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authorRobert Adams2012-11-26 10:47:34 -0800
committerRobert Adams2012-11-26 10:47:34 -0800
commit5685b33071c683c41643fcb78d6f8a28d98db468 (patch)
tree3e180ef8124130c127823fefabed217031df6dd9 /OpenSim
parentBulletSim: use m_angularMotor to do the basic movement. Add the setting of sa... (diff)
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BulletSim: increase vehicle stability by suppressing Bullet's update to angular velocity.
Diffstat (limited to '')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs21
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs50
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs12
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs2
4 files changed, 26 insertions, 59 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 95a4134..6ff8a48 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -805,6 +805,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
805 // m_angularFrictionTimescale // body angular velocity decay rate 805 // m_angularFrictionTimescale // body angular velocity decay rate
806 // m_lastAngularVelocity // what was last applied to body 806 // m_lastAngularVelocity // what was last applied to body
807 807
808 /*
808 if (m_angularMotorDirection.LengthSquared() > 0.0001) 809 if (m_angularMotorDirection.LengthSquared() > 0.0001)
809 { 810 {
810 Vector3 origVel = m_angularMotorVelocity; 811 Vector3 origVel = m_angularMotorVelocity;
@@ -823,6 +824,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
823 { 824 {
824 m_angularMotorVelocity = Vector3.Zero; 825 m_angularMotorVelocity = Vector3.Zero;
825 } 826 }
827 */
826 828
827 Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); 829 Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
828 830
@@ -842,15 +844,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
842 // verticalError.X and .Y are the World error amounts. They are 0 when there is no 844 // verticalError.X and .Y are the World error amounts. They are 0 when there is no
843 // error (Vehicle Body is 'vertical'), and .Z will be 1. As the body leans to its 845 // error (Vehicle Body is 'vertical'), and .Z will be 1. As the body leans to its
844 // side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall 846 // side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall
845 // and .Z will go // negative. Similar for tilt and |.Y|. .X and .Y must be 847 // and .Z will go negative. Similar for tilt and |.Y|. .X and .Y must be
846 // modulated to prevent a stable inverted body. 848 // modulated to prevent a stable inverted body.
847 849
848 // Error is 0 (no error) to +/- 2 (max error) 850 // Error is 0 (no error) to +/- 2 (max error)
849 if (verticalError.Z < 0.0f) 851 verticalError.X = Math.Max(-2f, Math.Min(verticalError.X, 2f));
850 { 852 verticalError.Y = Math.Max(-2f, Math.Min(verticalError.Y, 2f));
851 verticalError.X = 2.0f - verticalError.X; 853
852 verticalError.Y = 2.0f - verticalError.Y;
853 }
854 // scale it by VAservo (timestep and timescale) 854 // scale it by VAservo (timestep and timescale)
855 verticalError = verticalError * VAservo; 855 verticalError = verticalError * VAservo;
856 856
@@ -1013,10 +1013,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1013 // Also remove any motion that is on the object so added motion is only from vehicle. 1013 // Also remove any motion that is on the object so added motion is only from vehicle.
1014 Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) 1014 Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep)
1015 - Prim.ForceRotationalVelocity); 1015 - Prim.ForceRotationalVelocity);
1016 // Unscale the force by the angular factor so it overwhelmes the Bullet additions.
1016 Prim.ForceRotationalVelocity = applyAngularForce; 1017 Prim.ForceRotationalVelocity = applyAngularForce;
1017 1018
1018 VDetailLog("{0},MoveAngular,done,newRotVel={1},lastAngular={2}", 1019 VDetailLog("{0},MoveAngular,done,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}",
1019 Prim.LocalID, applyAngularForce, m_lastAngularVelocity); 1020 Prim.LocalID,
1021 angularMotorContribution, verticalAttractionContribution,
1022 bankingContribution, deflectionContribution,
1023 applyAngularForce, m_lastAngularVelocity
1024 );
1020 } 1025 }
1021 } 1026 }
1022 1027
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index caa6c46..c62c79a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1380,54 +1380,16 @@ public sealed class BSPrim : BSPhysObject
1380 1380
1381 public override void UpdateProperties(EntityProperties entprop) 1381 public override void UpdateProperties(EntityProperties entprop)
1382 { 1382 {
1383 /* 1383 // Updates only for individual prims and for the root object of a linkset.
1384 UpdatedProperties changed = 0; 1384 if (Linkset.IsRoot(this))
1385 // assign to the local variables so the normal set action does not happen
1386 // if (_position != entprop.Position)
1387 if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE))
1388 {
1389 _position = entprop.Position;
1390 changed |= UpdatedProperties.Position;
1391 }
1392 // if (_orientation != entprop.Rotation)
1393 if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE))
1394 {
1395 _orientation = entprop.Rotation;
1396 changed |= UpdatedProperties.Rotation;
1397 }
1398 // if (_velocity != entprop.Velocity)
1399 if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE))
1400 {
1401 _velocity = entprop.Velocity;
1402 changed |= UpdatedProperties.Velocity;
1403 }
1404 // if (_acceleration != entprop.Acceleration)
1405 if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE))
1406 {
1407 _acceleration = entprop.Acceleration;
1408 changed |= UpdatedProperties.Acceleration;
1409 }
1410 // if (_rotationalVelocity != entprop.RotationalVelocity)
1411 if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE))
1412 {
1413 _rotationalVelocity = entprop.RotationalVelocity;
1414 changed |= UpdatedProperties.RotationalVel;
1415 }
1416 if (changed != 0)
1417 { 1385 {
1418 // Only update the position of single objects and linkset roots 1386 // A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
1419 if (Linkset.IsRoot(this)) 1387 // TODO: handle physics introduced by Bullet with computed vehicle physics.
1388 if (_vehicle.IsActive)
1420 { 1389 {
1421 base.RequestPhysicsterseUpdate(); 1390 entprop.RotationalVelocity = OMV.Vector3.Zero;
1422 } 1391 }
1423 }
1424 */
1425
1426 // Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
1427 1392
1428 // Updates only for individual prims and for the root object of a linkset.
1429 if (Linkset.IsRoot(this))
1430 {
1431 // Assign directly to the local variables so the normal set action does not happen 1393 // Assign directly to the local variables so the normal set action does not happen
1432 _position = entprop.Position; 1394 _position = entprop.Position;
1433 _orientation = entprop.Rotation; 1395 _orientation = entprop.Rotation;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index 805e670..09b1423 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -515,9 +515,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
515 collidersCount = 0; 515 collidersCount = 0;
516 } 516 }
517 517
518 // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in 518 // Don't have to use the pointers passed back since we know it is the same pinned memory we passed in.
519 519
520 // Get a value for 'now' so all the collision and update routines don't have to get their own 520 // Get a value for 'now' so all the collision and update routines don't have to get their own.
521 SimulationNowTime = Util.EnvironmentTickCount(); 521 SimulationNowTime = Util.EnvironmentTickCount();
522 522
523 // If there were collisions, process them by sending the event to the prim. 523 // If there were collisions, process them by sending the event to the prim.
@@ -563,6 +563,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
563 ObjectsWithCollisions.Remove(po); 563 ObjectsWithCollisions.Remove(po);
564 ObjectsWithNoMoreCollisions.Clear(); 564 ObjectsWithNoMoreCollisions.Clear();
565 } 565 }
566 // Done with collisions.
566 567
567 // If any of the objects had updated properties, tell the object it has been changed by the physics engine 568 // If any of the objects had updated properties, tell the object it has been changed by the physics engine
568 if (updatedEntityCount > 0) 569 if (updatedEntityCount > 0)
@@ -586,9 +587,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
586 587
587 // The physics engine returns the number of milliseconds it simulated this call. 588 // The physics engine returns the number of milliseconds it simulated this call.
588 // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. 589 // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
589 // We multiply by 55 to give a recognizable running rate (55 or less). 590 // Multiply by 55 to give a nominal frame rate of 55.
590 return numSubSteps * m_fixedTimeStep * 1000 * 55; 591 return (float)numSubSteps * m_fixedTimeStep * 1000f * 55f;
591 // return timeStep * 1000 * 55;
592 } 592 }
593 593
594 // Something has collided 594 // Something has collided
@@ -1172,7 +1172,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
1172 (s) => { return s.m_params[0].avatarFriction; }, 1172 (s) => { return s.m_params[0].avatarFriction; },
1173 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ), 1173 (s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ),
1174 new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.", 1174 new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
1175 0.99f, 1175 10.0f,
1176 (s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); }, 1176 (s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); },
1177 (s) => { return s.m_params[0].avatarStandingFriction; }, 1177 (s) => { return s.m_params[0].avatarStandingFriction; },
1178 (s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ), 1178 (s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ),
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
index 12baee9..1e003e6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs
@@ -357,7 +357,7 @@ public enum CollisionFlags : uint
357 CF_CHARACTER_OBJECT = 1 << 4, 357 CF_CHARACTER_OBJECT = 1 << 4,
358 CF_DISABLE_VISUALIZE_OBJECT = 1 << 5, 358 CF_DISABLE_VISUALIZE_OBJECT = 1 << 5,
359 CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6, 359 CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
360 // Following used by BulletSim to control collisions 360 // Following used by BulletSim to control collisions and updates
361 BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10, 361 BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
362 BS_FLOATS_ON_WATER = 1 << 11, 362 BS_FLOATS_ON_WATER = 1 << 11,
363 BS_NONE = 0, 363 BS_NONE = 0,