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authorRobert Adams2012-10-31 09:26:58 -0700
committerRobert Adams2012-11-03 21:14:58 -0700
commit28e2cd3fa21835b124552dec024745f5784f6b3a (patch)
tree03b422548908cb2c4ec734c27ac2ad9824015cca /OpenSim/Region
parentBulletSim: remove center-of-mass setting for linksets because it causes the c... (diff)
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BulletSim: vehicle tweeking.
Add AddTorque() method to BSPrim. Remove some manual motor actions in computing angular force (will eventually be replaced with motor class). Remove some experimental changes.
Diffstat (limited to 'OpenSim/Region')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs136
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs2
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs45
3 files changed, 90 insertions, 93 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 4981007..5c61774 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -511,21 +511,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
511 // Do any updating needed for a vehicle 511 // Do any updating needed for a vehicle
512 public void Refresh() 512 public void Refresh()
513 { 513 {
514 /*
515 * Doesnt work unless BSDynamics senses and corrects for all collisions
516 if (IsActive)
517 BulletSimAPI.AddToCollisionFlags2(Prim.BSBody.ptr, CollisionFlags.CF_KINEMATIC_OBJECT);
518 else
519 BulletSimAPI.RemoveFromCollisionFlags2(Prim.BSBody.ptr, CollisionFlags.CF_KINEMATIC_OBJECT);
520 */
521 /*
522 * Doesn't work because with zero inertia, Bullet will not apply any forces to the object.
523 if (IsActive)
524 {
525 BulletSimAPI.SetMassProps2(Prim.BSBody.ptr, Prim.MassRaw, Vector3.Zero);
526 BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr);
527 }
528 */
529 if (IsActive) 514 if (IsActive)
530 { 515 {
531 // Friction effects are handled by this vehicle code 516 // Friction effects are handled by this vehicle code
@@ -539,29 +524,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin
539 { 524 {
540 if (!IsActive) return; 525 if (!IsActive) return;
541 526
542 m_lastAngularVelocity = Prim.ForceRotationalVelocity; // DEBUG: account for what Bullet did last time 527 // DEBUG
528 // Because Bullet does apply forces to the vehicle, our last computed
529 // linear and angular velocities are not what is happening now.
530 // Vector3 externalAngularVelocity = Prim.ForceRotationalVelocity - m_lastAngularVelocity;
531 // m_lastAngularVelocity += (externalAngularVelocity * 0.5f) * pTimestep;
532 // m_lastAngularVelocity = Prim.ForceRotationalVelocity; // DEBUG: account for what Bullet did last time
533 // m_lastLinearVelocityVector = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation); // DEBUG:
534 // END DEBUG
543 535
544 MoveLinear(pTimestep); 536 MoveLinear(pTimestep);
545 MoveAngular(pTimestep); 537 MoveAngular(pTimestep);
546 LimitRotation(pTimestep); 538 LimitRotation(pTimestep);
547 539
548 /* Experimental
549 // Wonder if Bullet could handle collision penetration while this applies the forces.
550 // Apply the computed forces on the vehicle
551 Prim.ForcePosition += Prim.ForceVelocity * Prim.MassRaw * pTimestep;
552
553 if (Prim.ForceRotationalVelocity != Vector3.Zero)
554 {
555 Quaternion newOrientation = Prim.ForceOrientation;
556 newOrientation.Normalize();
557 Quaternion appliedRotation = new Quaternion((Prim.ForceRotationalVelocity * pTimestep), 0f);
558 newOrientation += (appliedRotation * newOrientation) * 0.5f;
559 newOrientation.Normalize();
560 Prim.ForceOrientation = newOrientation;
561 }
562 */
563 // DEBUG: Trying to figure out why Bullet goes crazy when the root prim is moved. 540 // DEBUG: Trying to figure out why Bullet goes crazy when the root prim is moved.
564 BulletSimAPI.SetInterpolationVelocity2(Prim.BSBody.ptr, m_newVelocity, m_lastAngularVelocity); // DEBUG DEBUG DEBUG 541 // BulletSimAPI.SetInterpolationVelocity2(Prim.BSBody.ptr, m_newVelocity, m_lastAngularVelocity); // DEBUG DEBUG DEBUG
565 542
566 // remember the position so next step we can limit absolute movement effects 543 // remember the position so next step we can limit absolute movement effects
567 m_lastPositionVector = Prim.ForcePosition; 544 m_lastPositionVector = Prim.ForcePosition;
@@ -583,7 +560,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
583 Vector3 vehicleVelocity = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation); // DEBUG 560 Vector3 vehicleVelocity = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation); // DEBUG
584 561
585 // add drive to body 562 // add drive to body
586 Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale / pTimestep); 563 Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale) * pTimestep;
587 // lastLinearVelocityVector is the current body velocity vector 564 // lastLinearVelocityVector is the current body velocity vector
588 m_lastLinearVelocityVector += addAmount; 565 m_lastLinearVelocityVector += addAmount;
589 566
@@ -593,11 +570,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
593 Vector3 frictionFactor = (Vector3.One / m_linearFrictionTimescale) * pTimestep; 570 Vector3 frictionFactor = (Vector3.One / m_linearFrictionTimescale) * pTimestep;
594 m_lastLinearVelocityVector *= (Vector3.One - frictionFactor); 571 m_lastLinearVelocityVector *= (Vector3.One - frictionFactor);
595 572
596 VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},vehVel={3},add={4},decay={5},lmDir={6},lmVel={7}", 573 // Rotate new object velocity from vehicle relative to world coordinates
597 Prim.LocalID, origDir, origVel, vehicleVelocity, addAmount, decayFactor, m_linearMotorDirection, m_lastLinearVelocityVector);
598
599 // convert requested object velocity to object relative vector
600 m_newVelocity = m_lastLinearVelocityVector * Prim.ForceOrientation; 574 m_newVelocity = m_lastLinearVelocityVector * Prim.ForceOrientation;
575
576 VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},vehVel={3},add={4},decay={5},frict={6},lmDir={7},lmVel={8},newVel={9}",
577 Prim.LocalID, origDir, origVel, vehicleVelocity, addAmount, decayFactor, frictionFactor,
578 m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity);
601 } 579 }
602 else 580 else
603 { 581 {
@@ -609,18 +587,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
609 VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID); 587 VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);
610 } 588 }
611 589
612 // m_newVelocity is velocity computed from linear motor 590 // m_newVelocity is velocity computed from linear motor in world coordinates
613 591
614 // Add the various forces into m_dir which will be our new direction vector (velocity) 592 // Gravity and Buoyancy
615
616 // add Gravity and Buoyancy
617 // There is some gravity, make a gravity force vector that is applied after object velocity. 593 // There is some gravity, make a gravity force vector that is applied after object velocity.
618 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; 594 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
619 // Vector3 grav = Prim.PhysicsScene.DefaultGravity * (Prim.Linkset.LinksetMass * (1f - m_VehicleBuoyancy));
620 Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy); 595 Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy);
621 596
622 /* 597 /*
623 * RA: Not sure why one would do this 598 * RA: Not sure why one would do this unless we are hoping external forces are doing gravity, ...
624 // Preserve the current Z velocity 599 // Preserve the current Z velocity
625 Vector3 vel_now = m_prim.Velocity; 600 Vector3 vel_now = m_prim.Velocity;
626 m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity 601 m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
@@ -676,7 +651,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
676 else 651 else
677 { 652 {
678 float verticalError = pos.Z - m_VhoverTargetHeight; 653 float verticalError = pos.Z - m_VhoverTargetHeight;
679 // RA: where does the 50 come from> 654 // RA: where does the 50 come from?
680 float verticalCorrectionVelocity = pTimestep * ((verticalError * 50.0f) / m_VhoverTimescale); 655 float verticalCorrectionVelocity = pTimestep * ((verticalError * 50.0f) / m_VhoverTimescale);
681 // Replace Vertical speed with correction figure if significant 656 // Replace Vertical speed with correction figure if significant
682 if (Math.Abs(verticalError) > 0.01f) 657 if (Math.Abs(verticalError) > 0.01f)
@@ -784,37 +759,24 @@ namespace OpenSim.Region.Physics.BulletSPlugin
784 // m_angularFrictionTimescale // body angular velocity decay rate 759 // m_angularFrictionTimescale // body angular velocity decay rate
785 // m_lastAngularVelocity // what was last applied to body 760 // m_lastAngularVelocity // what was last applied to body
786 761
787 // Get what the body is doing, this includes 'external' influences 762 if (m_angularMotorDirection.LengthSquared() > 0.0001)
788 Vector3 angularVelocity = Prim.ForceRotationalVelocity;
789
790 if (m_angularMotorApply > 0)
791 { 763 {
792 // Rather than snapping the angular motor velocity from the old value to
793 // a newly set velocity, this routine steps the value from the previous
794 // value (m_angularMotorVelocity) to the requested value (m_angularMotorDirection).
795 // There are m_angularMotorApply steps.
796 Vector3 origVel = m_angularMotorVelocity; 764 Vector3 origVel = m_angularMotorVelocity;
797 Vector3 origDir = m_angularMotorDirection; 765 Vector3 origDir = m_angularMotorDirection;
798 766
799 // ramp up to new value
800 // new velocity += error / ( time to get there / step interval) 767 // new velocity += error / ( time to get there / step interval)
801 // requested speed - last motor speed 768 // requested speed - last motor speed
802 m_angularMotorVelocity += (m_angularMotorDirection - m_angularMotorVelocity) / (m_angularMotorTimescale / pTimestep); 769 m_angularMotorVelocity += (m_angularMotorDirection - m_angularMotorVelocity) / (m_angularMotorTimescale / pTimestep);
770 // decay requested direction
771 m_angularMotorDirection *= (1.0f - (pTimestep * 1.0f/m_angularMotorDecayTimescale));
803 772
804 VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},origDir={5},vel={6}", 773 VDetailLog("{0},MoveAngular,angularMotorApply,angTScale={1},timeStep={2},origvel={3},origDir={4},vel={5}",
805 Prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity); 774 Prim.LocalID, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity);
806
807 m_angularMotorApply--;
808 } 775 }
809 else 776 else
810 { 777 {
811 // No motor recently applied, keep the body velocity 778 m_angularMotorVelocity = Vector3.Zero;
812 // and decay the velocity 779 }
813 if (m_angularMotorVelocity.LengthSquared() < 0.0001)
814 m_angularMotorVelocity = Vector3.Zero;
815 else
816 m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep);
817 } // end motor section
818 780
819 #region Vertical attactor 781 #region Vertical attactor
820 782
@@ -824,22 +786,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin
824 786
825 if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero) 787 if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero)
826 { 788 {
827 float VAservo = 0.2f; 789 float VAservo = pTimestep * 0.2f / m_verticalAttractionTimescale;
828 if (Prim.Linkset.LinksetIsColliding) 790 if (Prim.Linkset.LinksetIsColliding)
829 VAservo = 0.05f / (m_verticalAttractionTimescale / pTimestep); 791 VAservo = pTimestep * 0.05f / (m_verticalAttractionTimescale);
830 792
831 VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); 793 VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
832 794
833 // get present body rotation 795 // Create a vector of the vehicle "up" in world coordinates
834 Quaternion rotq = Prim.ForceOrientation; 796 Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation;
835 // vector pointing up 797 // verticalError.X and .Y are the World error amounts. They are 0 when there is no
836 Vector3 verticalError = Vector3.UnitZ; 798 // error (Vehicle Body is 'vertical'), and .Z will be 1. As the body leans to its
837 799 // side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall
838 // rotate it to Body Angle 800 // and .Z will go // negative. Similar for tilt and |.Y|. .X and .Y must be
839 verticalError = verticalError * rotq; 801 // modulated to prevent a stable inverted body.
840 // verticalError.X and .Y are the World error amounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
841 // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
842 // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
843 802
844 // Error is 0 (no error) to +/- 2 (max error) 803 // Error is 0 (no error) to +/- 2 (max error)
845 if (verticalError.Z < 0.0f) 804 if (verticalError.Z < 0.0f)
@@ -850,13 +809,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
850 // scale it by VAservo 809 // scale it by VAservo
851 verticalError = verticalError * VAservo; 810 verticalError = verticalError * VAservo;
852 811
853 // As the body rotates around the X axis, then verticalError.Y increases; Rotated around Y then .X increases, so 812 // As the body rotates around the X axis, then verticalError.Y increases; Rotated around Y
854 // Change Body angular velocity X based on Y, and Y based on X. Z is not changed. 813 // then .X increases, so change Body angular velocity X based on Y, and Y based on X.
814 // Z is not changed.
855 vertattr.X = verticalError.Y; 815 vertattr.X = verticalError.Y;
856 vertattr.Y = - verticalError.X; 816 vertattr.Y = - verticalError.X;
857 vertattr.Z = 0f; 817 vertattr.Z = 0f;
858 818
859 // scaling appears better usingsquare-law 819 // scaling appears better usingsquare-law
820 Vector3 angularVelocity = Prim.ForceRotationalVelocity;
860 float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); 821 float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
861 vertattr.X += bounce * angularVelocity.X; 822 vertattr.X += bounce * angularVelocity.X;
862 vertattr.Y += bounce * angularVelocity.Y; 823 vertattr.Y += bounce * angularVelocity.Y;
@@ -956,15 +917,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin
956 VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); 917 VDetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
957 } 918 }
958 919
959 // apply friction
960 Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep);
961 m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
962
963 // Apply to the body 920 // Apply to the body
964 // The above calculates the absolute angular velocity needed 921 // The above calculates the absolute angular velocity needed
965 Prim.ForceRotationalVelocity = m_lastAngularVelocity; 922 // Prim.ForceRotationalVelocity = m_lastAngularVelocity;
923
924 // Apply a force to overcome current angular velocity
925 Vector3 applyAngularForce = (m_lastAngularVelocity - Prim.ForceRotationalVelocity) * Prim.Linkset.LinksetMass;
926 // Vector3 applyAngularForce = (m_lastAngularVelocity - Prim.ForceRotationalVelocity);
927 // Prim.AddAngularForce(applyAngularForce, false);
928 Prim.ApplyTorqueImpulse(applyAngularForce, false);
929
930 // Apply friction for next time
931 Vector3 decayamount = (Vector3.One / m_angularFrictionTimescale) * pTimestep;
932 m_lastAngularVelocity *= Vector3.One - decayamount;
966 933
967 VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity); 934 VDetailLog("{0},MoveAngular,done,applyAForce={1},decay={2},lastAngular={3}",
935 Prim.LocalID, applyAngularForce, decayamount, m_lastAngularVelocity);
968 } //end MoveAngular 936 } //end MoveAngular
969 937
970 internal void LimitRotation(float timestep) 938 internal void LimitRotation(float timestep)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
index ecb6ad4..8cdbd9b 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetConstraints.cs
@@ -299,7 +299,7 @@ public sealed class BSLinksetConstraints : BSLinkset
299 // DEBUG: see of inter-linkset collisions are causing problems 299 // DEBUG: see of inter-linkset collisions are causing problems
300 // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, 300 // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr,
301 // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask); 301 // (uint)CollisionFilterGroups.LinksetFilter, (uint)CollisionFilterGroups.LinksetMask);
302 DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,setCenterOfMass,rBody={1},linksetMass={2}", 302 DetailLog("{0},BSLinksetConstraint.RecomputeLinksetConstraints,set,rBody={1},linksetMass={2}",
303 LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), linksetMass); 303 LinksetRoot.LocalID, LinksetRoot.BSBody.ptr.ToString("X"), linksetMass);
304 304
305 foreach (BSPhysObject child in m_children) 305 foreach (BSPhysObject child in m_children)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 7851a40..9ced61fa 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -378,7 +378,9 @@ public sealed class BSPrim : BSPhysObject
378 { 378 {
379 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass); 379 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass);
380 BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia); 380 BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia);
381 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); 381 // center of mass is at the zero of the object
382 BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation);
383 // BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
382 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, localInertia); 384 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, localInertia);
383 } 385 }
384 } 386 }
@@ -462,9 +464,16 @@ public sealed class BSPrim : BSPhysObject
462 // Called from Scene when doing simulation step so we're in taint processing time. 464 // Called from Scene when doing simulation step so we're in taint processing time.
463 public override void StepVehicle(float timeStep) 465 public override void StepVehicle(float timeStep)
464 { 466 {
465 if (IsPhysical) 467 if (IsPhysical && _vehicle.IsActive)
466 { 468 {
467 _vehicle.Step(timeStep); 469 _vehicle.Step(timeStep);
470 /* // TEST TEST DEBUG DEBUG -- trying to reduce the extra action of Bullet simulation step
471 PhysicsScene.PostTaintObject("BSPrim.StepVehicles", LocalID, delegate()
472 {
473 // This resets the interpolation values and recomputes the tensor variables
474 BulletSimAPI.SetCenterOfMassByPosRot2(BSBody.ptr, ForcePosition, ForceOrientation);
475 });
476 */
468 } 477 }
469 } 478 }
470 479
@@ -502,7 +511,9 @@ public sealed class BSPrim : BSPhysObject
502 } 511 }
503 public override OMV.Vector3 Torque { 512 public override OMV.Vector3 Torque {
504 get { return _torque; } 513 get { return _torque; }
505 set { _torque = value; 514 set {
515 _torque = value;
516 AddAngularForce(_torque, false, false);
506 // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque); 517 // DetailLog("{0},BSPrim.SetTorque,call,torque={1}", LocalID, _torque);
507 } 518 }
508 } 519 }
@@ -831,7 +842,7 @@ public sealed class BSPrim : BSPhysObject
831 // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity); 842 // m_log.DebugFormat("{0}: RotationalVelocity={1}", LogHeader, _rotationalVelocity);
832 PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate() 843 PhysicsScene.TaintedObject("BSPrim.setRotationalVelocity", delegate()
833 { 844 {
834 // DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); 845 DetailLog("{0},BSPrim.SetRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
835 BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity); 846 BulletSimAPI.SetAngularVelocity2(BSBody.ptr, _rotationalVelocity);
836 }); 847 });
837 } 848 }
@@ -972,14 +983,31 @@ public sealed class BSPrim : BSPhysObject
972 } 983 }
973 m_accumulatedAngularForces.Clear(); 984 m_accumulatedAngularForces.Clear();
974 } 985 }
975 // DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum); 986 DetailLog("{0},BSPrim.AddAngularForce,taint,aForce={1}", LocalID, fSum);
976 if (fSum != OMV.Vector3.Zero) 987 if (fSum != OMV.Vector3.Zero)
988 {
977 BulletSimAPI.ApplyTorque2(BSBody.ptr, fSum); 989 BulletSimAPI.ApplyTorque2(BSBody.ptr, fSum);
990 _torque = fSum;
991 }
978 }; 992 };
979 if (inTaintTime) 993 if (inTaintTime)
980 addAngularForceOperation(); 994 addAngularForceOperation();
981 else 995 else
982 PhysicsScene.TaintedObject("BSPrim.AddForce", addAngularForceOperation); 996 PhysicsScene.TaintedObject("BSPrim.AddAngularForce", addAngularForceOperation);
997 }
998 // A torque impulse.
999 public void ApplyTorqueImpulse(OMV.Vector3 impulse, bool inTaintTime)
1000 {
1001 OMV.Vector3 applyImpulse = impulse;
1002 BSScene.TaintCallback applyTorqueImpulseOperation = delegate()
1003 {
1004 DetailLog("{0},BSPrim.ApplyTorqueImpulse,taint,tImpulse={1}", LocalID, applyImpulse);
1005 BulletSimAPI.ApplyTorqueImpulse2(BSBody.ptr, applyImpulse);
1006 };
1007 if (inTaintTime)
1008 applyTorqueImpulseOperation();
1009 else
1010 PhysicsScene.TaintedObject("BSPrim.ApplyTorqueImpulse", applyTorqueImpulseOperation);
983 } 1011 }
984 public override void SetMomentum(OMV.Vector3 momentum) { 1012 public override void SetMomentum(OMV.Vector3 momentum) {
985 // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum); 1013 // DetailLog("{0},BSPrim.SetMomentum,call,mom={1}", LocalID, momentum);
@@ -1418,8 +1446,9 @@ public sealed class BSPrim : BSPhysObject
1418 1446
1419 PositionSanityCheck(true); 1447 PositionSanityCheck(true);
1420 1448
1421 DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", 1449 OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation;
1422 LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity); 1450 DetailLog("{0},BSPrim.UpdateProperties,call,pos={1},orient={2},dir={3},vel={4},rotVel={5}",
1451 LocalID, _position, _orientation, direction, _velocity, _rotationalVelocity);
1423 1452
1424 // BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr); // DEBUG DEBUG DEBUG 1453 // BulletSimAPI.DumpRigidBody2(PhysicsScene.World.ptr, BSBody.ptr); // DEBUG DEBUG DEBUG
1425 1454