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author | Diva Canto | 2013-07-06 15:18:29 -0700 |
---|---|---|
committer | Diva Canto | 2013-07-06 15:18:29 -0700 |
commit | 93fd5e4036107573429464dd0c3794dff756f190 (patch) | |
tree | 1c2346f6f6e6183a392c6a1f2c399175910ec98b /OpenSim/Region | |
parent | Simina activity detector was too eager. Disabled it in case simian is not bei... (diff) | |
parent | Add implementations for llSetVelocity and llSetAngularVelocity. (diff) | |
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Merge branch 'master' of ssh://opensimulator.org/var/git/opensim
Diffstat (limited to 'OpenSim/Region')
13 files changed, 242 insertions, 170 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index aa247dd..c27d3f0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | |||
@@ -774,7 +774,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
774 | 774 | ||
775 | // Since the computation of terrain height can be a little involved, this routine | 775 | // Since the computation of terrain height can be a little involved, this routine |
776 | // is used to fetch the height only once for each vehicle simulation step. | 776 | // is used to fetch the height only once for each vehicle simulation step. |
777 | Vector3 lastRememberedHeightPos; | 777 | Vector3 lastRememberedHeightPos = new Vector3(-1, -1, -1); |
778 | private float GetTerrainHeight(Vector3 pos) | 778 | private float GetTerrainHeight(Vector3 pos) |
779 | { | 779 | { |
780 | if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos) | 780 | if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos) |
@@ -788,14 +788,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
788 | 788 | ||
789 | // Since the computation of water level can be a little involved, this routine | 789 | // Since the computation of water level can be a little involved, this routine |
790 | // is used ot fetch the level only once for each vehicle simulation step. | 790 | // is used ot fetch the level only once for each vehicle simulation step. |
791 | Vector3 lastRememberedWaterHeightPos = new Vector3(-1, -1, -1); | ||
791 | private float GetWaterLevel(Vector3 pos) | 792 | private float GetWaterLevel(Vector3 pos) |
792 | { | 793 | { |
793 | if ((m_knownHas & m_knownChangedWaterLevel) == 0) | 794 | if ((m_knownHas & m_knownChangedWaterLevel) == 0 || pos != lastRememberedWaterHeightPos) |
794 | { | 795 | { |
796 | lastRememberedWaterHeightPos = pos; | ||
795 | m_knownWaterLevel = ControllingPrim.PhysScene.TerrainManager.GetWaterLevelAtXYZ(pos); | 797 | m_knownWaterLevel = ControllingPrim.PhysScene.TerrainManager.GetWaterLevelAtXYZ(pos); |
796 | m_knownHas |= m_knownChangedWaterLevel; | 798 | m_knownHas |= m_knownChangedWaterLevel; |
797 | } | 799 | } |
798 | return (float)m_knownWaterLevel; | 800 | return m_knownWaterLevel; |
799 | } | 801 | } |
800 | 802 | ||
801 | private Vector3 VehiclePosition | 803 | private Vector3 VehiclePosition |
@@ -991,11 +993,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
991 | { | 993 | { |
992 | Vector3 vel = VehicleVelocity; | 994 | Vector3 vel = VehicleVelocity; |
993 | if ((m_flags & (VehicleFlag.NO_X)) != 0) | 995 | if ((m_flags & (VehicleFlag.NO_X)) != 0) |
996 | { | ||
994 | vel.X = 0; | 997 | vel.X = 0; |
998 | } | ||
995 | if ((m_flags & (VehicleFlag.NO_Y)) != 0) | 999 | if ((m_flags & (VehicleFlag.NO_Y)) != 0) |
1000 | { | ||
996 | vel.Y = 0; | 1001 | vel.Y = 0; |
1002 | } | ||
997 | if ((m_flags & (VehicleFlag.NO_Z)) != 0) | 1003 | if ((m_flags & (VehicleFlag.NO_Z)) != 0) |
1004 | { | ||
998 | vel.Z = 0; | 1005 | vel.Z = 0; |
1006 | } | ||
999 | VehicleVelocity = vel; | 1007 | VehicleVelocity = vel; |
1000 | } | 1008 | } |
1001 | 1009 | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 308cf13..1d94142 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | |||
@@ -35,62 +35,6 @@ using OMV = OpenMetaverse; | |||
35 | namespace OpenSim.Region.Physics.BulletSPlugin | 35 | namespace OpenSim.Region.Physics.BulletSPlugin |
36 | { | 36 | { |
37 | 37 | ||
38 | /* | ||
39 | // When a child is linked, the relationship position of the child to the parent | ||
40 | // is remembered so the child's world position can be recomputed when it is | ||
41 | // removed from the linkset. | ||
42 | sealed class BSLinksetCompoundInfo : BSLinksetInfo | ||
43 | { | ||
44 | public int Index; | ||
45 | public OMV.Vector3 OffsetFromRoot; | ||
46 | public OMV.Vector3 OffsetFromCenterOfMass; | ||
47 | public OMV.Quaternion OffsetRot; | ||
48 | public BSLinksetCompoundInfo(int indx, OMV.Vector3 p, OMV.Quaternion r) | ||
49 | { | ||
50 | Index = indx; | ||
51 | OffsetFromRoot = p; | ||
52 | OffsetFromCenterOfMass = p; | ||
53 | OffsetRot = r; | ||
54 | } | ||
55 | // 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape) | ||
56 | public BSLinksetCompoundInfo(int indx, BSPrimLinkable root, BSPrimLinkable child, OMV.Vector3 centerDisplacement) | ||
57 | { | ||
58 | // Each child position and rotation is given relative to the center-of-mass. | ||
59 | OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation); | ||
60 | OMV.Vector3 displacementFromRoot = (child.RawPosition - root.RawPosition) * invRootOrientation; | ||
61 | OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement; | ||
62 | OMV.Quaternion displacementRot = child.RawOrientation * invRootOrientation; | ||
63 | |||
64 | // Save relative position for recomputing child's world position after moving linkset. | ||
65 | Index = indx; | ||
66 | OffsetFromRoot = displacementFromRoot; | ||
67 | OffsetFromCenterOfMass = displacementFromCOM; | ||
68 | OffsetRot = displacementRot; | ||
69 | } | ||
70 | public override void Clear() | ||
71 | { | ||
72 | Index = 0; | ||
73 | OffsetFromRoot = OMV.Vector3.Zero; | ||
74 | OffsetFromCenterOfMass = OMV.Vector3.Zero; | ||
75 | OffsetRot = OMV.Quaternion.Identity; | ||
76 | } | ||
77 | public override string ToString() | ||
78 | { | ||
79 | StringBuilder buff = new StringBuilder(); | ||
80 | buff.Append("<i="); | ||
81 | buff.Append(Index.ToString()); | ||
82 | buff.Append(",p="); | ||
83 | buff.Append(OffsetFromRoot.ToString()); | ||
84 | buff.Append(",m="); | ||
85 | buff.Append(OffsetFromCenterOfMass.ToString()); | ||
86 | buff.Append(",r="); | ||
87 | buff.Append(OffsetRot.ToString()); | ||
88 | buff.Append(">"); | ||
89 | return buff.ToString(); | ||
90 | } | ||
91 | }; | ||
92 | */ | ||
93 | |||
94 | public sealed class BSLinksetCompound : BSLinkset | 38 | public sealed class BSLinksetCompound : BSLinkset |
95 | { | 39 | { |
96 | private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; | 40 | private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; |
@@ -151,7 +95,9 @@ public sealed class BSLinksetCompound : BSLinkset | |||
151 | public override bool MakeStatic(BSPrimLinkable child) | 95 | public override bool MakeStatic(BSPrimLinkable child) |
152 | { | 96 | { |
153 | bool ret = false; | 97 | bool ret = false; |
98 | |||
154 | DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); | 99 | DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); |
100 | child.ClearDisplacement(); | ||
155 | if (IsRoot(child)) | 101 | if (IsRoot(child)) |
156 | { | 102 | { |
157 | // Schedule a rebuild to verify that the root shape is set to the real shape. | 103 | // Schedule a rebuild to verify that the root shape is set to the real shape. |
@@ -315,7 +261,6 @@ public sealed class BSLinksetCompound : BSLinkset | |||
315 | // Note that this works for rebuilding just the root after a linkset is taken apart. | 261 | // Note that this works for rebuilding just the root after a linkset is taken apart. |
316 | // Called at taint time!! | 262 | // Called at taint time!! |
317 | private bool UseBulletSimRootOffsetHack = false; // Attempt to have Bullet track the coords of root compound shape | 263 | private bool UseBulletSimRootOffsetHack = false; // Attempt to have Bullet track the coords of root compound shape |
318 | private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting | ||
319 | private void RecomputeLinksetCompound() | 264 | private void RecomputeLinksetCompound() |
320 | { | 265 | { |
321 | try | 266 | try |
@@ -326,55 +271,70 @@ public sealed class BSLinksetCompound : BSLinkset | |||
326 | // to what they should be as if the root was not in a linkset. | 271 | // to what they should be as if the root was not in a linkset. |
327 | // Not that bad since we only get into this routine if there are children in the linkset and | 272 | // Not that bad since we only get into this routine if there are children in the linkset and |
328 | // something has been updated/changed. | 273 | // something has been updated/changed. |
274 | // Have to do the rebuild before checking for physical because this might be a linkset | ||
275 | // being destructed and going non-physical. | ||
329 | LinksetRoot.ForceBodyShapeRebuild(true); | 276 | LinksetRoot.ForceBodyShapeRebuild(true); |
330 | 277 | ||
331 | // There is no reason to build all this physical stuff for a non-physical linkset. | 278 | // There is no reason to build all this physical stuff for a non-physical linkset. |
332 | if (!LinksetRoot.IsPhysicallyActive) | 279 | if (!LinksetRoot.IsPhysicallyActive) |
333 | { | 280 | { |
334 | // Clean up any old linkset shape and make sure the root shape is set to the root object. | ||
335 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID); | 281 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID); |
336 | |||
337 | return; // Note the 'finally' clause at the botton which will get executed. | 282 | return; // Note the 'finally' clause at the botton which will get executed. |
338 | } | 283 | } |
339 | 284 | ||
340 | // Get a new compound shape to build the linkset shape in. | 285 | // Get a new compound shape to build the linkset shape in. |
341 | BSShape linksetShape = BSShapeCompound.GetReference(m_physicsScene); | 286 | BSShape linksetShape = BSShapeCompound.GetReference(m_physicsScene); |
342 | 287 | ||
343 | // The center of mass for the linkset is the geometric center of the group. | ||
344 | // Compute a displacement for each component so it is relative to the center-of-mass. | 288 | // Compute a displacement for each component so it is relative to the center-of-mass. |
345 | // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass | 289 | // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass |
346 | OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass(); | 290 | OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass(); |
347 | 291 | ||
348 | OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation)); | 292 | OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation)); |
293 | OMV.Vector3 origRootPosition = LinksetRoot.RawPosition; | ||
349 | 294 | ||
350 | // 'centerDisplacement' is the value to subtract from children to give physical offset position | 295 | // 'centerDisplacementV' is the vehicle relative distance from the simulator root position to the center-of-mass |
351 | OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation; | 296 | OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation; |
352 | if (UseBulletSimRootOffsetHack || disableCOM) | 297 | if (UseBulletSimRootOffsetHack || !BSParam.LinksetOffsetCenterOfMass) |
353 | { | 298 | { |
299 | // Zero everything if center-of-mass displacement is not being done. | ||
354 | centerDisplacementV = OMV.Vector3.Zero; | 300 | centerDisplacementV = OMV.Vector3.Zero; |
355 | LinksetRoot.ClearDisplacement(); | 301 | LinksetRoot.ClearDisplacement(); |
356 | } | 302 | } |
357 | else | 303 | else |
358 | { | 304 | { |
359 | LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV); | 305 | // The actual center-of-mass could have been set by the user. |
306 | centerDisplacementV = LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV); | ||
360 | } | 307 | } |
308 | |||
361 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}", | 309 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}", |
362 | LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacementV); | 310 | LinksetRoot.LocalID, origRootPosition, centerOfMassW, centerDisplacementV); |
363 | 311 | ||
364 | // Add the shapes of all the components of the linkset | 312 | // Add the shapes of all the components of the linkset |
365 | int memberIndex = 1; | 313 | int memberIndex = 1; |
366 | ForEachMember(delegate(BSPrimLinkable cPrim) | 314 | ForEachMember(delegate(BSPrimLinkable cPrim) |
367 | { | 315 | { |
368 | // Root shape is always index zero. | 316 | if (IsRoot(cPrim)) |
369 | cPrim.LinksetChildIndex = IsRoot(cPrim) ? 0 : memberIndex; | 317 | { |
318 | // Root shape is always index zero. | ||
319 | cPrim.LinksetChildIndex = 0; | ||
320 | } | ||
321 | else | ||
322 | { | ||
323 | cPrim.LinksetChildIndex = memberIndex; | ||
324 | memberIndex++; | ||
325 | } | ||
370 | 326 | ||
371 | // Get a reference to the shape of the child and add that shape to the linkset compound shape | 327 | // Get a reference to the shape of the child for adding of that shape to the linkset compound shape |
372 | BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim); | 328 | BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim); |
373 | OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacementV; | 329 | |
330 | // Offset the child shape from the center-of-mass and rotate it to vehicle relative. | ||
331 | OMV.Vector3 offsetPos = (cPrim.RawPosition - origRootPosition) * invRootOrientation - centerDisplacementV; | ||
374 | OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation; | 332 | OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation; |
333 | |||
334 | // Add the child shape to the compound shape being built | ||
375 | m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); | 335 | m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); |
376 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}", | 336 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}", |
377 | LinksetRoot.LocalID, memberIndex, childShape, offsetPos, offsetRot); | 337 | LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot); |
378 | 338 | ||
379 | // Since we are borrowing the shape of the child, disable the origional child body | 339 | // Since we are borrowing the shape of the child, disable the origional child body |
380 | if (!IsRoot(cPrim)) | 340 | if (!IsRoot(cPrim)) |
@@ -386,8 +346,6 @@ public sealed class BSLinksetCompound : BSLinkset | |||
386 | cPrim.PhysBody.collisionType = CollisionType.LinksetChild; | 346 | cPrim.PhysBody.collisionType = CollisionType.LinksetChild; |
387 | } | 347 | } |
388 | 348 | ||
389 | memberIndex++; | ||
390 | |||
391 | return false; // 'false' says to move onto the next child in the list | 349 | return false; // 'false' says to move onto the next child in the list |
392 | }); | 350 | }); |
393 | 351 | ||
@@ -409,8 +367,9 @@ public sealed class BSLinksetCompound : BSLinkset | |||
409 | { | 367 | { |
410 | // Enable the physical position updator to return the position and rotation of the root shape. | 368 | // Enable the physical position updator to return the position and rotation of the root shape. |
411 | // This enables a feature in the C++ code to return the world coordinates of the first shape in the | 369 | // This enables a feature in the C++ code to return the world coordinates of the first shape in the |
412 | // compound shape. This eleviates the need to offset the returned physical position by the | 370 | // compound shape. This aleviates the need to offset the returned physical position by the |
413 | // center-of-mass offset. | 371 | // center-of-mass offset. |
372 | // TODO: either debug this feature or remove it. | ||
414 | m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); | 373 | m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); |
415 | } | 374 | } |
416 | } | 375 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 1214703..7693195 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | |||
@@ -188,6 +188,8 @@ public class BSVMotor : BSMotor | |||
188 | CurrentValue = current; | 188 | CurrentValue = current; |
189 | return Step(timeStep); | 189 | return Step(timeStep); |
190 | } | 190 | } |
191 | // Given and error, computer a correction for this step. | ||
192 | // Simple scaling of the error by the timestep. | ||
191 | public virtual Vector3 StepError(float timeStep, Vector3 error) | 193 | public virtual Vector3 StepError(float timeStep, Vector3 error) |
192 | { | 194 | { |
193 | if (!Enabled) return Vector3.Zero; | 195 | if (!Enabled) return Vector3.Zero; |
@@ -221,7 +223,7 @@ public class BSVMotor : BSMotor | |||
221 | CurrentValue, TargetValue); | 223 | CurrentValue, TargetValue); |
222 | 224 | ||
223 | LastError = BSMotor.InfiniteVector; | 225 | LastError = BSMotor.InfiniteVector; |
224 | while (maxOutput-- > 0 && !LastError.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) | 226 | while (maxOutput-- > 0 && !ErrorIsZero()) |
225 | { | 227 | { |
226 | Vector3 lastStep = Step(timeStep); | 228 | Vector3 lastStep = Step(timeStep); |
227 | MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}", | 229 | MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}", |
@@ -375,7 +377,6 @@ public class BSPIDVMotor : BSVMotor | |||
375 | // The factors are vectors for the three dimensions. This is the proportional of each | 377 | // The factors are vectors for the three dimensions. This is the proportional of each |
376 | // that is applied. This could be multiplied through the actual factors but it | 378 | // that is applied. This could be multiplied through the actual factors but it |
377 | // is sometimes easier to manipulate the factors and their mix separately. | 379 | // is sometimes easier to manipulate the factors and their mix separately. |
378 | // to | ||
379 | public Vector3 FactorMix; | 380 | public Vector3 FactorMix; |
380 | 381 | ||
381 | // Arbritrary factor range. | 382 | // Arbritrary factor range. |
@@ -413,14 +414,14 @@ public class BSPIDVMotor : BSVMotor | |||
413 | // If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot. | 414 | // If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot. |
414 | // If efficiency is low (0f), use a factor value that overcorrects. | 415 | // If efficiency is low (0f), use a factor value that overcorrects. |
415 | // TODO: might want to vary contribution of different factor depending on efficiency. | 416 | // TODO: might want to vary contribution of different factor depending on efficiency. |
416 | float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f; | 417 | // float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f; |
417 | // float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow; | 418 | float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow; |
418 | 419 | ||
419 | proportionFactor = new Vector3(factor, factor, factor); | 420 | proportionFactor = new Vector3(factor, factor, factor); |
420 | integralFactor = new Vector3(factor, factor, factor); | 421 | integralFactor = new Vector3(factor, factor, factor); |
421 | derivFactor = new Vector3(factor, factor, factor); | 422 | derivFactor = new Vector3(factor, factor, factor); |
422 | 423 | ||
423 | MDetailLog("{0},BSPIDVMotor.setEfficiency,eff={1},factor={2}", BSScene.DetailLogZero, Efficiency, factor); | 424 | MDetailLog("{0}, BSPIDVMotor.setEfficiency,eff={1},factor={2}", BSScene.DetailLogZero, Efficiency, factor); |
424 | } | 425 | } |
425 | } | 426 | } |
426 | 427 | ||
@@ -441,8 +442,8 @@ public class BSPIDVMotor : BSVMotor | |||
441 | + derivitive / TimeScale * derivFactor * FactorMix.Z | 442 | + derivitive / TimeScale * derivFactor * FactorMix.Z |
442 | ; | 443 | ; |
443 | 444 | ||
444 | MDetailLog("{0}, BSPIDVMotor.step,ts={1},err={2},runnInt={3},deriv={4},ret={5}", | 445 | MDetailLog("{0}, BSPIDVMotor.step,ts={1},err={2},lerr={3},runnInt={4},deriv={5},ret={6}", |
445 | BSScene.DetailLogZero, timeStep, error, RunningIntegration, derivitive, ret); | 446 | BSScene.DetailLogZero, timeStep, error, LastError, RunningIntegration, derivitive, ret); |
446 | 447 | ||
447 | return ret; | 448 | return ret; |
448 | } | 449 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index d17c8e7..0f84bf7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | |||
@@ -176,6 +176,7 @@ public static class BSParam | |||
176 | 176 | ||
177 | // Linkset implementation parameters | 177 | // Linkset implementation parameters |
178 | public static float LinksetImplementation { get; private set; } | 178 | public static float LinksetImplementation { get; private set; } |
179 | public static bool LinksetOffsetCenterOfMass { get; private set; } | ||
179 | public static bool LinkConstraintUseFrameOffset { get; private set; } | 180 | public static bool LinkConstraintUseFrameOffset { get; private set; } |
180 | public static bool LinkConstraintEnableTransMotor { get; private set; } | 181 | public static bool LinkConstraintEnableTransMotor { get; private set; } |
181 | public static float LinkConstraintTransMotorMaxVel { get; private set; } | 182 | public static float LinkConstraintTransMotorMaxVel { get; private set; } |
@@ -684,6 +685,8 @@ public static class BSParam | |||
684 | 685 | ||
685 | new ParameterDefn<float>("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", | 686 | new ParameterDefn<float>("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", |
686 | (float)BSLinkset.LinksetImplementation.Compound ), | 687 | (float)BSLinkset.LinksetImplementation.Compound ), |
688 | new ParameterDefn<bool>("LinksetOffsetCenterOfMass", "If 'true', compute linkset center-of-mass and offset linkset position to account for same", | ||
689 | false ), | ||
687 | new ParameterDefn<bool>("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", | 690 | new ParameterDefn<bool>("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", |
688 | false ), | 691 | false ), |
689 | new ParameterDefn<bool>("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", | 692 | new ParameterDefn<bool>("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index a0d5c42..738e2d0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | |||
@@ -90,6 +90,8 @@ public abstract class BSPhysObject : PhysicsActor | |||
90 | PhysBody = new BulletBody(localID); | 90 | PhysBody = new BulletBody(localID); |
91 | PhysShape = new BSShapeNull(); | 91 | PhysShape = new BSShapeNull(); |
92 | 92 | ||
93 | UserSetCenterOfMassDisplacement = null; | ||
94 | |||
93 | PrimAssetState = PrimAssetCondition.Unknown; | 95 | PrimAssetState = PrimAssetCondition.Unknown; |
94 | 96 | ||
95 | // Default material type. Also sets Friction, Restitution and Density. | 97 | // Default material type. Also sets Friction, Restitution and Density. |
@@ -180,6 +182,7 @@ public abstract class BSPhysObject : PhysicsActor | |||
180 | Material = (MaterialAttributes.Material)material; | 182 | Material = (MaterialAttributes.Material)material; |
181 | 183 | ||
182 | // Setting the material sets the material attributes also. | 184 | // Setting the material sets the material attributes also. |
185 | // TODO: decide if this is necessary -- the simulator does this. | ||
183 | MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); | 186 | MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); |
184 | Friction = matAttrib.friction; | 187 | Friction = matAttrib.friction; |
185 | Restitution = matAttrib.restitution; | 188 | Restitution = matAttrib.restitution; |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index b2947c6..ce4c3da 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -802,6 +802,7 @@ public class BSPrim : BSPhysObject | |||
802 | // isSolid: other objects bounce off of this object | 802 | // isSolid: other objects bounce off of this object |
803 | // isVolumeDetect: other objects pass through but can generate collisions | 803 | // isVolumeDetect: other objects pass through but can generate collisions |
804 | // collisionEvents: whether this object returns collision events | 804 | // collisionEvents: whether this object returns collision events |
805 | // NOTE: overloaded by BSPrimLinkable to also update linkset physical parameters. | ||
805 | public virtual void UpdatePhysicalParameters() | 806 | public virtual void UpdatePhysicalParameters() |
806 | { | 807 | { |
807 | if (!PhysBody.HasPhysicalBody) | 808 | if (!PhysBody.HasPhysicalBody) |
@@ -1125,7 +1126,9 @@ public class BSPrim : BSPhysObject | |||
1125 | OMV.Vector3 addForce = force; | 1126 | OMV.Vector3 addForce = force; |
1126 | PhysScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() | 1127 | PhysScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() |
1127 | { | 1128 | { |
1128 | // Bullet adds this central force to the total force for this tick | 1129 | // Bullet adds this central force to the total force for this tick. |
1130 | // Deep down in Bullet: | ||
1131 | // linearVelocity += totalForce / mass * timeStep; | ||
1129 | DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); | 1132 | DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); |
1130 | if (PhysBody.HasPhysicalBody) | 1133 | if (PhysBody.HasPhysicalBody) |
1131 | { | 1134 | { |
@@ -1493,6 +1496,8 @@ public class BSPrim : BSPhysObject | |||
1493 | 1496 | ||
1494 | returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass); | 1497 | returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass); |
1495 | // DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass); | 1498 | // DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass); |
1499 | DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3},pathB={4},pathE={5},profB={6},profE={7},siz={8}", | ||
1500 | LocalID, Density, volume, returnMass, pathBegin, pathEnd, profileBegin, profileEnd, _size); | ||
1496 | 1501 | ||
1497 | return returnMass; | 1502 | return returnMass; |
1498 | }// end CalculateMass | 1503 | }// end CalculateMass |
@@ -1528,6 +1533,8 @@ public class BSPrim : BSPhysObject | |||
1528 | 1533 | ||
1529 | // The physics engine says that properties have updated. Update same and inform | 1534 | // The physics engine says that properties have updated. Update same and inform |
1530 | // the world that things have changed. | 1535 | // the world that things have changed. |
1536 | // NOTE: BSPrim.UpdateProperties is overloaded by BSPrimLinkable which modifies updates from root and children prims. | ||
1537 | // NOTE: BSPrim.UpdateProperties is overloaded by BSPrimDisplaced which handles mapping physical position to simulator position. | ||
1531 | public override void UpdateProperties(EntityProperties entprop) | 1538 | public override void UpdateProperties(EntityProperties entprop) |
1532 | { | 1539 | { |
1533 | // Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator. | 1540 | // Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator. |
@@ -1563,8 +1570,6 @@ public class BSPrim : BSPhysObject | |||
1563 | LastEntityProperties = CurrentEntityProperties; | 1570 | LastEntityProperties = CurrentEntityProperties; |
1564 | CurrentEntityProperties = entprop; | 1571 | CurrentEntityProperties = entprop; |
1565 | 1572 | ||
1566 | // Note that BSPrim can be overloaded by BSPrimLinkable which controls updates from root and children prims. | ||
1567 | |||
1568 | PhysScene.PostUpdate(this); | 1573 | PhysScene.PostUpdate(this); |
1569 | } | 1574 | } |
1570 | } | 1575 | } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs index f5ee671..35d5a08 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs | |||
@@ -44,14 +44,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
44 | { | 44 | { |
45 | public class BSPrimDisplaced : BSPrim | 45 | public class BSPrimDisplaced : BSPrim |
46 | { | 46 | { |
47 | // The purpose of this module is to do any mapping between what the simulator thinks | 47 | // The purpose of this subclass is to do any mapping between what the simulator thinks |
48 | // the prim position and orientation is and what the physical position/orientation. | 48 | // the prim position and orientation is and what the physical position/orientation. |
49 | // This difference happens because Bullet assumes the center-of-mass is the <0,0,0> | 49 | // This difference happens because Bullet assumes the center-of-mass is the <0,0,0> |
50 | // of the prim/linkset. The simulator tracks the location of the prim/linkset by | 50 | // of the prim/linkset. The simulator, on the other hand, tracks the location of |
51 | // the location of the root prim. So, if center-of-mass is anywhere but the origin | 51 | // the prim/linkset by the location of the root prim. So, if center-of-mass is anywhere |
52 | // of the root prim, the physical origin is displaced from the simulator origin. | 52 | // but the origin of the root prim, the physical origin is displaced from the simulator origin. |
53 | // | 53 | // |
54 | // This routine works by capturing the Force* setting of position/orientation/... and | 54 | // This routine works by capturing ForcePosition and |
55 | // adjusting the simulator values (being set) into the physical values. | 55 | // adjusting the simulator values (being set) into the physical values. |
56 | // The conversion is also done in the opposite direction (physical origin -> simulator origin). | 56 | // The conversion is also done in the opposite direction (physical origin -> simulator origin). |
57 | // | 57 | // |
@@ -59,8 +59,8 @@ public class BSPrimDisplaced : BSPrim | |||
59 | // are converted into simulator origin values before being passed to the base | 59 | // are converted into simulator origin values before being passed to the base |
60 | // class. | 60 | // class. |
61 | 61 | ||
62 | // PositionDisplacement is the vehicle relative distance from the root prim position to the center-of-mass. | ||
62 | public virtual OMV.Vector3 PositionDisplacement { get; set; } | 63 | public virtual OMV.Vector3 PositionDisplacement { get; set; } |
63 | public virtual OMV.Quaternion OrientationDisplacement { get; set; } | ||
64 | 64 | ||
65 | public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, | 65 | public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, |
66 | OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) | 66 | OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) |
@@ -69,50 +69,81 @@ public class BSPrimDisplaced : BSPrim | |||
69 | ClearDisplacement(); | 69 | ClearDisplacement(); |
70 | } | 70 | } |
71 | 71 | ||
72 | // Clears any center-of-mass displacement introduced by linksets, etc. | ||
73 | // Does not clear the displacement set by the user. | ||
72 | public void ClearDisplacement() | 74 | public void ClearDisplacement() |
73 | { | 75 | { |
74 | PositionDisplacement = OMV.Vector3.Zero; | 76 | if (UserSetCenterOfMassDisplacement.HasValue) |
75 | OrientationDisplacement = OMV.Quaternion.Identity; | 77 | PositionDisplacement = (OMV.Vector3)UserSetCenterOfMassDisplacement; |
78 | else | ||
79 | PositionDisplacement = OMV.Vector3.Zero; | ||
76 | } | 80 | } |
77 | 81 | ||
78 | // Set this sets and computes the displacement from the passed prim to the center-of-mass. | 82 | // Set this sets and computes the displacement from the passed prim to the center-of-mass. |
79 | // A user set value for center-of-mass overrides whatever might be passed in here. | 83 | // A user set value for center-of-mass overrides whatever might be passed in here. |
80 | // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates). | 84 | // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates). |
81 | public virtual void SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement) | 85 | // Returns the relative offset from the root position to the center-of-mass. |
86 | // Called at taint time. | ||
87 | public virtual Vector3 SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement) | ||
82 | { | 88 | { |
89 | PhysScene.AssertInTaintTime("BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement"); | ||
83 | Vector3 comDisp; | 90 | Vector3 comDisp; |
84 | if (UserSetCenterOfMassDisplacement.HasValue) | 91 | if (UserSetCenterOfMassDisplacement.HasValue) |
85 | comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement; | 92 | comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement; |
86 | else | 93 | else |
87 | comDisp = centerOfMassDisplacement; | 94 | comDisp = centerOfMassDisplacement; |
88 | 95 | ||
96 | // Eliminate any jitter caused be very slight differences in masses and positions | ||
97 | if (comDisp.ApproxEquals(Vector3.Zero, 0.01f) ) | ||
98 | comDisp = Vector3.Zero; | ||
99 | |||
89 | DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}", | 100 | DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}", |
90 | LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp); | 101 | LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp); |
91 | if (comDisp == Vector3.Zero) | 102 | if ( !comDisp.ApproxEquals(PositionDisplacement, 0.01f) ) |
92 | { | 103 | { |
93 | // If there is no diplacement. Things get reset. | 104 | // Displacement setting is changing. |
94 | PositionDisplacement = OMV.Vector3.Zero; | 105 | // The relationship between the physical object and simulated object must be aligned. |
95 | OrientationDisplacement = OMV.Quaternion.Identity; | ||
96 | } | ||
97 | else | ||
98 | { | ||
99 | // Remember the displacement from root as well as the origional rotation of the | ||
100 | // new center-of-mass. | ||
101 | PositionDisplacement = comDisp; | 106 | PositionDisplacement = comDisp; |
102 | OrientationDisplacement = OMV.Quaternion.Identity; | 107 | this.ForcePosition = RawPosition; |
103 | } | 108 | } |
109 | |||
110 | return PositionDisplacement; | ||
104 | } | 111 | } |
105 | 112 | ||
113 | // 'ForcePosition' is the one way to set the physical position of the body in the physics engine. | ||
114 | // Displace the simulator idea of position (center of root prim) to the physical position. | ||
106 | public override Vector3 ForcePosition | 115 | public override Vector3 ForcePosition |
107 | { | 116 | { |
108 | get { return base.ForcePosition; } | 117 | get { |
118 | OMV.Vector3 physPosition = base.ForcePosition; | ||
119 | if (PositionDisplacement != OMV.Vector3.Zero) | ||
120 | { | ||
121 | // If there is some displacement, return the physical position (center-of-mass) | ||
122 | // location minus the displacement to give the center of the root prim. | ||
123 | OMV.Vector3 displacement = PositionDisplacement * ForceOrientation; | ||
124 | DetailLog("{0},BSPrimDisplaced.ForcePosition,get,physPos={1},disp={2},simPos={3}", | ||
125 | LocalID, physPosition, displacement, physPosition - displacement); | ||
126 | physPosition -= displacement; | ||
127 | } | ||
128 | return physPosition; | ||
129 | } | ||
109 | set | 130 | set |
110 | { | 131 | { |
111 | if (PositionDisplacement != OMV.Vector3.Zero) | 132 | if (PositionDisplacement != OMV.Vector3.Zero) |
112 | { | 133 | { |
113 | OMV.Vector3 displacedPos = value - (PositionDisplacement * RawOrientation); | 134 | // This value is the simulator's idea of where the prim is: the center of the root prim |
114 | DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos); | 135 | RawPosition = value; |
115 | base.ForcePosition = displacedPos; | 136 | |
137 | // Move the passed root prim postion to the center-of-mass position and set in the physics engine. | ||
138 | OMV.Vector3 displacement = PositionDisplacement * RawOrientation; | ||
139 | OMV.Vector3 displacedPos = RawPosition + displacement; | ||
140 | DetailLog("{0},BSPrimDisplaced.ForcePosition,set,simPos={1},disp={2},physPos={3}", | ||
141 | LocalID, RawPosition, displacement, displacedPos); | ||
142 | if (PhysBody.HasPhysicalBody) | ||
143 | { | ||
144 | PhysScene.PE.SetTranslation(PhysBody, displacedPos, RawOrientation); | ||
145 | ActivateIfPhysical(false); | ||
146 | } | ||
116 | } | 147 | } |
117 | else | 148 | else |
118 | { | 149 | { |
@@ -121,25 +152,12 @@ public class BSPrimDisplaced : BSPrim | |||
121 | } | 152 | } |
122 | } | 153 | } |
123 | 154 | ||
124 | public override Quaternion ForceOrientation | 155 | // These are also overridden by BSPrimLinkable if the prim can be part of a linkset |
125 | { | ||
126 | get { return base.ForceOrientation; } | ||
127 | set | ||
128 | { | ||
129 | // TODO: | ||
130 | base.ForceOrientation = value; | ||
131 | } | ||
132 | } | ||
133 | |||
134 | // TODO: decide if this is the right place for these variables. | ||
135 | // Somehow incorporate the optional settability by the user. | ||
136 | // Is this used? | ||
137 | public override OMV.Vector3 CenterOfMass | 156 | public override OMV.Vector3 CenterOfMass |
138 | { | 157 | { |
139 | get { return RawPosition; } | 158 | get { return RawPosition; } |
140 | } | 159 | } |
141 | 160 | ||
142 | // Is this used? | ||
143 | public override OMV.Vector3 GeometricCenter | 161 | public override OMV.Vector3 GeometricCenter |
144 | { | 162 | { |
145 | get { return RawPosition; } | 163 | get { return RawPosition; } |
@@ -148,15 +166,18 @@ public class BSPrimDisplaced : BSPrim | |||
148 | public override void UpdateProperties(EntityProperties entprop) | 166 | public override void UpdateProperties(EntityProperties entprop) |
149 | { | 167 | { |
150 | // Undo any center-of-mass displacement that might have been done. | 168 | // Undo any center-of-mass displacement that might have been done. |
151 | if (PositionDisplacement != OMV.Vector3.Zero || OrientationDisplacement != OMV.Quaternion.Identity) | 169 | if (PositionDisplacement != OMV.Vector3.Zero) |
152 | { | 170 | { |
153 | // Correct for any rotation around the center-of-mass | 171 | // The origional shape was offset from 'zero' by PositionDisplacement. |
154 | // TODO!!! | 172 | // These physical location must be back converted to be centered around the displaced |
155 | 173 | // root shape. | |
156 | OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation); | 174 | |
157 | DetailLog("{0},BSPrimDisplaced.ForcePosition,physPos={1},disp={2},newPos={3}", LocalID, entprop.Position, PositionDisplacement, displacedPos); | 175 | // Move the returned center-of-mass location to the root prim location. |
176 | OMV.Vector3 displacement = PositionDisplacement * entprop.Rotation; | ||
177 | OMV.Vector3 displacedPos = entprop.Position - displacement; | ||
178 | DetailLog("{0},BSPrimDisplaced.UpdateProperties,physPos={1},disp={2},simPos={3}", | ||
179 | LocalID, entprop.Position, displacement, displacedPos); | ||
158 | entprop.Position = displacedPos; | 180 | entprop.Position = displacedPos; |
159 | // entprop.Rotation = something; | ||
160 | } | 181 | } |
161 | 182 | ||
162 | base.UpdateProperties(entprop); | 183 | base.UpdateProperties(entprop); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 87eed98..1fbcfcc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs | |||
@@ -37,6 +37,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
37 | { | 37 | { |
38 | public class BSPrimLinkable : BSPrimDisplaced | 38 | public class BSPrimLinkable : BSPrimDisplaced |
39 | { | 39 | { |
40 | // The purpose of this subclass is to add linkset functionality to the prim. This overrides | ||
41 | // operations necessary for keeping the linkset created and, additionally, this | ||
42 | // calls the linkset implementation for its creation and management. | ||
43 | |||
44 | // This adds the overrides for link() and delink() so the prim is linkable. | ||
45 | |||
40 | public BSLinkset Linkset { get; set; } | 46 | public BSLinkset Linkset { get; set; } |
41 | // The index of this child prim. | 47 | // The index of this child prim. |
42 | public int LinksetChildIndex { get; set; } | 48 | public int LinksetChildIndex { get; set; } |
@@ -69,8 +75,8 @@ public class BSPrimLinkable : BSPrimDisplaced | |||
69 | BSPrimLinkable parent = obj as BSPrimLinkable; | 75 | BSPrimLinkable parent = obj as BSPrimLinkable; |
70 | if (parent != null) | 76 | if (parent != null) |
71 | { | 77 | { |
72 | BSPhysObject parentBefore = Linkset.LinksetRoot; | 78 | BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG |
73 | int childrenBefore = Linkset.NumberOfChildren; | 79 | int childrenBefore = Linkset.NumberOfChildren; // DEBUG |
74 | 80 | ||
75 | Linkset = parent.Linkset.AddMeToLinkset(this); | 81 | Linkset = parent.Linkset.AddMeToLinkset(this); |
76 | 82 | ||
@@ -85,8 +91,8 @@ public class BSPrimLinkable : BSPrimDisplaced | |||
85 | // TODO: decide if this parent checking needs to happen at taint time | 91 | // TODO: decide if this parent checking needs to happen at taint time |
86 | // Race condition here: if link() and delink() in same simulation tick, the delink will not happen | 92 | // Race condition here: if link() and delink() in same simulation tick, the delink will not happen |
87 | 93 | ||
88 | BSPhysObject parentBefore = Linkset.LinksetRoot; | 94 | BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG |
89 | int childrenBefore = Linkset.NumberOfChildren; | 95 | int childrenBefore = Linkset.NumberOfChildren; // DEBUG |
90 | 96 | ||
91 | Linkset = Linkset.RemoveMeFromLinkset(this); | 97 | Linkset = Linkset.RemoveMeFromLinkset(this); |
92 | 98 | ||
@@ -128,6 +134,17 @@ public class BSPrimLinkable : BSPrimDisplaced | |||
128 | get { return Linkset.LinksetMass; } | 134 | get { return Linkset.LinksetMass; } |
129 | } | 135 | } |
130 | 136 | ||
137 | public override OMV.Vector3 CenterOfMass | ||
138 | { | ||
139 | get { return Linkset.CenterOfMass; } | ||
140 | } | ||
141 | |||
142 | public override OMV.Vector3 GeometricCenter | ||
143 | { | ||
144 | get { return Linkset.GeometricCenter; } | ||
145 | } | ||
146 | |||
147 | // Refresh the linkset structure and parameters when the prim's physical parameters are changed. | ||
131 | public override void UpdatePhysicalParameters() | 148 | public override void UpdatePhysicalParameters() |
132 | { | 149 | { |
133 | base.UpdatePhysicalParameters(); | 150 | base.UpdatePhysicalParameters(); |
@@ -139,13 +156,17 @@ public class BSPrimLinkable : BSPrimDisplaced | |||
139 | Linkset.Refresh(this); | 156 | Linkset.Refresh(this); |
140 | } | 157 | } |
141 | 158 | ||
159 | // When the prim is made dynamic or static, the linkset needs to change. | ||
142 | protected override void MakeDynamic(bool makeStatic) | 160 | protected override void MakeDynamic(bool makeStatic) |
143 | { | 161 | { |
144 | base.MakeDynamic(makeStatic); | 162 | base.MakeDynamic(makeStatic); |
145 | if (makeStatic) | 163 | if (Linkset != null) // null can happen during initialization |
146 | Linkset.MakeStatic(this); | 164 | { |
147 | else | 165 | if (makeStatic) |
148 | Linkset.MakeDynamic(this); | 166 | Linkset.MakeStatic(this); |
167 | else | ||
168 | Linkset.MakeDynamic(this); | ||
169 | } | ||
149 | } | 170 | } |
150 | 171 | ||
151 | // Body is being taken apart. Remove physical dependencies and schedule a rebuild. | 172 | // Body is being taken apart. Remove physical dependencies and schedule a rebuild. |
@@ -155,6 +176,8 @@ public class BSPrimLinkable : BSPrimDisplaced | |||
155 | base.RemoveDependencies(); | 176 | base.RemoveDependencies(); |
156 | } | 177 | } |
157 | 178 | ||
179 | // Called after a simulation step for the changes in physical object properties. | ||
180 | // Do any filtering/modification needed for linksets. | ||
158 | public override void UpdateProperties(EntityProperties entprop) | 181 | public override void UpdateProperties(EntityProperties entprop) |
159 | { | 182 | { |
160 | if (Linkset.IsRoot(this)) | 183 | if (Linkset.IsRoot(this)) |
@@ -176,6 +199,7 @@ public class BSPrimLinkable : BSPrimDisplaced | |||
176 | Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); | 199 | Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); |
177 | } | 200 | } |
178 | 201 | ||
202 | // Called after a simulation step to post a collision with this object. | ||
179 | public override bool Collide(uint collidingWith, BSPhysObject collidee, | 203 | public override bool Collide(uint collidingWith, BSPhysObject collidee, |
180 | OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) | 204 | OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) |
181 | { | 205 | { |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 1645c98..e56a6f6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | |||
@@ -785,7 +785,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
785 | { | 785 | { |
786 | // The simulation of the time interval took less than realtime. | 786 | // The simulation of the time interval took less than realtime. |
787 | // Do a sleep for the rest of realtime. | 787 | // Do a sleep for the rest of realtime. |
788 | DetailLog("{0},BulletSPluginPhysicsThread,sleeping={1}", BSScene.DetailLogZero, simulationTimeVsRealtimeDifferenceMS); | ||
789 | Thread.Sleep(simulationTimeVsRealtimeDifferenceMS); | 788 | Thread.Sleep(simulationTimeVsRealtimeDifferenceMS); |
790 | } | 789 | } |
791 | else | 790 | else |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 4357ef1..0453376 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | |||
@@ -3,25 +3,21 @@ CURRENT PROBLEMS TO FIX AND/OR LOOK AT | |||
3 | Vehicle buoyancy. Computed correctly? Possibly creating very large effective mass. | 3 | Vehicle buoyancy. Computed correctly? Possibly creating very large effective mass. |
4 | Interaction of llSetBuoyancy and vehicle buoyancy. Should be additive? | 4 | Interaction of llSetBuoyancy and vehicle buoyancy. Should be additive? |
5 | Negative buoyancy computed correctly | 5 | Negative buoyancy computed correctly |
6 | Center-of-gravity | ||
6 | Computation of mesh mass. How done? How should it be done? | 7 | Computation of mesh mass. How done? How should it be done? |
7 | Script changing rotation of child prim while vehicle moving (eg turning wheel) causes | ||
8 | the wheel to appear to jump back. Looks like sending position from previous update. | ||
9 | Enable vehicle border crossings (at least as poorly as ODE) | 8 | Enable vehicle border crossings (at least as poorly as ODE) |
10 | Terrain skirts | 9 | Terrain skirts |
11 | Avatar created in previous region and not new region when crossing border | 10 | Avatar created in previous region and not new region when crossing border |
12 | Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) | 11 | Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) |
12 | User settable terrain mesh | ||
13 | Allow specifying as convex or concave and use different getHeight functions depending | ||
14 | Boats, when turning nose down into the water | ||
15 | Acts like rotation around Z is also effecting rotation around X and Y | ||
13 | Deleting a linkset while standing on the root will leave the physical shape of the root behind. | 16 | Deleting a linkset while standing on the root will leave the physical shape of the root behind. |
14 | Not sure if it is because standing on it. Done with large prim linksets. | 17 | Not sure if it is because standing on it. Done with large prim linksets. |
15 | Linkset child rotations. | 18 | Linkset child rotations. |
16 | Nebadon spiral tube has middle sections which are rotated wrong. | 19 | Nebadon spiral tube has middle sections which are rotated wrong. |
17 | Select linked spiral tube. Delink and note where the middle section ends up. | 20 | Select linked spiral tube. Delink and note where the middle section ends up. |
18 | Refarb compound linkset creation to create a pseudo-root for center-of-mass | ||
19 | Let children change their shape to physical indendently and just add shapes to compound | ||
20 | Vehicle angular vertical attraction | ||
21 | vehicle angular banking | ||
22 | Center-of-gravity | ||
23 | Vehicle angular deflection | ||
24 | Preferred orientation angular correction fix | ||
25 | Teravus llMoveToTarget script debug | 21 | Teravus llMoveToTarget script debug |
26 | Mixing of hover, buoyancy/gravity, moveToTarget, into one force | 22 | Mixing of hover, buoyancy/gravity, moveToTarget, into one force |
27 | Setting hover height to zero disables hover even if hover flags are on (from SL wiki) | 23 | Setting hover height to zero disables hover even if hover flags are on (from SL wiki) |
@@ -33,10 +29,16 @@ Vehicle script tuning/debugging | |||
33 | Avanti speed script | 29 | Avanti speed script |
34 | Weapon shooter script | 30 | Weapon shooter script |
35 | Move material definitions (friction, ...) into simulator. | 31 | Move material definitions (friction, ...) into simulator. |
32 | osGetPhysicsEngineVerion() and create a version code for the C++ DLL | ||
36 | One sided meshes? Should terrain be built into a closed shape? | 33 | One sided meshes? Should terrain be built into a closed shape? |
37 | When meshes get partially wedged into the terrain, they cannot push themselves out. | 34 | When meshes get partially wedged into the terrain, they cannot push themselves out. |
38 | It is possible that Bullet processes collisions whether entering or leaving a mesh. | 35 | It is possible that Bullet processes collisions whether entering or leaving a mesh. |
39 | Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869 | 36 | Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869 |
37 | Small physical objects do not interact correctly | ||
38 | Create chain of .5x.5x.1 torui and make all but top physical so to hang. | ||
39 | The chain will fall apart and pairs will dance around on ground | ||
40 | Chains of 1x1x.2 will stay connected but will dance. | ||
41 | Chains above 2x2x.4 are more stable and get stablier as torui get larger. | ||
40 | 42 | ||
41 | VEHICLES TODO LIST: | 43 | VEHICLES TODO LIST: |
42 | ================================================= | 44 | ================================================= |
@@ -45,14 +47,12 @@ LINEAR_MOTOR_DIRECTION values should be clamped to reasonable numbers. | |||
45 | Same for other velocity settings. | 47 | Same for other velocity settings. |
46 | UBit improvements to remove rubber-banding of avatars sitting on vehicle child prims: | 48 | UBit improvements to remove rubber-banding of avatars sitting on vehicle child prims: |
47 | https://github.com/UbitUmarov/Ubit-opensim | 49 | https://github.com/UbitUmarov/Ubit-opensim |
48 | Vehicles (Move smoothly) | ||
49 | Some vehicles should not be able to turn if no speed or off ground. | 50 | Some vehicles should not be able to turn if no speed or off ground. |
50 | Cannot edit/move a vehicle being ridden: it jumps back to the origional position. | 51 | Cannot edit/move a vehicle being ridden: it jumps back to the origional position. |
51 | Neb car jiggling left and right | 52 | Neb car jiggling left and right |
52 | Happens on terrain and any other mesh object. Flat cubes are much smoother. | 53 | Happens on terrain and any other mesh object. Flat cubes are much smoother. |
53 | This has been reduced but not eliminated. | 54 | This has been reduced but not eliminated. |
54 | Implement referenceFrame for all the motion routines. | 55 | Implement referenceFrame for all the motion routines. |
55 | For limitMotorUp, use raycast down to find if vehicle is in the air. | ||
56 | Verify llGetVel() is returning a smooth and good value for vehicle movement. | 56 | Verify llGetVel() is returning a smooth and good value for vehicle movement. |
57 | llGetVel() should return the root's velocity if requested in a child prim. | 57 | llGetVel() should return the root's velocity if requested in a child prim. |
58 | Implement function efficiency for lineaar and angular motion. | 58 | Implement function efficiency for lineaar and angular motion. |
@@ -93,29 +93,15 @@ Revisit CollisionMargin. Builders notice the 0.04 spacing between prims. | |||
93 | Duplicating a physical prim causes old prim to jump away | 93 | Duplicating a physical prim causes old prim to jump away |
94 | Dup a phys prim and the original become unselected and thus interacts w/ selected prim. | 94 | Dup a phys prim and the original become unselected and thus interacts w/ selected prim. |
95 | Scenes with hundred of thousands of static objects take a lot of physics CPU time. | 95 | Scenes with hundred of thousands of static objects take a lot of physics CPU time. |
96 | BSPrim.Force should set a continious force on the prim. The force should be | ||
97 | applied each tick. Some limits? | ||
98 | Gun sending shooter flying. | 96 | Gun sending shooter flying. |
99 | Collision margin (gap between physical objects lying on each other) | 97 | Collision margin (gap between physical objects lying on each other) |
100 | Boundry checking (crashes related to crossing boundry) | 98 | Boundry checking (crashes related to crossing boundry) |
101 | Add check for border edge position for avatars and objects. | 99 | Add check for border edge position for avatars and objects. |
102 | Verify the events are created for border crossings. | 100 | Verify the events are created for border crossings. |
103 | Avatar rotation (check out changes to ScenePresence for physical rotation) | ||
104 | Avatar running (what does phys engine need to do?) | ||
105 | Small physical objects do not interact correctly | ||
106 | Create chain of .5x.5x.1 torui and make all but top physical so to hang. | ||
107 | The chain will fall apart and pairs will dance around on ground | ||
108 | Chains of 1x1x.2 will stay connected but will dance. | ||
109 | Chains above 2x2x.4 are more stable and get stablier as torui get larger. | ||
110 | Add PID motor for avatar movement (slow to stop, ...) | ||
111 | setForce should set a constant force. Different than AddImpulse. | ||
112 | Implement raycast. | ||
113 | Implement ShapeCollection.Dispose() | 101 | Implement ShapeCollection.Dispose() |
114 | Implement water as a plain so raycasting and collisions can happen with same. | 102 | Implement water as a plain or mesh so raycasting and collisions can happen with same. |
115 | Add collision penetration return | 103 | Add collision penetration return |
116 | Add field passed back by BulletSim.dll and fill with info in ManifoldConstact.GetDistance() | 104 | Add field passed back by BulletSim.dll and fill with info in ManifoldConstact.GetDistance() |
117 | Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE | ||
118 | Also osGetPhysicsEngineVerion() maybe. | ||
119 | Linkset.Position and Linkset.Orientation requre rewrite to properly return | 105 | Linkset.Position and Linkset.Orientation requre rewrite to properly return |
120 | child position. LinksetConstraint acts like it's at taint time!! | 106 | child position. LinksetConstraint acts like it's at taint time!! |
121 | Implement LockAngularMotion -- implements llSetStatus(ROTATE_AXIS_*, T/F) | 107 | Implement LockAngularMotion -- implements llSetStatus(ROTATE_AXIS_*, T/F) |
@@ -127,9 +113,6 @@ Selecting and deselecting physical objects causes CPU processing time to jump | |||
127 | Re-implement buoyancy as a separate force on the object rather than diddling gravity. | 113 | Re-implement buoyancy as a separate force on the object rather than diddling gravity. |
128 | Register a pre-step event to add the force. | 114 | Register a pre-step event to add the force. |
129 | More efficient memory usage when passing hull information from BSPrim to BulletSim | 115 | More efficient memory usage when passing hull information from BSPrim to BulletSim |
130 | Avatar movement motor check for zero or small movement. Somehow suppress small movements | ||
131 | when avatar has stopped and is just standing. Simple test for near zero has | ||
132 | the problem of preventing starting up (increase from zero) especially when falling. | ||
133 | Physical and phantom will drop through the terrain | 116 | Physical and phantom will drop through the terrain |
134 | 117 | ||
135 | 118 | ||
@@ -172,7 +155,6 @@ Do we need to do convex hulls all the time? Can complex meshes be left meshes? | |||
172 | There is some problem with meshes and collisions | 155 | There is some problem with meshes and collisions |
173 | Hulls are not as detailed as meshes. Hulled vehicles insides are different shape. | 156 | Hulls are not as detailed as meshes. Hulled vehicles insides are different shape. |
174 | Debounce avatar contact so legs don't keep folding up when standing. | 157 | Debounce avatar contact so legs don't keep folding up when standing. |
175 | Implement LSL physics controls. Like STATUS_ROTATE_X. | ||
176 | Add border extensions to terrain to help region crossings and objects leaving region. | 158 | Add border extensions to terrain to help region crossings and objects leaving region. |
177 | Use a different capsule shape for avatar when sitting | 159 | Use a different capsule shape for avatar when sitting |
178 | LL uses a pyrimidal shape scaled by the avatar's bounding box | 160 | LL uses a pyrimidal shape scaled by the avatar's bounding box |
@@ -205,8 +187,6 @@ Keep avatar scaling correct. http://pennycow.blogspot.fr/2011/07/matter-of-scale | |||
205 | 187 | ||
206 | INTERNAL IMPROVEMENT/CLEANUP | 188 | INTERNAL IMPROVEMENT/CLEANUP |
207 | ================================================= | 189 | ================================================= |
208 | Can the 'inTaintTime' flag be cleaned up and used? For instance, a call to | ||
209 | BSScene.TaintedObject() could immediately execute the callback if already in taint time. | ||
210 | Create the physical wrapper classes (BulletBody, BulletShape) by methods on | 190 | Create the physical wrapper classes (BulletBody, BulletShape) by methods on |
211 | BSAPITemplate and make their actual implementation Bullet engine specific. | 191 | BSAPITemplate and make their actual implementation Bullet engine specific. |
212 | For the short term, just call the existing functions in ShapeCollection. | 192 | For the short term, just call the existing functions in ShapeCollection. |
@@ -365,4 +345,35 @@ After getting off a vehicle, the root prim is phantom (can be walked through) | |||
365 | Explore btGImpactMeshShape as alternative to convex hulls for simplified physical objects. | 345 | Explore btGImpactMeshShape as alternative to convex hulls for simplified physical objects. |
366 | Regular triangle meshes don't do physical collisions. | 346 | Regular triangle meshes don't do physical collisions. |
367 | (DONE: discovered GImpact is VERY CPU intensive) | 347 | (DONE: discovered GImpact is VERY CPU intensive) |
348 | Script changing rotation of child prim while vehicle moving (eg turning wheel) causes | ||
349 | the wheel to appear to jump back. Looks like sending position from previous update. | ||
350 | (DONE: redo of compound linksets fixed problem) | ||
351 | Refarb compound linkset creation to create a pseudo-root for center-of-mass | ||
352 | Let children change their shape to physical indendently and just add shapes to compound | ||
353 | (DONE: redo of compound linkset fixed problem) | ||
354 | Vehicle angular vertical attraction (DONE: vegaslon code) | ||
355 | vehicle angular banking (DONE: vegaslon code) | ||
356 | Vehicle angular deflection (DONE: vegaslon code) | ||
357 | Preferred orientation angular correction fix | ||
358 | Vehicles (Move smoothly) | ||
359 | For limitMotorUp, use raycast down to find if vehicle is in the air. | ||
360 | (WILL NOT BE DONE: gravity does the job well enough) | ||
361 | BSPrim.Force should set a continious force on the prim. The force should be | ||
362 | applied each tick. Some limits? | ||
363 | (DONE: added physical actors. Implemented SetForce, SetTorque, ...) | ||
364 | Implement LSL physics controls. Like STATUS_ROTATE_X. (DONE) | ||
365 | Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE | ||
366 | Avatar rotation (check out changes to ScenePresence for physical rotation) (DONE) | ||
367 | Avatar running (what does phys engine need to do?) (DONE: multiplies run factor by walking force) | ||
368 | setForce should set a constant force. Different than AddImpulse. (DONE) | ||
369 | Add PID motor for avatar movement (slow to stop, ...) (WNBD: current works ok) | ||
370 | Avatar movement motor check for zero or small movement. Somehow suppress small movements | ||
371 | when avatar has stopped and is just standing. Simple test for near zero has | ||
372 | the problem of preventing starting up (increase from zero) especially when falling. | ||
373 | (DONE: avatar movement actor knows if standing on stationary object and zeros motion) | ||
374 | Can the 'inTaintTime' flag be cleaned up and used? For instance, a call to | ||
375 | BSScene.TaintedObject() could immediately execute the callback if already in taint time. | ||
376 | (DONE) | ||
377 | |||
378 | |||
368 | 379 | ||
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs index c0b8373..34e2b4d 100644 --- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs +++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs | |||
@@ -2382,6 +2382,32 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api | |||
2382 | return force; | 2382 | return force; |
2383 | } | 2383 | } |
2384 | 2384 | ||
2385 | public void llSetVelocity(LSL_Vector velocity, int local) | ||
2386 | { | ||
2387 | m_host.AddScriptLPS(1); | ||
2388 | |||
2389 | if (!m_host.ParentGroup.IsDeleted) | ||
2390 | { | ||
2391 | if (local != 0) | ||
2392 | velocity *= llGetRot(); | ||
2393 | |||
2394 | m_host.ParentGroup.RootPart.Velocity = velocity; | ||
2395 | } | ||
2396 | } | ||
2397 | |||
2398 | public void llSetAngularVelocity(LSL_Vector angularVelocity, int local) | ||
2399 | { | ||
2400 | m_host.AddScriptLPS(1); | ||
2401 | |||
2402 | if (!m_host.ParentGroup.IsDeleted) | ||
2403 | { | ||
2404 | if (local != 0) | ||
2405 | angularVelocity *= llGetRot(); | ||
2406 | |||
2407 | m_host.ParentGroup.RootPart.AngularVelocity = angularVelocity; | ||
2408 | } | ||
2409 | } | ||
2410 | |||
2385 | public LSL_Integer llTarget(LSL_Vector position, double range) | 2411 | public LSL_Integer llTarget(LSL_Vector position, double range) |
2386 | { | 2412 | { |
2387 | m_host.AddScriptLPS(1); | 2413 | m_host.AddScriptLPS(1); |
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs index ff13ee6..340edb3 100644 --- a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs +++ b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs | |||
@@ -342,6 +342,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces | |||
342 | void llSetDamage(double damage); | 342 | void llSetDamage(double damage); |
343 | void llSetForce(LSL_Vector force, int local); | 343 | void llSetForce(LSL_Vector force, int local); |
344 | void llSetForceAndTorque(LSL_Vector force, LSL_Vector torque, int local); | 344 | void llSetForceAndTorque(LSL_Vector force, LSL_Vector torque, int local); |
345 | void llSetVelocity(LSL_Vector velocity, int local); | ||
346 | void llSetAngularVelocity(LSL_Vector angularVelocity, int local); | ||
345 | void llSetHoverHeight(double height, int water, double tau); | 347 | void llSetHoverHeight(double height, int water, double tau); |
346 | void llSetInventoryPermMask(string item, int mask, int value); | 348 | void llSetInventoryPermMask(string item, int mask, int value); |
347 | void llSetLinkAlpha(int linknumber, double alpha, int face); | 349 | void llSetLinkAlpha(int linknumber, double alpha, int face); |
diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs index 87cc342..7cd17e7 100644 --- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs +++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs | |||
@@ -1548,6 +1548,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase | |||
1548 | m_LSL_Functions.llSetForceAndTorque(force, torque, local); | 1548 | m_LSL_Functions.llSetForceAndTorque(force, torque, local); |
1549 | } | 1549 | } |
1550 | 1550 | ||
1551 | public void llSetVelocity(LSL_Vector force, int local) | ||
1552 | { | ||
1553 | m_LSL_Functions.llSetVelocity(force, local); | ||
1554 | } | ||
1555 | |||
1556 | public void llSetAngularVelocity(LSL_Vector force, int local) | ||
1557 | { | ||
1558 | m_LSL_Functions.llSetAngularVelocity(force, local); | ||
1559 | } | ||
1560 | |||
1551 | public void llSetHoverHeight(double height, int water, double tau) | 1561 | public void llSetHoverHeight(double height, int water, double tau) |
1552 | { | 1562 | { |
1553 | m_LSL_Functions.llSetHoverHeight(height, water, tau); | 1563 | m_LSL_Functions.llSetHoverHeight(height, water, tau); |