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author | Robert Adams | 2012-08-08 13:48:49 -0700 |
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committer | Robert Adams | 2012-08-08 13:48:49 -0700 |
commit | 5ab151c2d69277b8c528b8ebe94d2b0d2312a2fc (patch) | |
tree | 2cd84dea4822aa671aa04bbfe94d1fde2e1df0d2 /OpenSim/Region/Physics | |
parent | BulletSim: Added avatar capsule scaling for size of avatar. (diff) | |
download | opensim-SC_OLD-5ab151c2d69277b8c528b8ebe94d2b0d2312a2fc.zip opensim-SC_OLD-5ab151c2d69277b8c528b8ebe94d2b0d2312a2fc.tar.gz opensim-SC_OLD-5ab151c2d69277b8c528b8ebe94d2b0d2312a2fc.tar.bz2 opensim-SC_OLD-5ab151c2d69277b8c528b8ebe94d2b0d2312a2fc.tar.xz |
BulletSim: add avatar code to keep avatars from ending up trapped under the terrain
Diffstat (limited to 'OpenSim/Region/Physics')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | 56 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | 13 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 4 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 26 |
4 files changed, 46 insertions, 53 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index d4f5c63..8149a53 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | |||
@@ -205,6 +205,8 @@ public class BSCharacter : PhysicsActor | |||
205 | } | 205 | } |
206 | set { | 206 | set { |
207 | _position = value; | 207 | _position = value; |
208 | PositionSanityCheck(); | ||
209 | |||
208 | _scene.TaintedObject(delegate() | 210 | _scene.TaintedObject(delegate() |
209 | { | 211 | { |
210 | DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 212 | DetailLog("{0},SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
@@ -212,6 +214,28 @@ public class BSCharacter : PhysicsActor | |||
212 | }); | 214 | }); |
213 | } | 215 | } |
214 | } | 216 | } |
217 | |||
218 | // Check that the current position is sane and, if not, modify the position to make it so. | ||
219 | // Check for being below terrain and being out of bounds. | ||
220 | // Returns 'true' of the position was made sane by some action. | ||
221 | private bool PositionSanityCheck() | ||
222 | { | ||
223 | bool ret = false; | ||
224 | |||
225 | // If below the ground, move the avatar up | ||
226 | float terrainHeight = Scene.GetTerrainHeightAtXYZ(_position); | ||
227 | if (_position.Z < terrainHeight) | ||
228 | { | ||
229 | DetailLog("{0},PositionAdjustUnderGround,call,pos={1},orient={2}", LocalID, _position, _orientation); | ||
230 | _position.Z = terrainHeight + 2.0f; | ||
231 | ret = true; | ||
232 | } | ||
233 | |||
234 | // TODO: check for out of bounds | ||
235 | |||
236 | return ret; | ||
237 | } | ||
238 | |||
215 | public override float Mass { | 239 | public override float Mass { |
216 | get { | 240 | get { |
217 | return _mass; | 241 | return _mass; |
@@ -456,42 +480,12 @@ public class BSCharacter : PhysicsActor | |||
456 | // the world that things have changed. | 480 | // the world that things have changed. |
457 | public void UpdateProperties(EntityProperties entprop) | 481 | public void UpdateProperties(EntityProperties entprop) |
458 | { | 482 | { |
459 | /* | ||
460 | bool changed = false; | ||
461 | // we assign to the local variables so the normal set action does not happen | ||
462 | if (_position != entprop.Position) { | ||
463 | _position = entprop.Position; | ||
464 | changed = true; | ||
465 | } | ||
466 | if (_orientation != entprop.Rotation) { | ||
467 | _orientation = entprop.Rotation; | ||
468 | changed = true; | ||
469 | } | ||
470 | if (_velocity != entprop.Velocity) { | ||
471 | _velocity = entprop.Velocity; | ||
472 | changed = true; | ||
473 | } | ||
474 | if (_acceleration != entprop.Acceleration) { | ||
475 | _acceleration = entprop.Acceleration; | ||
476 | changed = true; | ||
477 | } | ||
478 | if (_rotationalVelocity != entprop.RotationalVelocity) { | ||
479 | _rotationalVelocity = entprop.RotationalVelocity; | ||
480 | changed = true; | ||
481 | } | ||
482 | if (changed) { | ||
483 | // m_log.DebugFormat("{0}: UpdateProperties: id={1}, c={2}, pos={3}, rot={4}", LogHeader, LocalID, changed, _position, _orientation); | ||
484 | // Avatar movement is not done by generating this event. There is code in the heartbeat | ||
485 | // loop that updates avatars. | ||
486 | // base.RequestPhysicsterseUpdate(); | ||
487 | } | ||
488 | */ | ||
489 | _position = entprop.Position; | 483 | _position = entprop.Position; |
490 | _orientation = entprop.Rotation; | 484 | _orientation = entprop.Rotation; |
491 | _velocity = entprop.Velocity; | 485 | _velocity = entprop.Velocity; |
492 | _acceleration = entprop.Acceleration; | 486 | _acceleration = entprop.Acceleration; |
493 | _rotationalVelocity = entprop.RotationalVelocity; | 487 | _rotationalVelocity = entprop.RotationalVelocity; |
494 | // Avatars don't report theirr changes the usual way. Changes are checked for in the heartbeat loop. | 488 | // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. |
495 | // base.RequestPhysicsterseUpdate(); | 489 | // base.RequestPhysicsterseUpdate(); |
496 | } | 490 | } |
497 | 491 | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs index 6f8430c..d19c4b8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinkset.cs | |||
@@ -296,13 +296,13 @@ public class BSLinkset | |||
296 | DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); | 296 | DetailLog("{0},LinkAChildToMe,taint,root={1},child={2}", m_linksetRoot.LocalID, m_linksetRoot.LocalID, childPrim.LocalID); |
297 | BSConstraint constrain = m_scene.Constraints.CreateConstraint( | 297 | BSConstraint constrain = m_scene.Constraints.CreateConstraint( |
298 | m_scene.World, m_linksetRoot.Body, childPrim.Body, | 298 | m_scene.World, m_linksetRoot.Body, childPrim.Body, |
299 | // childRelativePosition, | 299 | childRelativePosition, |
300 | // childRelativeRotation, | 300 | childRelativeRotation, |
301 | OMV.Vector3.Zero, | 301 | OMV.Vector3.Zero, |
302 | OMV.Quaternion.Identity, | 302 | -childRelativeRotation |
303 | OMV.Vector3.Zero, | ||
304 | OMV.Quaternion.Identity | ||
305 | ); | 303 | ); |
304 | |||
305 | // zero linear and angular limits makes the objects unable to move in relation to each other | ||
306 | constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); | 306 | constrain.SetLinearLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); |
307 | constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); | 307 | constrain.SetAngularLimits(OMV.Vector3.Zero, OMV.Vector3.Zero); |
308 | 308 | ||
@@ -339,7 +339,8 @@ public class BSLinkset | |||
339 | // Invoke the detailed logger and output something if it's enabled. | 339 | // Invoke the detailed logger and output something if it's enabled. |
340 | private void DebugLog(string msg, params Object[] args) | 340 | private void DebugLog(string msg, params Object[] args) |
341 | { | 341 | { |
342 | m_scene.Logger.DebugFormat(msg, args); | 342 | if (m_scene.ShouldDebugLog) |
343 | m_scene.Logger.DebugFormat(msg, args); | ||
343 | } | 344 | } |
344 | 345 | ||
345 | // Invoke the detailed logger and output something if it's enabled. | 346 | // Invoke the detailed logger and output something if it's enabled. |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 11868bc..98b69b1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -42,7 +42,7 @@ public sealed class BSPrim : PhysicsActor | |||
42 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); | 42 | private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); |
43 | private static readonly string LogHeader = "[BULLETS PRIM]"; | 43 | private static readonly string LogHeader = "[BULLETS PRIM]"; |
44 | 44 | ||
45 | private void DebugLog(string mm, params Object[] xx) { if (_scene.shouldDebugLog) m_log.DebugFormat(mm, xx); } | 45 | private void DebugLog(string mm, params Object[] xx) { if (_scene.ShouldDebugLog) m_log.DebugFormat(mm, xx); } |
46 | 46 | ||
47 | private IMesh _mesh; | 47 | private IMesh _mesh; |
48 | private PrimitiveBaseShape _pbs; | 48 | private PrimitiveBaseShape _pbs; |
@@ -1338,7 +1338,6 @@ public sealed class BSPrim : PhysicsActor | |||
1338 | 1338 | ||
1339 | base.RequestPhysicsterseUpdate(); | 1339 | base.RequestPhysicsterseUpdate(); |
1340 | } | 1340 | } |
1341 | /* | ||
1342 | else | 1341 | else |
1343 | { | 1342 | { |
1344 | // For debugging, we also report the movement of children | 1343 | // For debugging, we also report the movement of children |
@@ -1346,7 +1345,6 @@ public sealed class BSPrim : PhysicsActor | |||
1346 | LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, | 1345 | LocalID, entprop.Position, entprop.Rotation, entprop.Velocity, |
1347 | entprop.Acceleration, entprop.RotationalVelocity); | 1346 | entprop.Acceleration, entprop.RotationalVelocity); |
1348 | } | 1347 | } |
1349 | */ | ||
1350 | } | 1348 | } |
1351 | 1349 | ||
1352 | // I've collided with something | 1350 | // I've collided with something |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 0e257b6..117086a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | |||
@@ -73,7 +73,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
73 | private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); | 73 | private static readonly ILog m_log = LogManager.GetLogger(System.Reflection.MethodBase.GetCurrentMethod().DeclaringType); |
74 | private static readonly string LogHeader = "[BULLETS SCENE]"; | 74 | private static readonly string LogHeader = "[BULLETS SCENE]"; |
75 | 75 | ||
76 | public void DebugLog(string mm, params Object[] xx) { if (shouldDebugLog) m_log.DebugFormat(mm, xx); } | 76 | public void DebugLog(string mm, params Object[] xx) { if (ShouldDebugLog) m_log.DebugFormat(mm, xx); } |
77 | 77 | ||
78 | public string BulletSimVersion = "?"; | 78 | public string BulletSimVersion = "?"; |
79 | 79 | ||
@@ -169,7 +169,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
169 | ConfigurationParameters[] m_params; | 169 | ConfigurationParameters[] m_params; |
170 | GCHandle m_paramsHandle; | 170 | GCHandle m_paramsHandle; |
171 | 171 | ||
172 | public bool shouldDebugLog { get; private set; } | 172 | public bool ShouldDebugLog { get; private set; } |
173 | 173 | ||
174 | private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; | 174 | private BulletSimAPI.DebugLogCallback m_DebugLogCallbackHandle; |
175 | 175 | ||
@@ -812,12 +812,12 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
812 | 812 | ||
813 | private struct ParameterDefn | 813 | private struct ParameterDefn |
814 | { | 814 | { |
815 | public string name; | 815 | public string name; // string name of the parameter |
816 | public string desc; | 816 | public string desc; // a short description of what the parameter means |
817 | public float defaultValue; | 817 | public float defaultValue; // default value if not specified anywhere else |
818 | public ParamUser userParam; | 818 | public ParamUser userParam; // get the value from the configuration file |
819 | public ParamGet getter; | 819 | public ParamGet getter; // return the current value stored for this parameter |
820 | public ParamSet setter; | 820 | public ParamSet setter; // set the current value for this parameter |
821 | public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) | 821 | public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) |
822 | { | 822 | { |
823 | name = n; | 823 | name = n; |
@@ -834,7 +834,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
834 | // To add a new externally referencable/settable parameter, add the paramter storage | 834 | // To add a new externally referencable/settable parameter, add the paramter storage |
835 | // location somewhere in the program and make an entry in this table with the | 835 | // location somewhere in the program and make an entry in this table with the |
836 | // getters and setters. | 836 | // getters and setters. |
837 | // To add a new variable, it is easiest to find an existing definition and copy it. | 837 | // It is easiest to find an existing definition and copy it. |
838 | // Parameter values are floats. Booleans are converted to a floating value. | 838 | // Parameter values are floats. Booleans are converted to a floating value. |
839 | // | 839 | // |
840 | // A ParameterDefn() takes the following parameters: | 840 | // A ParameterDefn() takes the following parameters: |
@@ -870,7 +870,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
870 | (s) => { return (float)s.m_meshLOD; }, | 870 | (s) => { return (float)s.m_meshLOD; }, |
871 | (s,p,l,v) => { s.m_meshLOD = (int)v; } ), | 871 | (s,p,l,v) => { s.m_meshLOD = (int)v; } ), |
872 | new ParameterDefn("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", | 872 | new ParameterDefn("SculptLOD", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)", |
873 | 32, | 873 | 32f, |
874 | (s,cf,p,v) => { s.m_sculptLOD = cf.GetInt(p, (int)v); }, | 874 | (s,cf,p,v) => { s.m_sculptLOD = cf.GetInt(p, (int)v); }, |
875 | (s) => { return (float)s.m_sculptLOD; }, | 875 | (s) => { return (float)s.m_sculptLOD; }, |
876 | (s,p,l,v) => { s.m_sculptLOD = (int)v; } ), | 876 | (s,p,l,v) => { s.m_sculptLOD = (int)v; } ), |
@@ -1106,9 +1106,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
1106 | (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ), | 1106 | (s,p,l,v) => { s.m_detailedStatsStep = (int)v; } ), |
1107 | new ParameterDefn("ShouldDebugLog", "Enables detailed DEBUG log statements", | 1107 | new ParameterDefn("ShouldDebugLog", "Enables detailed DEBUG log statements", |
1108 | ConfigurationParameters.numericFalse, | 1108 | ConfigurationParameters.numericFalse, |
1109 | (s,cf,p,v) => { s.shouldDebugLog = cf.GetBoolean(p, s.BoolNumeric(v)); }, | 1109 | (s,cf,p,v) => { s.ShouldDebugLog = cf.GetBoolean(p, s.BoolNumeric(v)); }, |
1110 | (s) => { return s.NumericBool(s.shouldDebugLog); }, | 1110 | (s) => { return s.NumericBool(s.ShouldDebugLog); }, |
1111 | (s,p,l,v) => { s.shouldDebugLog = s.BoolNumeric(v); } ), | 1111 | (s,p,l,v) => { s.ShouldDebugLog = s.BoolNumeric(v); } ), |
1112 | 1112 | ||
1113 | }; | 1113 | }; |
1114 | 1114 | ||