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authorRobert Adams2013-01-13 22:32:31 -0800
committerRobert Adams2013-01-14 07:50:58 -0800
commit8bf0a9f85dda4b1831630b65620d5c6868196c11 (patch)
treed79799e42210133f4893d4661f0dd22124027f70 /OpenSim/Region
parentBulletSim: move center of gravity of linkset to its geometric center. (diff)
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BulletSim: disable center-of-mass computation for linksets until debugged. Move physical prim above ground if it is underground. Previously tried to correct by applying and up force but the prim would never go through the ground.
Diffstat (limited to 'OpenSim/Region')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs35
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs26
2 files changed, 36 insertions, 25 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
index ad8024c..5a1b5c7 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
@@ -319,6 +319,7 @@ public sealed class BSLinksetCompound : BSLinkset
319 // Constraint linksets are rebuilt every time. 319 // Constraint linksets are rebuilt every time.
320 // Note that this works for rebuilding just the root after a linkset is taken apart. 320 // Note that this works for rebuilding just the root after a linkset is taken apart.
321 // Called at taint time!! 321 // Called at taint time!!
322 private bool disableCOM = true; // disable until we get this debugged
322 private void RecomputeLinksetCompound() 323 private void RecomputeLinksetCompound()
323 { 324 {
324 try 325 try
@@ -331,15 +332,26 @@ public sealed class BSLinksetCompound : BSLinkset
331 332
332 // The center of mass for the linkset is the geometric center of the group. 333 // The center of mass for the linkset is the geometric center of the group.
333 // Compute a displacement for each component so it is relative to the center-of-mass. 334 // Compute a displacement for each component so it is relative to the center-of-mass.
334 OMV.Vector3 centerOfMass = ComputeLinksetGeometricCenter(); 335 // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass
335 OMV.Vector3 centerDisplacement = centerOfMass - LinksetRoot.RawPosition; 336 OMV.Vector3 centerOfMass;
337 OMV.Vector3 centerDisplacement = OMV.Vector3.Zero;
338 if (disableCOM) // DEBUG DEBUG
339 { // DEBUG DEBUG
340 centerOfMass = LinksetRoot.RawPosition; // DEBUG DEBUG
341 LinksetRoot.PositionDisplacement = OMV.Vector3.Zero;
342 } // DEBUG DEBUG
343 else
344 {
345 centerOfMass = ComputeLinksetGeometricCenter();
346 centerDisplacement = centerOfMass - LinksetRoot.RawPosition;
336 347
337 // Since we're displacing the center of the shape, we need to move the body in the world 348 // Since we're displacing the center of the shape, we need to move the body in the world
338 LinksetRoot.PositionDisplacement = centerDisplacement * LinksetRoot.RawOrientation; 349 LinksetRoot.PositionDisplacement = centerDisplacement;
339 350
340 PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0, -centerDisplacement, OMV.Quaternion.Identity, false); 351 PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0, -centerDisplacement, OMV.Quaternion.Identity, false);
341 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}", 352 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}",
342 LinksetRoot.LocalID, centerOfMass, LinksetRoot.RawPosition, centerDisplacement); 353 LinksetRoot.LocalID, centerOfMass, LinksetRoot.RawPosition, centerDisplacement);
354 }
343 355
344 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}", 356 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}",
345 LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren); 357 LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren);
@@ -357,14 +369,15 @@ public sealed class BSLinksetCompound : BSLinkset
357 BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo; 369 BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo;
358 if (lci == null) 370 if (lci == null)
359 { 371 {
360 // Each child position and rotation is given relative to the root. 372 // Each child position and rotation is given relative to the center-of-mass.
361 OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); 373 OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation);
362 OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; 374 OMV.Vector3 displacementFromRoot = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation;
375 OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement;
363 OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; 376 OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation;
364 377
365 // Save relative position for recomputing child's world position after moving linkset. 378 // Save relative position for recomputing child's world position after moving linkset.
366 lci = new BSLinksetCompoundInfo(memberIndex, displacementPos, displacementRot); 379 lci = new BSLinksetCompoundInfo(memberIndex, displacementFromCOM, displacementRot);
367 lci.OffsetFromCenterOfMass = displacementPos - centerDisplacement; 380 lci.OffsetFromRoot = displacementFromRoot;
368 cPrim.LinksetInfo = lci; 381 cPrim.LinksetInfo = lci;
369 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); 382 DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci);
370 } 383 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 003dc54..e5f7ab7 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -297,7 +297,7 @@ public sealed class BSPrim : BSPhysObject
297 */ 297 */
298 298
299 // don't do the GetObjectPosition for root elements because this function is called a zillion times. 299 // don't do the GetObjectPosition for root elements because this function is called a zillion times.
300 // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody); 300 // _position = PhysicsScene.PE.GetObjectPosition2(PhysicsScene.World, BSBody) - PositionDisplacement;
301 return _position; 301 return _position;
302 } 302 }
303 set { 303 set {
@@ -362,7 +362,7 @@ public sealed class BSPrim : BSPhysObject
362 { 362 {
363 bool ret = false; 363 bool ret = false;
364 364
365 if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(_position)) 365 if (!PhysicsScene.TerrainManager.IsWithinKnownTerrain(RawPosition))
366 { 366 {
367 // The physical object is out of the known/simulated area. 367 // The physical object is out of the known/simulated area.
368 // Upper levels of code will handle the transition to other areas so, for 368 // Upper levels of code will handle the transition to other areas so, for
@@ -376,8 +376,11 @@ public sealed class BSPrim : BSPhysObject
376 { 376 {
377 DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight); 377 DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, _position, terrainHeight);
378 float targetHeight = terrainHeight + (Size.Z / 2f); 378 float targetHeight = terrainHeight + (Size.Z / 2f);
379 // Upforce proportional to the distance away from the terrain. Correct the error in 1 sec. 379 // If the object is below ground it just has to be moved up because pushing will
380 upForce.Z = (terrainHeight - RawPosition.Z) * 1f; 380 // not get it through the terrain
381 _position.Z = targetHeight;
382 if (!inTaintTime)
383 ForcePosition = _position;
381 ret = true; 384 ret = true;
382 } 385 }
383 386
@@ -389,20 +392,15 @@ public sealed class BSPrim : BSPhysObject
389 { 392 {
390 // Upforce proportional to the distance away from the water. Correct the error in 1 sec. 393 // Upforce proportional to the distance away from the water. Correct the error in 1 sec.
391 upForce.Z = (waterHeight - RawPosition.Z) * 1f; 394 upForce.Z = (waterHeight - RawPosition.Z) * 1f;
395
396 // Apply upforce and overcome gravity.
397 OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity;
398 DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce);
399 AddForce(correctionForce, false, inTaintTime);
392 ret = true; 400 ret = true;
393 } 401 }
394 } 402 }
395 403
396 // The above code computes a force to apply to correct any out-of-bounds problems. Apply same.
397 // TODO: This should be intergrated with a geneal physics action mechanism.
398 // TODO: This should be moderated with PID'ness.
399 if (ret)
400 {
401 // Apply upforce and overcome gravity.
402 OMV.Vector3 correctionForce = upForce - PhysicsScene.DefaultGravity;
403 DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce);
404 AddForce(correctionForce, false, inTaintTime);
405 }
406 return ret; 404 return ret;
407 } 405 }
408 406