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authorRobert Adams2012-11-24 20:15:07 -0800
committerRobert Adams2012-11-25 20:04:29 -0800
commit980edabc2e9c3563a27f76bc6d8dcc88a59568a1 (patch)
treeb234308154a10c3c5a9c5cd9757a957a2bc9fb1f /OpenSim/Region/Physics
parentBulletSim: small change to add position correction force with AddForce rather... (diff)
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BulletSim: clean up TODO list. It is kept somewhere wlse that should be more public. Add error logging for the detail log writer so a message is output when it cannot write to the specified logging directory. Modify friction defaults to be closer to ODE's values. Add new collision margin and vehicle angular damping parameters.
Diffstat (limited to 'OpenSim/Region/Physics')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs2
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs33
2 files changed, 17 insertions, 18 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index a121c3d..7fd7b82 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -525,7 +525,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
525 BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, 0f); 525 BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, 0f);
526 BulletSimAPI.SetHitFraction2(Prim.PhysBody.ptr, 0f); 526 BulletSimAPI.SetHitFraction2(Prim.PhysBody.ptr, 0f);
527 527
528 BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, 0.8f); 528 BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, PhysicsScene.Params.vehicleAngularDamping);
529 529
530 BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, new Vector3(1f, 1f, 1f)); 530 BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, new Vector3(1f, 1f, 1f));
531 531
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 37bdb84..333247f 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -39,23 +39,10 @@ using log4net;
39using OpenMetaverse; 39using OpenMetaverse;
40 40
41// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim) 41// TODOs for BulletSim (for BSScene, BSPrim, BSCharacter and BulletSim)
42// Test sculpties (verified that they don't work)
43// Compute physics FPS reasonably
44// Based on material, set density and friction 42// Based on material, set density and friction
45// Don't use constraints in linksets of non-physical objects. Means having to move children manually.
46// Four states of prim: Physical, regular, phantom and selected. Are we modeling these correctly?
47// In SL one can set both physical and phantom (gravity, does not effect others, makes collisions with ground)
48// At the moment, physical and phantom causes object to drop through the terrain
49// Physical phantom objects and related typing (collision options )
50// Check out llVolumeDetect. Must do something for that.
51// Use collision masks for collision with terrain and phantom objects
52// More efficient memory usage when passing hull information from BSPrim to BulletSim 43// More efficient memory usage when passing hull information from BSPrim to BulletSim
53// Should prim.link() and prim.delink() membership checking happen at taint time?
54// Mesh sharing. Use meshHash to tell if we already have a hull of that shape and only create once.
55// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect 44// Do attachments need to be handled separately? Need collision events. Do not collide with VolumeDetect
56// Implement LockAngularMotion 45// Implement LockAngularMotion
57// Decide if clearing forces is the right thing to do when setting position (BulletSim::SetObjectTranslation)
58// Remove mesh and Hull stuff. Use mesh passed to bullet and use convexdecom from bullet.
59// Add PID movement operations. What does ScenePresence.MoveToTarget do? 46// Add PID movement operations. What does ScenePresence.MoveToTarget do?
60// Check terrain size. 128 or 127? 47// Check terrain size. 128 or 127?
61// Raycast 48// Raycast
@@ -234,6 +221,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
234 if (m_physicsLoggingEnabled) 221 if (m_physicsLoggingEnabled)
235 { 222 {
236 PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes); 223 PhysicsLogging = new Logging.LogWriter(m_physicsLoggingDir, m_physicsLoggingPrefix, m_physicsLoggingFileMinutes);
224 PhysicsLogging.ErrorLogger = m_log; // for DEBUG. Let's the logger output error messages.
237 } 225 }
238 else 226 else
239 { 227 {
@@ -1076,7 +1064,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
1076 (s,p,l,v) => { s.PID_P = v; } ), 1064 (s,p,l,v) => { s.PID_P = v; } ),
1077 1065
1078 new ParameterDefn("DefaultFriction", "Friction factor used on new objects", 1066 new ParameterDefn("DefaultFriction", "Friction factor used on new objects",
1079 0.5f, 1067 0.2f,
1080 (s,cf,p,v) => { s.m_params[0].defaultFriction = cf.GetFloat(p, v); }, 1068 (s,cf,p,v) => { s.m_params[0].defaultFriction = cf.GetFloat(p, v); },
1081 (s) => { return s.m_params[0].defaultFriction; }, 1069 (s) => { return s.m_params[0].defaultFriction; },
1082 (s,p,l,v) => { s.m_params[0].defaultFriction = v; } ), 1070 (s,p,l,v) => { s.m_params[0].defaultFriction = v; } ),
@@ -1091,7 +1079,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
1091 (s) => { return s.m_params[0].defaultRestitution; }, 1079 (s) => { return s.m_params[0].defaultRestitution; },
1092 (s,p,l,v) => { s.m_params[0].defaultRestitution = v; } ), 1080 (s,p,l,v) => { s.m_params[0].defaultRestitution = v; } ),
1093 new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)", 1081 new ParameterDefn("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
1094 0f, 1082 0.04f,
1095 (s,cf,p,v) => { s.m_params[0].collisionMargin = cf.GetFloat(p, v); }, 1083 (s,cf,p,v) => { s.m_params[0].collisionMargin = cf.GetFloat(p, v); },
1096 (s) => { return s.m_params[0].collisionMargin; }, 1084 (s) => { return s.m_params[0].collisionMargin; },
1097 (s,p,l,v) => { s.m_params[0].collisionMargin = v; } ), 1085 (s,p,l,v) => { s.m_params[0].collisionMargin = v; } ),
@@ -1158,7 +1146,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
1158 (s) => { return s.m_params[0].terrainImplementation; }, 1146 (s) => { return s.m_params[0].terrainImplementation; },
1159 (s,p,l,v) => { s.m_params[0].terrainImplementation = v; } ), 1147 (s,p,l,v) => { s.m_params[0].terrainImplementation = v; } ),
1160 new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" , 1148 new ParameterDefn("TerrainFriction", "Factor to reduce movement against terrain surface" ,
1161 0.5f, 1149 0.3f,
1162 (s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); }, 1150 (s,cf,p,v) => { s.m_params[0].terrainFriction = cf.GetFloat(p, v); },
1163 (s) => { return s.m_params[0].terrainFriction; }, 1151 (s) => { return s.m_params[0].terrainFriction; },
1164 (s,p,l,v) => { s.m_params[0].terrainFriction = v; /* TODO: set on real terrain */} ), 1152 (s,p,l,v) => { s.m_params[0].terrainFriction = v; /* TODO: set on real terrain */} ),
@@ -1172,13 +1160,19 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
1172 (s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); }, 1160 (s,cf,p,v) => { s.m_params[0].terrainRestitution = cf.GetFloat(p, v); },
1173 (s) => { return s.m_params[0].terrainRestitution; }, 1161 (s) => { return s.m_params[0].terrainRestitution; },
1174 (s,p,l,v) => { s.m_params[0].terrainRestitution = v; /* TODO: set on real terrain */ } ), 1162 (s,p,l,v) => { s.m_params[0].terrainRestitution = v; /* TODO: set on real terrain */ } ),
1163 new ParameterDefn("TerrainCollisionMargin", "Margin where collision checking starts" ,
1164 0.04f,
1165 (s,cf,p,v) => { s.m_params[0].terrainCollisionMargin = cf.GetFloat(p, v); },
1166 (s) => { return s.m_params[0].terrainCollisionMargin; },
1167 (s,p,l,v) => { s.m_params[0].terrainCollisionMargin = v; /* TODO: set on real terrain */ } ),
1168
1175 new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.", 1169 new ParameterDefn("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
1176 0.2f, 1170 0.2f,
1177 (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); }, 1171 (s,cf,p,v) => { s.m_params[0].avatarFriction = cf.GetFloat(p, v); },
1178 (s) => { return s.m_params[0].avatarFriction; }, 1172 (s) => { return s.m_params[0].avatarFriction; },
1179 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ), 1173 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ),
1180 new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", 1174 new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
1181 10f, 1175 0.99f,
1182 (s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); }, 1176 (s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); },
1183 (s) => { return s.m_params[0].avatarStandingFriction; }, 1177 (s) => { return s.m_params[0].avatarStandingFriction; },
1184 (s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ), 1178 (s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ),
@@ -1213,6 +1207,11 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
1213 (s) => { return s.m_params[0].avatarContactProcessingThreshold; }, 1207 (s) => { return s.m_params[0].avatarContactProcessingThreshold; },
1214 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ), 1208 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarContactProcessingThreshold, p, l, v); } ),
1215 1209
1210 new ParameterDefn("vehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
1211 0.8f,
1212 (s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); },
1213 (s) => { return s.m_params[0].vehicleAngularDamping; },
1214 (s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ),
1216 1215
1217 new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", 1216 new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
1218 0f, 1217 0f,