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author | Robert Adams | 2012-10-19 10:48:45 -0700 |
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committer | Robert Adams | 2012-10-19 10:52:31 -0700 |
commit | f422b9b388fe67c61e610c79efabd5e07512884b (patch) | |
tree | 7ad1c226e8541742164e83cf18e8baf595061367 /OpenSim/Region | |
parent | BulletSim: change nonimal physics frame rate to 55 to give same numbers as ODE. (diff) | |
download | opensim-SC_OLD-f422b9b388fe67c61e610c79efabd5e07512884b.zip opensim-SC_OLD-f422b9b388fe67c61e610c79efabd5e07512884b.tar.gz opensim-SC_OLD-f422b9b388fe67c61e610c79efabd5e07512884b.tar.bz2 opensim-SC_OLD-f422b9b388fe67c61e610c79efabd5e07512884b.tar.xz |
BulletSim: reorder avatar collision checking to eliminate double collision_end.
Various tweekings to avatar shape/mass/inertia/etc.
Remove change from avatar radius to diameter. But still the avatar sinks.
Collision_end now happens immediately rather than at the next subscription time.
Diffstat (limited to '')
6 files changed, 43 insertions, 35 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index e7bff6e..fc4526b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs | |||
@@ -141,10 +141,6 @@ public class BSCharacter : BSPhysObject | |||
141 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr); | 141 | BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr); |
142 | 142 | ||
143 | ZeroMotion(); | 143 | ZeroMotion(); |
144 | |||
145 | OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); | ||
146 | BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); | ||
147 | |||
148 | ForcePosition = _position; | 144 | ForcePosition = _position; |
149 | // Set the velocity and compute the proper friction | 145 | // Set the velocity and compute the proper friction |
150 | ForceVelocity = _velocity; | 146 | ForceVelocity = _velocity; |
@@ -157,6 +153,9 @@ public class BSCharacter : BSPhysObject | |||
157 | BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); | 153 | BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); |
158 | } | 154 | } |
159 | 155 | ||
156 | OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); | ||
157 | BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); | ||
158 | |||
160 | BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); | 159 | BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); |
161 | 160 | ||
162 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr); | 161 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr); |
@@ -583,14 +582,16 @@ public class BSCharacter : BSPhysObject | |||
583 | 582 | ||
584 | private void ComputeAvatarScale(OMV.Vector3 size) | 583 | private void ComputeAvatarScale(OMV.Vector3 size) |
585 | { | 584 | { |
585 | // The 'size' given by the simulator is the mid-point of the avatar | ||
586 | // and X and Y are unspecified. | ||
587 | |||
586 | OMV.Vector3 newScale = OMV.Vector3.Zero; | 588 | OMV.Vector3 newScale = OMV.Vector3.Zero; |
587 | // Scale wants the diameter so mult radius by two | 589 | newScale.X = PhysicsScene.Params.avatarCapsuleRadius; |
588 | newScale.X = PhysicsScene.Params.avatarCapsuleRadius * 2f; | 590 | newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; |
589 | newScale.Y = PhysicsScene.Params.avatarCapsuleRadius * 2f; | ||
590 | 591 | ||
591 | // From the total height, add the capsule half spheres that are at each end | 592 | // From the total height, remote the capsule half spheres that are at each end |
592 | // newScale.Z = (size.Z) - Math.Min(newScale.X, newScale.Y); | 593 | newScale.Z = (size.Z * 2f) - Math.Min(newScale.X, newScale.Y); |
593 | newScale.Z = (size.Z * 2f); | 594 | // newScale.Z = (size.Z * 2f); |
594 | Scale = newScale; | 595 | Scale = newScale; |
595 | } | 596 | } |
596 | 597 | ||
@@ -599,14 +600,14 @@ public class BSCharacter : BSPhysObject | |||
599 | { | 600 | { |
600 | _avatarVolume = (float)( | 601 | _avatarVolume = (float)( |
601 | Math.PI | 602 | Math.PI |
602 | * (Scale.X / 2f) | 603 | * Scale.X |
603 | * (Scale.Y / 2f) // the area of capsule cylinder | 604 | * Scale.Y // the area of capsule cylinder |
604 | * Scale.Z // times height of capsule cylinder | 605 | * Scale.Z // times height of capsule cylinder |
605 | + 1.33333333f | 606 | + 1.33333333f |
606 | * Math.PI | 607 | * Math.PI |
607 | * (Scale.X / 2f) | 608 | * Scale.X |
608 | * (Math.Min(Scale.X, Scale.Y) / 2f) | 609 | * Math.Min(Scale.X, Scale.Y) |
609 | * (Scale.Y / 2f) // plus the volume of the capsule end caps | 610 | * Scale.Y // plus the volume of the capsule end caps |
610 | ); | 611 | ); |
611 | _mass = _avatarDensity * _avatarVolume; | 612 | _mass = _avatarDensity * _avatarVolume; |
612 | } | 613 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index b8ef338..202052d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | |||
@@ -156,9 +156,11 @@ public abstract class BSPhysObject : PhysicsActor | |||
156 | public virtual bool SendCollisions() | 156 | public virtual bool SendCollisions() |
157 | { | 157 | { |
158 | bool ret = true; | 158 | bool ret = true; |
159 | // If the 'no collision' call, force it to happen right now so quick collision_end | ||
160 | bool force = CollisionCollection.Count == 0; | ||
159 | 161 | ||
160 | // throttle the collisions to the number of milliseconds specified in the subscription | 162 | // throttle the collisions to the number of milliseconds specified in the subscription |
161 | if (PhysicsScene.SimulationNowTime >= NextCollisionOkTime) | 163 | if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime)) |
162 | { | 164 | { |
163 | NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs; | 165 | NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs; |
164 | 166 | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index ab2835c..6621d39 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | |||
@@ -532,26 +532,26 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
532 | } | 532 | } |
533 | } | 533 | } |
534 | 534 | ||
535 | // This is a kludge to get avatar movement updates. | ||
536 | // The simulator expects collisions for avatars even if there are have been no collisions. This updates | ||
537 | // avatar animations and stuff. | ||
538 | // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. | ||
539 | foreach (BSPhysObject bsp in m_avatars) | ||
540 | bsp.SendCollisions(); | ||
541 | |||
542 | // The above SendCollision's batch up the collisions on the objects. | 535 | // The above SendCollision's batch up the collisions on the objects. |
543 | // Now push the collisions into the simulator. | 536 | // Now push the collisions into the simulator. |
544 | if (ObjectsWithCollisions.Count > 0) | 537 | if (ObjectsWithCollisions.Count > 0) |
545 | { | 538 | { |
546 | foreach (BSPhysObject bsp in ObjectsWithCollisions) | 539 | foreach (BSPhysObject bsp in ObjectsWithCollisions) |
547 | if (!m_avatars.Contains(bsp)) // don't call avatars twice | 540 | if (!bsp.SendCollisions()) |
548 | if (!bsp.SendCollisions()) | 541 | { |
549 | { | 542 | // If the object is done colliding, see that it's removed from the colliding list |
550 | // If the object is done colliding, see that it's removed from the colliding list | 543 | ObjectsWithNoMoreCollisions.Add(bsp); |
551 | ObjectsWithNoMoreCollisions.Add(bsp); | 544 | } |
552 | } | ||
553 | } | 545 | } |
554 | 546 | ||
547 | // This is a kludge to get avatar movement updates. | ||
548 | // The simulator expects collisions for avatars even if there are have been no collisions. | ||
549 | // The event updates avatar animations and stuff. | ||
550 | // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. | ||
551 | foreach (BSPhysObject bsp in m_avatars) | ||
552 | if (!ObjectsWithCollisions.Contains(bsp)) // don't call avatars twice | ||
553 | bsp.SendCollisions(); | ||
554 | |||
555 | // Objects that are done colliding are removed from the ObjectsWithCollisions list. | 555 | // Objects that are done colliding are removed from the ObjectsWithCollisions list. |
556 | // Not done above because it is inside an iteration of ObjectWithCollisions. | 556 | // Not done above because it is inside an iteration of ObjectWithCollisions. |
557 | if (ObjectsWithNoMoreCollisions.Count > 0) | 557 | if (ObjectsWithNoMoreCollisions.Count > 0) |
@@ -575,6 +575,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters | |||
575 | } | 575 | } |
576 | } | 576 | } |
577 | 577 | ||
578 | // This causes the unmanaged code to output ALL the values found in ALL the objects in the world. | ||
579 | // Only enable this in a limited test world with few objects. | ||
580 | // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG | ||
581 | |||
578 | // The physics engine returns the number of milliseconds it simulated this call. | 582 | // The physics engine returns the number of milliseconds it simulated this call. |
579 | // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. | 583 | // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. |
580 | // We multiply by 55 to give a recognizable running rate (55 or less). | 584 | // We multiply by 55 to give a recognizable running rate (55 or less). |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 3d15eaa..861ffe7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs | |||
@@ -417,10 +417,9 @@ public class BSShapeCollection : IDisposable | |||
417 | 417 | ||
418 | if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) | 418 | if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) |
419 | { | 419 | { |
420 | // The radius is scaled by 1/2 because we scale by the diameter. | ||
421 | newShape = new BulletShape( | 420 | newShape = new BulletShape( |
422 | BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 0.5f, 1.0f, shapeData.Scale), | 421 | BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale), |
423 | shapeType); | 422 | shapeType); |
424 | newShape.shapeKey = (System.UInt64)shapeKey; | 423 | newShape.shapeKey = (System.UInt64)shapeKey; |
425 | newShape.isNativeShape = true; | 424 | newShape.isNativeShape = true; |
426 | } | 425 | } |
@@ -432,7 +431,8 @@ public class BSShapeCollection : IDisposable | |||
432 | } | 431 | } |
433 | 432 | ||
434 | // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. | 433 | // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. |
435 | // DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape); | 434 | DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", |
435 | shapeData.ID, newShape, shapeData.Scale); | ||
436 | 436 | ||
437 | prim.BSShape = newShape; | 437 | prim.BSShape = newShape; |
438 | return true; | 438 | return true; |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 9743d94..4106534 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | |||
@@ -114,6 +114,7 @@ public class BSTerrainManager | |||
114 | BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, | 114 | BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, |
115 | Vector3.Zero, Quaternion.Identity)); | 115 | Vector3.Zero, Quaternion.Identity)); |
116 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); | 116 | BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); |
117 | BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr); | ||
117 | // Ground plane does not move | 118 | // Ground plane does not move |
118 | BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); | 119 | BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); |
119 | // Everything collides with the ground plane. | 120 | // Everything collides with the ground plane. |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 24d8db6..5ffd591 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs | |||
@@ -390,7 +390,7 @@ public enum CollisionFilterGroups : uint | |||
390 | VolumeDetectMask = ~BSensorTrigger, | 390 | VolumeDetectMask = ~BSensorTrigger, |
391 | TerrainFilter = BTerrainFilter, | 391 | TerrainFilter = BTerrainFilter, |
392 | TerrainMask = BAllFilter & ~BStaticFilter, | 392 | TerrainMask = BAllFilter & ~BStaticFilter, |
393 | GroundPlaneFilter = BAllFilter, | 393 | GroundPlaneFilter = BGroundPlaneFilter, |
394 | GroundPlaneMask = BAllFilter | 394 | GroundPlaneMask = BAllFilter |
395 | 395 | ||
396 | }; | 396 | }; |