diff options
author | Robert Adams | 2012-11-20 08:43:43 -0800 |
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committer | Robert Adams | 2012-11-21 16:42:42 -0800 |
commit | 4d29488216f3619455cda72aaf2d6ccf8f3e2402 (patch) | |
tree | 04075c27f863ba58bf5cfd22563c239382b5e86d /OpenSim/Region | |
parent | BulletSim: tweek avatar capsule parameters so avatar feet don't go below grou... (diff) | |
download | opensim-SC_OLD-4d29488216f3619455cda72aaf2d6ccf8f3e2402.zip opensim-SC_OLD-4d29488216f3619455cda72aaf2d6ccf8f3e2402.tar.gz opensim-SC_OLD-4d29488216f3619455cda72aaf2d6ccf8f3e2402.tar.bz2 opensim-SC_OLD-4d29488216f3619455cda72aaf2d6ccf8f3e2402.tar.xz |
BulletSim: change PositionSanityCheck to apply a force to correct position corrections (below ground and floating).
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 61 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | 2 |
2 files changed, 30 insertions, 33 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 500c84a..b1b5846 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -47,7 +47,6 @@ public sealed class BSPrim : BSPhysObject | |||
47 | // _size is what the user passed. Scale is what we pass to the physics engine with the mesh. | 47 | // _size is what the user passed. Scale is what we pass to the physics engine with the mesh. |
48 | // Often Scale is unity because the meshmerizer will apply _size when creating the mesh. | 48 | // Often Scale is unity because the meshmerizer will apply _size when creating the mesh. |
49 | private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user | 49 | private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user |
50 | // private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer | ||
51 | 50 | ||
52 | private bool _grabbed; | 51 | private bool _grabbed; |
53 | private bool _isSelected; | 52 | private bool _isSelected; |
@@ -274,19 +273,19 @@ public sealed class BSPrim : BSPhysObject | |||
274 | if (!Linkset.IsRoot(this)) | 273 | if (!Linkset.IsRoot(this)) |
275 | _position = Linkset.Position(this); | 274 | _position = Linkset.Position(this); |
276 | 275 | ||
277 | // don't do the GetObjectPosition for root elements because this function is called a zillion times | 276 | // don't do the GetObjectPosition for root elements because this function is called a zillion times. |
278 | // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); | 277 | // _position = BulletSimAPI.GetObjectPosition2(PhysicsScene.World.ptr, BSBody.ptr); |
279 | return _position; | 278 | return _position; |
280 | } | 279 | } |
281 | set { | 280 | set { |
282 | // If you must push the position into the physics engine, use ForcePosition. | 281 | // If the position must be forced into the physics engine, use ForcePosition. |
283 | if (_position == value) | 282 | if (_position == value) |
284 | { | 283 | { |
285 | return; | 284 | return; |
286 | } | 285 | } |
287 | _position = value; | 286 | _position = value; |
288 | // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? | 287 | // TODO: what does it mean to set the position of a child prim?? Rebuild the constraint? |
289 | PositionSanityCheck(); | 288 | PositionSanityCheck(false); |
290 | PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() | 289 | PhysicsScene.TaintedObject("BSPrim.setPosition", delegate() |
291 | { | 290 | { |
292 | // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 291 | // DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); |
@@ -302,7 +301,7 @@ public sealed class BSPrim : BSPhysObject | |||
302 | } | 301 | } |
303 | set { | 302 | set { |
304 | _position = value; | 303 | _position = value; |
305 | PositionSanityCheck(); | 304 | // PositionSanityCheck(); // Don't do this! Causes a loop and caller should know better. |
306 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); | 305 | BulletSimAPI.SetTranslation2(PhysBody.ptr, _position, _orientation); |
307 | ActivateIfPhysical(false); | 306 | ActivateIfPhysical(false); |
308 | } | 307 | } |
@@ -311,52 +310,43 @@ public sealed class BSPrim : BSPhysObject | |||
311 | // Check that the current position is sane and, if not, modify the position to make it so. | 310 | // Check that the current position is sane and, if not, modify the position to make it so. |
312 | // Check for being below terrain and being out of bounds. | 311 | // Check for being below terrain and being out of bounds. |
313 | // Returns 'true' of the position was made sane by some action. | 312 | // Returns 'true' of the position was made sane by some action. |
314 | private bool PositionSanityCheck() | 313 | private bool PositionSanityCheck(bool inTaintTime) |
315 | { | 314 | { |
316 | bool ret = false; | 315 | bool ret = false; |
317 | 316 | ||
318 | // If totally below the ground, move the prim up | ||
319 | // TODO: figure out the right solution for this... only for dynamic objects? | ||
320 | /* | ||
321 | float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); | 317 | float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(_position); |
318 | OMV.Vector3 upForce = OMV.Vector3.Zero; | ||
322 | if (Position.Z < terrainHeight) | 319 | if (Position.Z < terrainHeight) |
323 | { | 320 | { |
324 | DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); | 321 | DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); |
325 | _position.Z = terrainHeight + 2.0f; | 322 | float targetHeight = terrainHeight + (Size.Z / 2f); |
323 | // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec. | ||
324 | upForce.Z = (terrainHeight - Position.Z) * 1f; | ||
326 | ret = true; | 325 | ret = true; |
327 | } | 326 | } |
328 | */ | 327 | |
329 | if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) | 328 | if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) |
330 | { | 329 | { |
331 | float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); | 330 | float waterHeight = PhysicsScene.GetWaterLevelAtXYZ(_position); |
332 | // TODO: a floating motor so object will bob in the water | 331 | // TODO: a floating motor so object will bob in the water |
333 | if (Position.Z < waterHeight) | 332 | if (Math.Abs(Position.Z - waterHeight) > 0.1f) |
334 | { | 333 | { |
335 | _position.Z = waterHeight; | 334 | // Upforce proportional to the distance away from the water. Correct the error in 1 sec. |
335 | upForce.Z = (waterHeight - Position.Z) * 1f; | ||
336 | ret = true; | 336 | ret = true; |
337 | } | 337 | } |
338 | } | 338 | } |
339 | 339 | ||
340 | // TODO: check for out of bounds | 340 | // TODO: check for out of bounds |
341 | return ret; | ||
342 | } | ||
343 | 341 | ||
344 | // A version of the sanity check that also makes sure a new position value is | 342 | // The above code computes a force to apply to correct any out-of-bounds problems. Apply same. |
345 | // pushed to the physics engine. This routine would be used by anyone | 343 | if (ret) |
346 | // who is not already pushing the value. | ||
347 | private bool PositionSanityCheck(bool inTaintTime) | ||
348 | { | ||
349 | bool ret = false; | ||
350 | if (PositionSanityCheck()) | ||
351 | { | 344 | { |
352 | // The new position value must be pushed into the physics engine but we can't | 345 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.PositionSanityCheck:belowTerrain", delegate() |
353 | // just assign to "Position" because of potential call loops. | ||
354 | PhysicsScene.TaintedObject(inTaintTime, "BSPrim.PositionSanityCheck", delegate() | ||
355 | { | 346 | { |
356 | DetailLog("{0},BSPrim.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); | 347 | // Apply upforce and overcome gravity. |
357 | ForcePosition = _position; | 348 | ForceVelocity = ForceVelocity + upForce - PhysicsScene.DefaultGravity; |
358 | }); | 349 | }); |
359 | ret = true; | ||
360 | } | 350 | } |
361 | return ret; | 351 | return ret; |
362 | } | 352 | } |
@@ -940,6 +930,7 @@ public sealed class BSPrim : BSPhysObject | |||
940 | public override void AddForce(OMV.Vector3 force, bool pushforce) { | 930 | public override void AddForce(OMV.Vector3 force, bool pushforce) { |
941 | AddForce(force, pushforce, false); | 931 | AddForce(force, pushforce, false); |
942 | } | 932 | } |
933 | // Applying a force just adds this to the total force on the object. | ||
943 | public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { | 934 | public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { |
944 | // for an object, doesn't matter if force is a pushforce or not | 935 | // for an object, doesn't matter if force is a pushforce or not |
945 | if (force.IsFinite()) | 936 | if (force.IsFinite()) |
@@ -971,6 +962,7 @@ public sealed class BSPrim : BSPhysObject | |||
971 | }); | 962 | }); |
972 | } | 963 | } |
973 | 964 | ||
965 | // An impulse force is scaled by the mass of the object. | ||
974 | public void ApplyForceImpulse(OMV.Vector3 impulse, bool inTaintTime) | 966 | public void ApplyForceImpulse(OMV.Vector3 impulse, bool inTaintTime) |
975 | { | 967 | { |
976 | OMV.Vector3 applyImpulse = impulse; | 968 | OMV.Vector3 applyImpulse = impulse; |
@@ -1423,7 +1415,7 @@ public sealed class BSPrim : BSPhysObject | |||
1423 | if (changed != 0) | 1415 | if (changed != 0) |
1424 | { | 1416 | { |
1425 | // Only update the position of single objects and linkset roots | 1417 | // Only update the position of single objects and linkset roots |
1426 | if (this._parentPrim == null) | 1418 | if (Linkset.IsRoot(this)) |
1427 | { | 1419 | { |
1428 | base.RequestPhysicsterseUpdate(); | 1420 | base.RequestPhysicsterseUpdate(); |
1429 | } | 1421 | } |
@@ -1435,19 +1427,24 @@ public sealed class BSPrim : BSPhysObject | |||
1435 | // Updates only for individual prims and for the root object of a linkset. | 1427 | // Updates only for individual prims and for the root object of a linkset. |
1436 | if (Linkset.IsRoot(this)) | 1428 | if (Linkset.IsRoot(this)) |
1437 | { | 1429 | { |
1438 | // Assign to the local variables so the normal set action does not happen | 1430 | // Assign directly to the local variables so the normal set action does not happen |
1439 | _position = entprop.Position; | 1431 | _position = entprop.Position; |
1440 | _orientation = entprop.Rotation; | 1432 | _orientation = entprop.Rotation; |
1441 | _velocity = entprop.Velocity; | 1433 | _velocity = entprop.Velocity; |
1442 | _acceleration = entprop.Acceleration; | 1434 | _acceleration = entprop.Acceleration; |
1443 | _rotationalVelocity = entprop.RotationalVelocity; | 1435 | _rotationalVelocity = entprop.RotationalVelocity; |
1444 | 1436 | ||
1437 | // The sanity check can change the velocity and/or position. | ||
1438 | if (PositionSanityCheck(true)) | ||
1439 | { | ||
1440 | entprop.Position = _position; | ||
1441 | entprop.Velocity = _velocity; | ||
1442 | } | ||
1443 | |||
1445 | // remember the current and last set values | 1444 | // remember the current and last set values |
1446 | LastEntityProperties = CurrentEntityProperties; | 1445 | LastEntityProperties = CurrentEntityProperties; |
1447 | CurrentEntityProperties = entprop; | 1446 | CurrentEntityProperties = entprop; |
1448 | 1447 | ||
1449 | PositionSanityCheck(true); | ||
1450 | |||
1451 | OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; | 1448 | OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; |
1452 | DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", | 1449 | DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}", |
1453 | LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity); | 1450 | LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 29a23c0..7ef6429 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | |||
@@ -940,7 +940,7 @@ public sealed class BSShapeCollection : IDisposable | |||
940 | else | 940 | else |
941 | { | 941 | { |
942 | bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, | 942 | bodyPtr = BulletSimAPI.CreateGhostFromShape2(sim.ptr, shape.ptr, |
943 | prim.LocalID, prim.ForcePosition, prim.ForceOrientation); | 943 | prim.LocalID, prim.RawPosition, prim.RawOrientation); |
944 | DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); | 944 | DetailLog("{0},BSShapeCollection.CreateBody,ghost,ptr={1}", prim.LocalID, bodyPtr.ToString("X")); |
945 | } | 945 | } |
946 | aBody = new BulletBody(prim.LocalID, bodyPtr); | 946 | aBody = new BulletBody(prim.LocalID, bodyPtr); |