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authorRobert Adams2013-07-06 08:22:59 -0700
committerRobert Adams2013-07-06 08:25:15 -0700
commita65cec3986431f5a2f4f9eb2424157def0d035c8 (patch)
tree5e8ea300f4d9042c52f0cc89367cb0e9dc7e3dee /OpenSim/Region/Physics/BulletSPlugin
parentBulletSim: More tweaking on center-of-mass. Almost there. Changes have no eff... (diff)
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BulletSim: implementation of linkset center-of-mass.
Default off, for the moment, until more testing. Add separate thread and center-of-mass flags to OpenSimDefaults.ini. Clean up comments in OpenSimDefaults.ini.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs20
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs3
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs5
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs60
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs11
5 files changed, 70 insertions, 29 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index 96626ca..1d94142 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -271,6 +271,8 @@ public sealed class BSLinksetCompound : BSLinkset
271 // to what they should be as if the root was not in a linkset. 271 // to what they should be as if the root was not in a linkset.
272 // Not that bad since we only get into this routine if there are children in the linkset and 272 // Not that bad since we only get into this routine if there are children in the linkset and
273 // something has been updated/changed. 273 // something has been updated/changed.
274 // Have to do the rebuild before checking for physical because this might be a linkset
275 // being destructed and going non-physical.
274 LinksetRoot.ForceBodyShapeRebuild(true); 276 LinksetRoot.ForceBodyShapeRebuild(true);
275 277
276 // There is no reason to build all this physical stuff for a non-physical linkset. 278 // There is no reason to build all this physical stuff for a non-physical linkset.
@@ -283,28 +285,29 @@ public sealed class BSLinksetCompound : BSLinkset
283 // Get a new compound shape to build the linkset shape in. 285 // Get a new compound shape to build the linkset shape in.
284 BSShape linksetShape = BSShapeCompound.GetReference(m_physicsScene); 286 BSShape linksetShape = BSShapeCompound.GetReference(m_physicsScene);
285 287
286 // The center of mass for the linkset is the geometric center of the group.
287 // Compute a displacement for each component so it is relative to the center-of-mass. 288 // Compute a displacement for each component so it is relative to the center-of-mass.
288 // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass 289 // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass
289 OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass(); 290 OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass();
290 291
291 OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation)); 292 OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation));
293 OMV.Vector3 origRootPosition = LinksetRoot.RawPosition;
292 294
293 // 'centerDisplacementV' is the value to subtract from children to give physical offset position 295 // 'centerDisplacementV' is the vehicle relative distance from the simulator root position to the center-of-mass
294 OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation; 296 OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation;
295 if (UseBulletSimRootOffsetHack || !BSParam.LinksetOffsetCenterOfMass) 297 if (UseBulletSimRootOffsetHack || !BSParam.LinksetOffsetCenterOfMass)
296 { 298 {
299 // Zero everything if center-of-mass displacement is not being done.
297 centerDisplacementV = OMV.Vector3.Zero; 300 centerDisplacementV = OMV.Vector3.Zero;
298 LinksetRoot.ClearDisplacement(); 301 LinksetRoot.ClearDisplacement();
299 } 302 }
300 else 303 else
301 { 304 {
302 LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV);
303 // The actual center-of-mass could have been set by the user. 305 // The actual center-of-mass could have been set by the user.
304 centerDisplacementV = LinksetRoot.PositionDisplacement; 306 centerDisplacementV = LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV);
305 } 307 }
308
306 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}", 309 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}",
307 LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacementV); 310 LinksetRoot.LocalID, origRootPosition, centerOfMassW, centerDisplacementV);
308 311
309 // Add the shapes of all the components of the linkset 312 // Add the shapes of all the components of the linkset
310 int memberIndex = 1; 313 int memberIndex = 1;
@@ -321,11 +324,11 @@ public sealed class BSLinksetCompound : BSLinkset
321 memberIndex++; 324 memberIndex++;
322 } 325 }
323 326
324 // Get a reference to the shape of the child and add that shape to the linkset compound shape 327 // Get a reference to the shape of the child for adding of that shape to the linkset compound shape
325 BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim); 328 BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim);
326 329
327 // Offset the child shape from the center-of-mass and rotate it to vehicle relative 330 // Offset the child shape from the center-of-mass and rotate it to vehicle relative.
328 OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacementV; 331 OMV.Vector3 offsetPos = (cPrim.RawPosition - origRootPosition) * invRootOrientation - centerDisplacementV;
329 OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation; 332 OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation;
330 333
331 // Add the child shape to the compound shape being built 334 // Add the child shape to the compound shape being built
@@ -366,6 +369,7 @@ public sealed class BSLinksetCompound : BSLinkset
366 // This enables a feature in the C++ code to return the world coordinates of the first shape in the 369 // This enables a feature in the C++ code to return the world coordinates of the first shape in the
367 // compound shape. This aleviates the need to offset the returned physical position by the 370 // compound shape. This aleviates the need to offset the returned physical position by the
368 // center-of-mass offset. 371 // center-of-mass offset.
372 // TODO: either debug this feature or remove it.
369 m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); 373 m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE);
370 } 374 }
371 } 375 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index a0d5c42..738e2d0 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -90,6 +90,8 @@ public abstract class BSPhysObject : PhysicsActor
90 PhysBody = new BulletBody(localID); 90 PhysBody = new BulletBody(localID);
91 PhysShape = new BSShapeNull(); 91 PhysShape = new BSShapeNull();
92 92
93 UserSetCenterOfMassDisplacement = null;
94
93 PrimAssetState = PrimAssetCondition.Unknown; 95 PrimAssetState = PrimAssetCondition.Unknown;
94 96
95 // Default material type. Also sets Friction, Restitution and Density. 97 // Default material type. Also sets Friction, Restitution and Density.
@@ -180,6 +182,7 @@ public abstract class BSPhysObject : PhysicsActor
180 Material = (MaterialAttributes.Material)material; 182 Material = (MaterialAttributes.Material)material;
181 183
182 // Setting the material sets the material attributes also. 184 // Setting the material sets the material attributes also.
185 // TODO: decide if this is necessary -- the simulator does this.
183 MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); 186 MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
184 Friction = matAttrib.friction; 187 Friction = matAttrib.friction;
185 Restitution = matAttrib.restitution; 188 Restitution = matAttrib.restitution;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index f0858ca..ce4c3da 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -802,6 +802,7 @@ public class BSPrim : BSPhysObject
802 // isSolid: other objects bounce off of this object 802 // isSolid: other objects bounce off of this object
803 // isVolumeDetect: other objects pass through but can generate collisions 803 // isVolumeDetect: other objects pass through but can generate collisions
804 // collisionEvents: whether this object returns collision events 804 // collisionEvents: whether this object returns collision events
805 // NOTE: overloaded by BSPrimLinkable to also update linkset physical parameters.
805 public virtual void UpdatePhysicalParameters() 806 public virtual void UpdatePhysicalParameters()
806 { 807 {
807 if (!PhysBody.HasPhysicalBody) 808 if (!PhysBody.HasPhysicalBody)
@@ -1532,6 +1533,8 @@ public class BSPrim : BSPhysObject
1532 1533
1533 // The physics engine says that properties have updated. Update same and inform 1534 // The physics engine says that properties have updated. Update same and inform
1534 // the world that things have changed. 1535 // the world that things have changed.
1536 // NOTE: BSPrim.UpdateProperties is overloaded by BSPrimLinkable which modifies updates from root and children prims.
1537 // NOTE: BSPrim.UpdateProperties is overloaded by BSPrimDisplaced which handles mapping physical position to simulator position.
1535 public override void UpdateProperties(EntityProperties entprop) 1538 public override void UpdateProperties(EntityProperties entprop)
1536 { 1539 {
1537 // Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator. 1540 // Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator.
@@ -1567,8 +1570,6 @@ public class BSPrim : BSPhysObject
1567 LastEntityProperties = CurrentEntityProperties; 1570 LastEntityProperties = CurrentEntityProperties;
1568 CurrentEntityProperties = entprop; 1571 CurrentEntityProperties = entprop;
1569 1572
1570 // Note that BSPrim can be overloaded by BSPrimLinkable which controls updates from root and children prims.
1571
1572 PhysScene.PostUpdate(this); 1573 PhysScene.PostUpdate(this);
1573 } 1574 }
1574} 1575}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
index a11bca0..35d5a08 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs
@@ -59,6 +59,7 @@ public class BSPrimDisplaced : BSPrim
59 // are converted into simulator origin values before being passed to the base 59 // are converted into simulator origin values before being passed to the base
60 // class. 60 // class.
61 61
62 // PositionDisplacement is the vehicle relative distance from the root prim position to the center-of-mass.
62 public virtual OMV.Vector3 PositionDisplacement { get; set; } 63 public virtual OMV.Vector3 PositionDisplacement { get; set; }
63 64
64 public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, 65 public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size,
@@ -72,49 +73,77 @@ public class BSPrimDisplaced : BSPrim
72 // Does not clear the displacement set by the user. 73 // Does not clear the displacement set by the user.
73 public void ClearDisplacement() 74 public void ClearDisplacement()
74 { 75 {
75 SetEffectiveCenterOfMassDisplacement(OMV.Vector3.Zero); 76 if (UserSetCenterOfMassDisplacement.HasValue)
77 PositionDisplacement = (OMV.Vector3)UserSetCenterOfMassDisplacement;
78 else
79 PositionDisplacement = OMV.Vector3.Zero;
76 } 80 }
77 81
78 // Set this sets and computes the displacement from the passed prim to the center-of-mass. 82 // Set this sets and computes the displacement from the passed prim to the center-of-mass.
79 // A user set value for center-of-mass overrides whatever might be passed in here. 83 // A user set value for center-of-mass overrides whatever might be passed in here.
80 // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates). 84 // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates).
85 // Returns the relative offset from the root position to the center-of-mass.
81 // Called at taint time. 86 // Called at taint time.
82 public virtual void SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement) 87 public virtual Vector3 SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement)
83 { 88 {
89 PhysScene.AssertInTaintTime("BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement");
84 Vector3 comDisp; 90 Vector3 comDisp;
85 if (UserSetCenterOfMassDisplacement.HasValue) 91 if (UserSetCenterOfMassDisplacement.HasValue)
86 comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement; 92 comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement;
87 else 93 else
88 comDisp = centerOfMassDisplacement; 94 comDisp = centerOfMassDisplacement;
89 95
96 // Eliminate any jitter caused be very slight differences in masses and positions
90 if (comDisp.ApproxEquals(Vector3.Zero, 0.01f) ) 97 if (comDisp.ApproxEquals(Vector3.Zero, 0.01f) )
91 comDisp = Vector3.Zero; 98 comDisp = Vector3.Zero;
92 99
93 DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}", 100 DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}",
94 LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp); 101 LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp);
95 if ( comDisp != PositionDisplacement ) 102 if ( !comDisp.ApproxEquals(PositionDisplacement, 0.01f) )
96 { 103 {
97 // Displacement setting is changing. 104 // Displacement setting is changing.
98 // The relationship between the physical object and simulated object must be aligned. 105 // The relationship between the physical object and simulated object must be aligned.
99 PositionDisplacement = comDisp; 106 PositionDisplacement = comDisp;
100 this.ForcePosition = RawPosition; 107 this.ForcePosition = RawPosition;
101 } 108 }
109
110 return PositionDisplacement;
102 } 111 }
103 112
113 // 'ForcePosition' is the one way to set the physical position of the body in the physics engine.
114 // Displace the simulator idea of position (center of root prim) to the physical position.
104 public override Vector3 ForcePosition 115 public override Vector3 ForcePosition
105 { 116 {
106 get { return base.ForcePosition; } 117 get {
118 OMV.Vector3 physPosition = base.ForcePosition;
119 if (PositionDisplacement != OMV.Vector3.Zero)
120 {
121 // If there is some displacement, return the physical position (center-of-mass)
122 // location minus the displacement to give the center of the root prim.
123 OMV.Vector3 displacement = PositionDisplacement * ForceOrientation;
124 DetailLog("{0},BSPrimDisplaced.ForcePosition,get,physPos={1},disp={2},simPos={3}",
125 LocalID, physPosition, displacement, physPosition - displacement);
126 physPosition -= displacement;
127 }
128 return physPosition;
129 }
107 set 130 set
108 { 131 {
109 if (PositionDisplacement != OMV.Vector3.Zero) 132 if (PositionDisplacement != OMV.Vector3.Zero)
110 { 133 {
111 // The displacement is always relative to the vehicle so, when setting position, 134 // This value is the simulator's idea of where the prim is: the center of the root prim
112 // the caller means to set the position of the root prim. 135 RawPosition = value;
113 // This offsets the setting value to the center-of-mass and sends that to the 136
114 // physics engine. 137 // Move the passed root prim postion to the center-of-mass position and set in the physics engine.
115 OMV.Vector3 displacedPos = value - (PositionDisplacement * RawOrientation); 138 OMV.Vector3 displacement = PositionDisplacement * RawOrientation;
116 DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos); 139 OMV.Vector3 displacedPos = RawPosition + displacement;
117 base.ForcePosition = displacedPos; 140 DetailLog("{0},BSPrimDisplaced.ForcePosition,set,simPos={1},disp={2},physPos={3}",
141 LocalID, RawPosition, displacement, displacedPos);
142 if (PhysBody.HasPhysicalBody)
143 {
144 PhysScene.PE.SetTranslation(PhysBody, displacedPos, RawOrientation);
145 ActivateIfPhysical(false);
146 }
118 } 147 }
119 else 148 else
120 { 149 {
@@ -143,10 +172,11 @@ public class BSPrimDisplaced : BSPrim
143 // These physical location must be back converted to be centered around the displaced 172 // These physical location must be back converted to be centered around the displaced
144 // root shape. 173 // root shape.
145 174
146 // The root position is the reported position displaced by the rotated displacement. 175 // Move the returned center-of-mass location to the root prim location.
147 OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation); 176 OMV.Vector3 displacement = PositionDisplacement * entprop.Rotation;
148 DetailLog("{0},BSPrimDisplaced.UpdateProperties,physPos={1},disp={2},newPos={3}", 177 OMV.Vector3 displacedPos = entprop.Position - displacement;
149 LocalID, entprop.Position, PositionDisplacement, displacedPos); 178 DetailLog("{0},BSPrimDisplaced.UpdateProperties,physPos={1},disp={2},simPos={3}",
179 LocalID, entprop.Position, displacement, displacedPos);
150 entprop.Position = displacedPos; 180 entprop.Position = displacedPos;
151 } 181 }
152 182
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
index 7058646..1fbcfcc 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs
@@ -160,10 +160,13 @@ public class BSPrimLinkable : BSPrimDisplaced
160 protected override void MakeDynamic(bool makeStatic) 160 protected override void MakeDynamic(bool makeStatic)
161 { 161 {
162 base.MakeDynamic(makeStatic); 162 base.MakeDynamic(makeStatic);
163 if (makeStatic) 163 if (Linkset != null) // null can happen during initialization
164 Linkset.MakeStatic(this); 164 {
165 else 165 if (makeStatic)
166 Linkset.MakeDynamic(this); 166 Linkset.MakeStatic(this);
167 else
168 Linkset.MakeDynamic(this);
169 }
167 } 170 }
168 171
169 // Body is being taken apart. Remove physical dependencies and schedule a rebuild. 172 // Body is being taken apart. Remove physical dependencies and schedule a rebuild.