes crash 28Border crossing with linked vehicle causes crash
28Neb vehicle taking > 25ms of physics time!!
29Vehicles (Move smoothly) 29Vehicles (Move smoothly)
30Add vehicle collisions so IsColliding is properly reported. 30Add vehicle collisions so IsColliding is properly reported.
31 Needed for banking, limitMotorUp, movementLimiting, ... 31 Needed for banking, limitMotorUp, movementLimiting, ...
@@ -34,28 +34,25 @@ Cannot edit/move a vehicle being ridden: it jumps back to the origional position
34Neb car jiggling left and right 34Neb car jiggling left and right
35 Happens on terrain and any other mesh object. Flat cubes are much smoother. 35 Happens on terrain and any other mesh object. Flat cubes are much smoother.
36 This has been reduced but not eliminated. 36 This has been reduced but not eliminated.
37Light cycle falling over when driving
38Implement referenceFrame for all the motion routines. 37Implement referenceFrame for all the motion routines.
39Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE. 38Angular motion around Z moves the vehicle in world Z and not vehicle Z in ODE.
40 Verify that angular motion specified around Z moves in the vehicle coordinates. 39 Verify that angular motion specified around Z moves in the vehicle coordinates.
41Verify llGetVel() is returning a smooth and good value for vehicle movement. 40Verify llGetVel() is returning a smooth and good value for vehicle movement.
42llGetVel() should return the root's velocity if requested in a child prim. 41llGetVel() should return the root's velocity if requested in a child prim.
43Implement function efficiency for lineaar and angular motion. 42Implement function efficiency for lineaar and angular motion.
44Should vehicle angular/linear movement friction happen after all the components
45 or does it only apply to the basic movement?
46After getting off a vehicle, the root prim is phantom (can be walked through) 43After getting off a vehicle, the root prim is phantom (can be walked through)
47 Need to force a position update for the root prim after compound shape destruction 44 Need to force a position update for the root prim after compound shape destruction
48Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint) 45Linkset explosion after three "rides" on Nebadon lite vehicle (LinksetConstraint)
49For limitMotorUp, use raycast down to find if vehicle is in the air. 46For limitMotorUp, use raycast down to find if vehicle is in the air.
50Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties(). 47Remove vehicle angular velocity zeroing in BSPrim.UpdateProperties().
51 A kludge that isn't fixing the real problem of Bullet adding extra motion. 48 A kludge that isn't fixing the real problem of Bullet adding extra motion.
49Incorporate inter-relationship of angular corrections. For instance, angularDeflection
50 and angularMotorUp will compute same X or Y correction. When added together
51 creates over-correction and over-shoot and wabbling.
52 52
53BULLETSIM TODO LIST: 53BULLETSIM TODO LIST:
54================================================= 54=================================================
55Revisit CollisionMargin. Builders notice the 0.04 spacing between prims. 55Revisit CollisionMargin. Builders notice the 0.04 spacing between prims.
56Avatar height off after unsitting (floats off ground)
57 Editting appearance then moving restores.
58 Must not be initializing height when recreating capsule after unsit.
59Duplicating a physical prim causes old prim to jump away 56Duplicating a physical prim causes old prim to jump away
60 Dup a phys prim and the original become unselected and thus interacts w/ selected prim. 57 Dup a phys prim and the original become unselected and thus interacts w/ selected prim.
61Scenes with hundred of thousands of static objects take a lot of physics CPU time. 58Scenes with hundred of thousands of static objects take a lot of physics CPU time.
@@ -83,6 +80,8 @@ Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE
83Linkset.Position and Linkset.Orientation requre rewrite to properly return 80Linkset.Position and Linkset.Orientation requre rewrite to properly return
84 child position. LinksetConstraint acts like it's at taint time!! 81 child position. LinksetConstraint acts like it's at taint time!!
85Implement LockAngularMotion -- implements llSetStatus(ROTATE_AXIS_*, T/F) 82Implement LockAngularMotion -- implements llSetStatus(ROTATE_AXIS_*, T/F)
83Should the different PID factors have non-equal contributions for different
84 values of Efficiency?
86 85
87LINKSETS 86LINKSETS
88====================================================== 87======================================================
@@ -100,17 +99,16 @@ Disable activity of passive linkset children.
100 Since the linkset is a compound object, the old prims are left lying 99 Since the linkset is a compound object, the old prims are left lying
101 around and need to be phantomized so they don't collide, ... 100 around and need to be phantomized so they don't collide, ...
102Speed up creation of large physical linksets 101Speed up creation of large physical linksets
103 For instance, sitting in Neb's car (130 prims) takes several seconds to become physical 102 For instance, sitting in Neb's car (130 prims) takes several seconds to become physical.
103 REALLY bad for very large physical linksets (freezes the sim for many seconds).
104Eliminate collisions between objects in a linkset. (LinksetConstraint) 104Eliminate collisions between objects in a linkset. (LinksetConstraint)
105 Have UserPointer point to struct with localID and linksetID? 105 Have UserPointer point to struct with localID and linksetID?
106 Objects in original linkset still collide with each other? 106 Objects in original linkset still collide with each other?
107 107
108MORE 108MORE
109====================================================== 109======================================================
110Find/remove avatar collision with ID=0.
111Test avatar walking up stairs. How does compare with SL. 110Test avatar walking up stairs. How does compare with SL.
112 Radius of the capsule affects ability to climb edges. 111 Radius of the capsule affects ability to climb edges.
113Tune terrain/object friction to be closer to SL.
114Debounce avatar contact so legs don't keep folding up when standing. 112Debounce avatar contact so legs don't keep folding up when standing.
115Implement LSL physics controls. Like STATUS_ROTATE_X. 113Implement LSL physics controls. Like STATUS_ROTATE_X.
116Add border extensions to terrain to help region crossings and objects leaving region. 114Add border extensions to terrain to help region crossings and objects leaving region.
@@ -203,3 +201,16 @@ Single prim vehicles don't seem to properly vehiclize.
203Add material type linkage and input all the material property definitions. 201Add material type linkage and input all the material property definitions.
204 Skeleton classes and table are in the sources but are not filled or used. 202 Skeleton classes and table are in the sources but are not filled or used.
205 (Resolution: 203 (Resolution:
204Neb vehicle taking > 25ms of physics time!!
205 (Resolution: compound linksets were being rebuild WAY too often)
206Avatar height off after unsitting (floats off ground)
207 Editting appearance then moving restores.
208 Must not be initializing height when recreating capsule after unsit.
209 (Resolution: confusion of scale vs size for native objects removed)
210Light cycle falling over when driving (Resolution: implemented angularMotorUp)
211Should vehicle angular/linear movement friction happen after all the components
212 or does it only apply to the basic movement?
213 (Resolution: friction added before returning newly computed motor value.
214 What is expected by some vehicles (turning up friction to moderate speed))
215Tune terrain/object friction to be closer to SL.
216 (Resolution: added material type with friction and resolution)