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authorRobert Adams2012-10-23 17:30:43 -0700
committerRobert Adams2012-10-23 17:30:43 -0700
commitb6fc5bad000e7e7af992e7f29eeb2de9f716fcc4 (patch)
treec3d20e87083d9781316b719ea684d4a5c6eeabba /OpenSim
parentBulletSim: minor change to insure avatar body recreation when shape changes. (diff)
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BulletSim: fix problem with avatars sinking into the ground.
Change terrain activation state to DISABLE_SIMULATION for better performance.
Diffstat (limited to 'OpenSim')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs27
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSScene.cs3
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs4
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs4
4 files changed, 23 insertions, 15 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 07dd613..a041ba8 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -105,7 +105,7 @@ public class BSCharacter : BSPhysObject
105 shapeData.Position = _position; 105 shapeData.Position = _position;
106 shapeData.Rotation = _orientation; 106 shapeData.Rotation = _orientation;
107 shapeData.Velocity = _velocity; 107 shapeData.Velocity = _velocity;
108 shapeData.Size = Scale; 108 shapeData.Size = Scale; // capsule is a native shape but scale is not just <1,1,1>
109 shapeData.Scale = Scale; 109 shapeData.Scale = Scale;
110 shapeData.Mass = _mass; 110 shapeData.Mass = _mass;
111 shapeData.Buoyancy = _buoyancy; 111 shapeData.Buoyancy = _buoyancy;
@@ -144,7 +144,9 @@ public class BSCharacter : BSPhysObject
144 ForcePosition = _position; 144 ForcePosition = _position;
145 // Set the velocity and compute the proper friction 145 // Set the velocity and compute the proper friction
146 ForceVelocity = _velocity; 146 ForceVelocity = _velocity;
147
147 BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution); 148 BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution);
149 BulletSimAPI.SetMargin2(BSShape.ptr, PhysicsScene.Params.collisionMargin);
148 BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale); 150 BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale);
149 BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); 151 BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold);
150 if (PhysicsScene.Params.ccdMotionThreshold > 0f) 152 if (PhysicsScene.Params.ccdMotionThreshold > 0f)
@@ -156,11 +158,15 @@ public class BSCharacter : BSPhysObject
156 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); 158 OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw);
157 BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); 159 BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia);
158 160
161 // Make so capsule does not fall over
162 BulletSimAPI.SetAngularFactorV2(BSBody.ptr, OMV.Vector3.Zero);
163
159 BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); 164 BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT);
160 165
161 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr); 166 BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr);
162 167
163 BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); 168 // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG);
169 BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_DEACTIVATION);
164 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr); 170 BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr);
165 171
166 // Do this after the object has been added to the world 172 // Do this after the object has been added to the world
@@ -175,11 +181,13 @@ public class BSCharacter : BSPhysObject
175 } 181 }
176 // No one calls this method so I don't know what it could possibly mean 182 // No one calls this method so I don't know what it could possibly mean
177 public override bool Stopped { get { return false; } } 183 public override bool Stopped { get { return false; } }
184
178 public override OMV.Vector3 Size { 185 public override OMV.Vector3 Size {
179 get 186 get
180 { 187 {
181 // Avatar capsule size is kept in the scale parameter. 188 // Avatar capsule size is kept in the scale parameter.
182 return _size; 189 // return _size;
190 return new OMV.Vector3(Scale.X * 2f, Scale.Y * 2f, Scale.Z);
183 } 191 }
184 192
185 set { 193 set {
@@ -199,7 +207,9 @@ public class BSCharacter : BSPhysObject
199 207
200 } 208 }
201 } 209 }
210
202 public override OMV.Vector3 Scale { get; set; } 211 public override OMV.Vector3 Scale { get; set; }
212
203 public override PrimitiveBaseShape Shape 213 public override PrimitiveBaseShape Shape
204 { 214 {
205 set { BaseShape = value; } 215 set { BaseShape = value; }
@@ -264,7 +274,7 @@ public class BSCharacter : BSPhysObject
264 274
265 275
266 // Check that the current position is sane and, if not, modify the position to make it so. 276 // Check that the current position is sane and, if not, modify the position to make it so.
267 // Check for being below terrain and being out of bounds. 277 // Check for being below terrain or on water.
268 // Returns 'true' of the position was made sane by some action. 278 // Returns 'true' of the position was made sane by some action.
269 private bool PositionSanityCheck() 279 private bool PositionSanityCheck()
270 { 280 {
@@ -335,7 +345,7 @@ public class BSCharacter : BSPhysObject
335 } 345 }
336 346
337 // Avatars don't do vehicles 347 // Avatars don't do vehicles
338 public override int VehicleType { get { return 0; } set { return; } } 348 public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } }
339 public override void VehicleFloatParam(int param, float value) { } 349 public override void VehicleFloatParam(int param, float value) { }
340 public override void VehicleVectorParam(int param, OMV.Vector3 value) {} 350 public override void VehicleVectorParam(int param, OMV.Vector3 value) {}
341 public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { } 351 public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { }
@@ -588,9 +598,8 @@ public class BSCharacter : BSPhysObject
588 newScale.X = PhysicsScene.Params.avatarCapsuleRadius; 598 newScale.X = PhysicsScene.Params.avatarCapsuleRadius;
589 newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; 599 newScale.Y = PhysicsScene.Params.avatarCapsuleRadius;
590 600
591 // From the total height, remote the capsule half spheres that are at each end 601 // From the total height, remove the capsule half spheres that are at each end
592 newScale.Z = (size.Z * 2f) - Math.Min(newScale.X, newScale.Y); 602 newScale.Z = size.Z- (newScale.X + newScale.Y);
593 // newScale.Z = (size.Z * 2f);
594 Scale = newScale; 603 Scale = newScale;
595 } 604 }
596 605
@@ -636,7 +645,7 @@ public class BSCharacter : BSPhysObject
636 BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel); 645 BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel);
637 } 646 }
638 647
639 // Tell the linkset about this 648 // Tell the linkset about value changes
640 Linkset.UpdateProperties(this); 649 Linkset.UpdateProperties(this);
641 650
642 // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. 651 // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index e686f2f..db0c99e 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -692,7 +692,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters
692 { 692 {
693 if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process 693 if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process
694 { 694 {
695 // swizzle a new list into the list location so we can process what's there
696 int taintCount = m_taintsToProcessPerStep; 695 int taintCount = m_taintsToProcessPerStep;
697 TaintCallbackEntry oneCallback = new TaintCallbackEntry(); 696 TaintCallbackEntry oneCallback = new TaintCallbackEntry();
698 while (_taintedObjects.Count > 0 && taintCount-- > 0) 697 while (_taintedObjects.Count > 0 && taintCount-- > 0)
@@ -711,7 +710,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters
711 { 710 {
712 try 711 try
713 { 712 {
714 DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG 713 DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident);
715 oneCallback.callback(); 714 oneCallback.callback();
716 } 715 }
717 catch (Exception e) 716 catch (Exception e)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
index d9427e1..30fa50a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs
@@ -443,7 +443,8 @@ public class BSShapeCollection : IDisposable
443 if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) 443 if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR)
444 { 444 {
445 newShape = new BulletShape( 445 newShape = new BulletShape(
446 BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, nativeShapeData.Scale), shapeType); 446 BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, nativeShapeData.Scale)
447 , shapeType);
447 DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", nativeShapeData.ID, nativeShapeData.Scale); 448 DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", nativeShapeData.ID, nativeShapeData.Scale);
448 } 449 }
449 else 450 else
@@ -790,7 +791,6 @@ public class BSShapeCollection : IDisposable
790 // If the collisionObject is not the correct type for solidness, rebuild what's there 791 // If the collisionObject is not the correct type for solidness, rebuild what's there
791 mustRebuild = true; 792 mustRebuild = true;
792 } 793 }
793
794 } 794 }
795 795
796 if (mustRebuild || forceRebuild) 796 if (mustRebuild || forceRebuild)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
index ae267e3..880859a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs
@@ -333,8 +333,8 @@ public class BSTerrainManager
333 333
334 // Make sure the new shape is processed. 334 // Make sure the new shape is processed.
335 // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true); 335 // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true);
336 BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING); 336 // BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING);
337 // BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); 337 BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION);
338 338
339 m_terrainModified = true; 339 m_terrainModified = true;
340 }; 340 };