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authorRobert Adams2012-10-29 11:30:47 -0700
committerRobert Adams2012-11-03 21:13:35 -0700
commite20bad12cc0584c6368e46e0f326e6b616133e8f (patch)
tree9eb7db09bdb82036ebfe3623f27dc97868de4c02 /OpenSim/Region
parentBulletSim: rename constraint classes so they show up together alphabetically. (diff)
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BulletSim: centralize mass/inertia computation with UpdatePhysicalMassProperties() function. Didn't add setMassRaw because assignment with side effect is dirty.
Diffstat (limited to 'OpenSim/Region')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs15
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs2
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs39
3 files changed, 38 insertions, 18 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 8bb4b21..b9013ab 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -155,8 +155,7 @@ public sealed class BSCharacter : BSPhysObject
155 BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); 155 BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius);
156 } 156 }
157 157
158 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); 158 UpdatePhysicalMassProperties(MassRaw);
159 BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
160 159
161 // Make so capsule does not fall over 160 // Make so capsule does not fall over
162 BulletSimAPI.SetAngularFactorV2(BSBody.ptr, OMV.Vector3.Zero); 161 BulletSimAPI.SetAngularFactorV2(BSBody.ptr, OMV.Vector3.Zero);
@@ -201,8 +200,7 @@ public sealed class BSCharacter : BSPhysObject
201 PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() 200 PhysicsScene.TaintedObject("BSCharacter.setSize", delegate()
202 { 201 {
203 BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale); 202 BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
204 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); 203 UpdatePhysicalMassProperties(MassRaw);
205 BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
206 }); 204 });
207 205
208 } 206 }
@@ -329,7 +327,14 @@ public sealed class BSCharacter : BSPhysObject
329 public override float Mass { get { return _mass; } } 327 public override float Mass { get { return _mass; } }
330 328
331 // used when we only want this prim's mass and not the linkset thing 329 // used when we only want this prim's mass and not the linkset thing
332 public override float MassRaw { get {return _mass; } } 330 public override float MassRaw {
331 get {return _mass; }
332 }
333 public override void UpdatePhysicalMassProperties(float physMass)
334 {
335 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass);
336 BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia);
337 }
333 338
334 public override OMV.Vector3 Force { 339 public override OMV.Vector3 Force {
335 get { return _force; } 340 get { return _force; }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index 538f905..be8d64b 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -64,6 +64,8 @@ public abstract class BSPhysObject : PhysicsActor
64 64
65 // Return the object mass without calculating it or having side effects 65 // Return the object mass without calculating it or having side effects
66 public abstract float MassRaw { get; } 66 public abstract float MassRaw { get; }
67 // Set the raw mass but also update physical mass properties (inertia, ...)
68 public abstract void UpdatePhysicalMassProperties(float mass);
67 69
68 // Reference to the physical body (btCollisionObject) of this object 70 // Reference to the physical body (btCollisionObject) of this object
69 public BulletBody BSBody; 71 public BulletBody BSBody;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 44937df..ad09a61 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -356,13 +356,32 @@ public sealed class BSPrim : BSPhysObject
356 { 356 {
357 get 357 get
358 { 358 {
359 // return Linkset.LinksetMass; 359 return Linkset.LinksetMass;
360 return _mass; 360 // return _mass;
361 } 361 }
362 } 362 }
363 363
364 // used when we only want this prim's mass and not the linkset thing 364 // used when we only want this prim's mass and not the linkset thing
365 public override float MassRaw { get { return _mass; } } 365 public override float MassRaw {
366 get { return _mass; }
367 }
368 // Set the physical mass to the passed mass.
369 // Note that this does not change _mass!
370 public override void UpdatePhysicalMassProperties(float physMass)
371 {
372 if (IsStatic)
373 {
374 BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero);
375 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
376 }
377 else
378 {
379 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass);
380 BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia);
381 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
382 DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, localInertia);
383 }
384 }
366 385
367 // Is this used? 386 // Is this used?
368 public override OMV.Vector3 CenterOfMass 387 public override OMV.Vector3 CenterOfMass
@@ -613,7 +632,7 @@ public sealed class BSPrim : BSPhysObject
613 // Recompute any linkset parameters. 632 // Recompute any linkset parameters.
614 // When going from non-physical to physical, this re-enables the constraints that 633 // When going from non-physical to physical, this re-enables the constraints that
615 // had been automatically disabled when the mass was set to zero. 634 // had been automatically disabled when the mass was set to zero.
616 Linkset.Refresh(this, true); 635 Linkset.Refresh(this);
617 636
618 DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", 637 DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}",
619 LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape); 638 LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape);
@@ -635,9 +654,7 @@ public sealed class BSPrim : BSPhysObject
635 // Center of mass is at the center of the object 654 // Center of mass is at the center of the object
636 BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation); 655 BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation);
637 // Mass is zero which disables a bunch of physics stuff in Bullet 656 // Mass is zero which disables a bunch of physics stuff in Bullet
638 BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero); 657 UpdatePhysicalMassProperties(0f);
639 // There is no inertia in a static object
640 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
641 // Set collision detection parameters 658 // Set collision detection parameters
642 if (PhysicsScene.Params.ccdMotionThreshold > 0f) 659 if (PhysicsScene.Params.ccdMotionThreshold > 0f)
643 { 660 {
@@ -671,9 +688,7 @@ public sealed class BSPrim : BSPhysObject
671 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); 688 BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation);
672 689
673 // A dynamic object has mass 690 // A dynamic object has mass
674 OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, Mass); 691 UpdatePhysicalMassProperties(MassRaw);
675 BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia);
676 BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr);
677 692
678 // Set collision detection parameters 693 // Set collision detection parameters
679 if (PhysicsScene.Params.ccdMotionThreshold > 0f) 694 if (PhysicsScene.Params.ccdMotionThreshold > 0f)
@@ -1247,9 +1262,7 @@ public sealed class BSPrim : BSPhysObject
1247 1262
1248 returnMass = _density * volume; 1263 returnMass = _density * volume;
1249 1264
1250 /* 1265 /* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
1251 * This change means each object keeps its own mass and the Mass property
1252 * will return the sum if we're part of a linkset.
1253 if (IsRootOfLinkset) 1266 if (IsRootOfLinkset)
1254 { 1267 {
1255 foreach (BSPrim prim in _childrenPrims) 1268 foreach (BSPrim prim in _childrenPrims)