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authorRobert Adams2013-02-21 08:52:11 -0800
committerRobert Adams2013-02-21 08:52:11 -0800
commitefb5da0aa672551a8a68e16066f3dd3991f75da4 (patch)
tree713c0f254a512f18e3025afc0b8d0621bade92c7 /OpenSim/Region
parentAdd a method to IStatsCollector for returning stats as an OSDMap. (diff)
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BulletSim: add OutOfBounds logic and some position sanity checking
to eliminate some of the "cannot find terrain height" warning messages.
Diffstat (limited to 'OpenSim/Region')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs7
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSParam.cs43
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs27
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs2
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt22
5 files changed, 68 insertions, 33 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 8dca7c6..1f186c3 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -443,6 +443,7 @@ public sealed class BSCharacter : BSPhysObject
443 PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate() 443 PhysicsScene.TaintedObject("BSCharacter.setPosition", delegate()
444 { 444 {
445 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); 445 DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation);
446 PositionSanityCheck();
446 ForcePosition = _position; 447 ForcePosition = _position;
447 }); 448 });
448 } 449 }
@@ -456,7 +457,6 @@ public sealed class BSCharacter : BSPhysObject
456 _position = value; 457 _position = value;
457 if (PhysBody.HasPhysicalBody) 458 if (PhysBody.HasPhysicalBody)
458 { 459 {
459 PositionSanityCheck();
460 PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation); 460 PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
461 } 461 }
462 } 462 }
@@ -512,9 +512,8 @@ public sealed class BSCharacter : BSPhysObject
512 // just assign to "Position" because of potential call loops. 512 // just assign to "Position" because of potential call loops.
513 PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() 513 PhysicsScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate()
514 { 514 {
515 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); 515 DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation);
516 if (PhysBody.HasPhysicalBody) 516 ForcePosition = _position;
517 PhysicsScene.PE.SetTranslation(PhysBody, _position, _orientation);
518 }); 517 });
519 ret = true; 518 ret = true;
520 } 519 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index c2a9671..dc57b67 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -46,6 +46,8 @@ public static class BSParam
46 public static float MeshMegaPrimThreshold { get; private set; } 46 public static float MeshMegaPrimThreshold { get; private set; }
47 public static float SculptLOD { get; private set; } 47 public static float SculptLOD { get; private set; }
48 48
49 public static int CrossingFailuresBeforeOutOfBounds { get; private set; }
50
49 public static float MinimumObjectMass { get; private set; } 51 public static float MinimumObjectMass { get; private set; }
50 public static float MaximumObjectMass { get; private set; } 52 public static float MaximumObjectMass { get; private set; }
51 public static float MaxLinearVelocity { get; private set; } 53 public static float MaxLinearVelocity { get; private set; }
@@ -73,23 +75,23 @@ public static class BSParam
73 public static float TerrainRestitution { get; private set; } 75 public static float TerrainRestitution { get; private set; }
74 public static float TerrainCollisionMargin { get; private set; } 76 public static float TerrainCollisionMargin { get; private set; }
75 77
76 public static float DefaultFriction; 78 public static float DefaultFriction { get; private set; }
77 public static float DefaultDensity; 79 public static float DefaultDensity { get; private set; }
78 public static float DefaultRestitution; 80 public static float DefaultRestitution { get; private set; }
79 public static float CollisionMargin; 81 public static float CollisionMargin { get; private set; }
80 public static float Gravity; 82 public static float Gravity { get; private set; }
81 83
82 // Physics Engine operation 84 // Physics Engine operation
83 public static float MaxPersistantManifoldPoolSize; 85 public static float MaxPersistantManifoldPoolSize { get; private set; }
84 public static float MaxCollisionAlgorithmPoolSize; 86 public static float MaxCollisionAlgorithmPoolSize { get; private set; }
85 public static bool ShouldDisableContactPoolDynamicAllocation; 87 public static bool ShouldDisableContactPoolDynamicAllocation { get; private set; }
86 public static bool ShouldForceUpdateAllAabbs; 88 public static bool ShouldForceUpdateAllAabbs { get; private set; }
87 public static bool ShouldRandomizeSolverOrder; 89 public static bool ShouldRandomizeSolverOrder { get; private set; }
88 public static bool ShouldSplitSimulationIslands; 90 public static bool ShouldSplitSimulationIslands { get; private set; }
89 public static bool ShouldEnableFrictionCaching; 91 public static bool ShouldEnableFrictionCaching { get; private set; }
90 public static float NumberOfSolverIterations; 92 public static float NumberOfSolverIterations { get; private set; }
91 public static bool UseSingleSidedMeshes; 93 public static bool UseSingleSidedMeshes { get; private set; }
92 public static float GlobalContactBreakingThreshold; 94 public static float GlobalContactBreakingThreshold { get; private set; }
93 95
94 // Avatar parameters 96 // Avatar parameters
95 public static float AvatarFriction { get; private set; } 97 public static float AvatarFriction { get; private set; }
@@ -118,6 +120,7 @@ public static class BSParam
118 public static float VehicleGroundGravityFudge { get; private set; } 120 public static float VehicleGroundGravityFudge { get; private set; }
119 public static bool VehicleDebuggingEnabled { get; private set; } 121 public static bool VehicleDebuggingEnabled { get; private set; }
120 122
123 // Linkset implementation parameters
121 public static float LinksetImplementation { get; private set; } 124 public static float LinksetImplementation { get; private set; }
122 public static bool LinkConstraintUseFrameOffset { get; private set; } 125 public static bool LinkConstraintUseFrameOffset { get; private set; }
123 public static bool LinkConstraintEnableTransMotor { get; private set; } 126 public static bool LinkConstraintEnableTransMotor { get; private set; }
@@ -282,6 +285,11 @@ public static class BSParam
282 (s) => { return ShouldRemoveZeroWidthTriangles; }, 285 (s) => { return ShouldRemoveZeroWidthTriangles; },
283 (s,v) => { ShouldRemoveZeroWidthTriangles = v; } ), 286 (s,v) => { ShouldRemoveZeroWidthTriangles = v; } ),
284 287
288 new ParameterDefn<int>("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions",
289 5,
290 (s) => { return CrossingFailuresBeforeOutOfBounds; },
291 (s,v) => { CrossingFailuresBeforeOutOfBounds = v; } ),
292
285 new ParameterDefn<float>("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)", 293 new ParameterDefn<float>("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
286 32f, 294 32f,
287 (s) => { return MeshLOD; }, 295 (s) => { return MeshLOD; },
@@ -695,6 +703,10 @@ public static class BSParam
695 } 703 }
696 } 704 }
697 705
706 // =====================================================================
707 // =====================================================================
708 // There are parameters that, when set, cause things to happen in the physics engine.
709 // This causes the broadphase collision cache to be cleared.
698 private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v) 710 private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v)
699 { 711 {
700 BSScene physScene = pPhysScene; 712 BSScene physScene = pPhysScene;
@@ -704,6 +716,7 @@ public static class BSParam
704 }); 716 });
705 } 717 }
706 718
719 // This causes the constraint solver cache to be cleared and reset.
707 private static void ResetConstraintSolverTainted(BSScene pPhysScene, float v) 720 private static void ResetConstraintSolverTainted(BSScene pPhysScene, float v)
708 { 721 {
709 BSScene physScene = pPhysScene; 722 BSScene physScene = pPhysScene;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 4d61ad2..4dff927 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -70,6 +70,8 @@ public class BSPrim : BSPhysObject
70 private bool _kinematic; 70 private bool _kinematic;
71 private float _buoyancy; 71 private float _buoyancy;
72 72
73 private int CrossingFailures { get; set; }
74
73 public BSDynamics VehicleController { get; private set; } 75 public BSDynamics VehicleController { get; private set; }
74 76
75 private BSVMotor _targetMotor; 77 private BSVMotor _targetMotor;
@@ -197,7 +199,20 @@ public class BSPrim : BSPhysObject
197 { 199 {
198 get { return _isSelected; } 200 get { return _isSelected; }
199 } 201 }
200 public override void CrossingFailure() { return; } 202
203 public override void CrossingFailure()
204 {
205 CrossingFailures++;
206 if (CrossingFailures > BSParam.CrossingFailuresBeforeOutOfBounds)
207 {
208 base.RaiseOutOfBounds(RawPosition);
209 }
210 else if (CrossingFailures == BSParam.CrossingFailuresBeforeOutOfBounds)
211 {
212 m_log.WarnFormat("{0} Too many crossing failures for {1}", LogHeader, Name);
213 }
214 return;
215 }
201 216
202 // link me to the specified parent 217 // link me to the specified parent
203 public override void link(PhysicsActor obj) { 218 public override void link(PhysicsActor obj) {
@@ -1123,7 +1138,11 @@ public class BSPrim : BSPhysObject
1123 1138
1124 // Used for MoveTo 1139 // Used for MoveTo
1125 public override OMV.Vector3 PIDTarget { 1140 public override OMV.Vector3 PIDTarget {
1126 set { _PIDTarget = value; } 1141 set
1142 {
1143 // TODO: add a sanity check -- don't move more than a region or something like that.
1144 _PIDTarget = value;
1145 }
1127 } 1146 }
1128 public override float PIDTau { 1147 public override float PIDTau {
1129 set { _PIDTau = value; } 1148 set { _PIDTau = value; }
@@ -1177,7 +1196,9 @@ public class BSPrim : BSPhysObject
1177 } 1196 }
1178 else 1197 else
1179 { 1198 {
1180 ForcePosition = movePosition; 1199 _position = movePosition;
1200 PositionSanityCheck(true /* intaintTime */);
1201 ForcePosition = _position;
1181 } 1202 }
1182 DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", LocalID, origPosition, movePosition); 1203 DetailLog("{0},BSPrim.PIDTarget,move,fromPos={1},movePos={2}", LocalID, origPosition, movePosition);
1183 }); 1204 });
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index 15747c9..219372b 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -568,7 +568,7 @@ public sealed class BSShapeCollection : IDisposable
568 { 568 {
569 569
570 newShape = PhysicsScene.PE.BuildCapsuleShape(PhysicsScene.World, 1f, 1f, prim.Scale); 570 newShape = PhysicsScene.PE.BuildCapsuleShape(PhysicsScene.World, 1f, 1f, prim.Scale);
571 if (DDetail) DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale); 571 if (DDetail) DetailLog("{0},BSShapeCollection.BuildPhysicalNativeShape,capsule,scale={1}", prim.LocalID, prim.Scale);
572 } 572 }
573 else 573 else
574 { 574 {
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index bda7c47..49718c4 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -1,17 +1,16 @@
1CURRENT PRIORITIES 1CURRENT PRIORITIES
2================================================= 2=================================================
3One sided meshes? Should terrain be built into a closed shape?
4 When meshes get partially wedged into the terrain, they cannot push themselves out.
5 It is possible that Bullet processes collisions whether entering or leaving a mesh.
6 Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869
7Deleting a linkset while standing on the root will leave the physical shape of the root behind. 3Deleting a linkset while standing on the root will leave the physical shape of the root behind.
8 Not sure if it is because standing on it. Done with large prim linksets. 4 Not sure if it is because standing on it. Done with large prim linksets.
9Terrain detail: double terrain mesh detail
10Vehicle angular vertical attraction 5Vehicle angular vertical attraction
11vehicle angular banking 6vehicle angular banking
12Center-of-gravity 7Center-of-gravity
13Vehicle angular deflection 8Vehicle angular deflection
14 Preferred orientation angular correction fix 9 Preferred orientation angular correction fix
10Enable vehicle border crossings (at least as poorly as ODE)
11 Terrain skirts
12 Avatar created in previous region and not new region when crossing border
13 Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
15when should angular and linear motor targets be zeroed? when selected? 14when should angular and linear motor targets be zeroed? when selected?
16 Need a vehicle.clear()? Or an 'else' in prestep if not physical. 15 Need a vehicle.clear()? Or an 'else' in prestep if not physical.
17Teravus llMoveToTarget script debug 16Teravus llMoveToTarget script debug
@@ -26,14 +25,16 @@ Avatar movement
26 flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE) 25 flying into a wall doesn't stop avatar who keeps appearing to move through the obstacle (DONE)
27 walking up stairs is not calibrated correctly (stairs out of Kepler cabin) 26 walking up stairs is not calibrated correctly (stairs out of Kepler cabin)
28 avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution) 27 avatar capsule rotation completed (NOT DONE - Bullet's capsule shape is not the solution)
29Enable vehicle border crossings (at least as poorly as ODE)
30 Terrain skirts
31 Avatar created in previous region and not new region when crossing border
32 Vehicle recreated in new sim at small Z value (offset from root value?) (DONE)
33Vehicle script tuning/debugging 28Vehicle script tuning/debugging
34 Avanti speed script 29 Avanti speed script
35 Weapon shooter script 30 Weapon shooter script
36Add material densities to the material types 31Move material definitions (friction, ...) into simulator.
32Add material densities to the material types.
33Terrain detail: double terrain mesh detail
34One sided meshes? Should terrain be built into a closed shape?
35 When meshes get partially wedged into the terrain, they cannot push themselves out.
36 It is possible that Bullet processes collisions whether entering or leaving a mesh.
37 Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869
37 38
38VEHICLES TODO LIST: 39VEHICLES TODO LIST:
39================================================= 40=================================================
@@ -65,6 +66,7 @@ Vehicle attributes are not restored when a vehicle is rezzed on region creation
65 66
66GENERAL TODO LIST: 67GENERAL TODO LIST:
67================================================= 68=================================================
69Add a sanity check for PIDTarget location.
68Level-of-detail for mesh creation. Prims with circular interiors require lod of 32. 70Level-of-detail for mesh creation. Prims with circular interiors require lod of 32.
69 Is much saved with lower LODs? At the moment, all set to 32. 71 Is much saved with lower LODs? At the moment, all set to 32.
70Collisions are inconsistant: arrows are supposed to hit and report collision. Often don't. 72Collisions are inconsistant: arrows are supposed to hit and report collision. Often don't.