aboutsummaryrefslogtreecommitdiffstatshomepage
path: root/OpenSim
diff options
context:
space:
mode:
authorRobert Adams2016-01-18 07:02:48 -0800
committerRobert Adams2016-01-18 07:02:48 -0800
commit35d4298be698d9eb02974a4210c5ace867b0db35 (patch)
treead3cb41a236cfceaac1629eaec919b522205b00a /OpenSim
parentBulletSim: revert avatar stationary testing for having slight velocity. (diff)
downloadopensim-SC_OLD-35d4298be698d9eb02974a4210c5ace867b0db35.zip
opensim-SC_OLD-35d4298be698d9eb02974a4210c5ace867b0db35.tar.gz
opensim-SC_OLD-35d4298be698d9eb02974a4210c5ace867b0db35.tar.bz2
opensim-SC_OLD-35d4298be698d9eb02974a4210c5ace867b0db35.tar.xz
BulletSim: change method signatures for internal AddForce methods to remove
confusion about push forces. The latter is an external, physics engine interface feature (the force parameter has a different unit if pushing vs adding force) and that distinction is not used internally.
Diffstat (limited to 'OpenSim')
-rwxr-xr-xOpenSim/Region/PhysicsModules/BulletS/BSActorMoveToTarget.cs2
-rwxr-xr-xOpenSim/Region/PhysicsModules/BulletS/BSActorSetTorque.cs2
-rw-r--r--OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs8
-rw-r--r--OpenSim/Region/PhysicsModules/BulletS/BSDynamics.cs4
-rwxr-xr-xOpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs6
-rw-r--r--OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs16
6 files changed, 21 insertions, 17 deletions
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSActorMoveToTarget.cs b/OpenSim/Region/PhysicsModules/BulletS/BSActorMoveToTarget.cs
index 3db8f2c..87cf972 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSActorMoveToTarget.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSActorMoveToTarget.cs
@@ -211,7 +211,7 @@ public class BSActorMoveToTarget : BSActor
211 // Add enough force to overcome the mass of the object 211 // Add enough force to overcome the mass of the object
212 addedForce *= m_controllingPrim.Mass; 212 addedForce *= m_controllingPrim.Mass;
213 213
214 m_controllingPrim.AddForce(addedForce, false /* pushForce */, true /* inTaintTime */); 214 m_controllingPrim.AddForce(true /* inTaintTime */, addedForce);
215 } 215 }
216 m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,move,fromPos={1},addedForce={2}", 216 m_physicsScene.DetailLog("{0},BSActorMoveToTarget.Mover3,move,fromPos={1},addedForce={2}",
217 m_controllingPrim.LocalID, origPosition, addedForce); 217 m_controllingPrim.LocalID, origPosition, addedForce);
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSActorSetTorque.cs b/OpenSim/Region/PhysicsModules/BulletS/BSActorSetTorque.cs
index a1cf4db..0261bcb 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSActorSetTorque.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSActorSetTorque.cs
@@ -127,7 +127,7 @@ public class BSActorSetTorque : BSActor
127 m_physicsScene.DetailLog("{0},BSActorSetTorque,preStep,force={1}", m_controllingPrim.LocalID, m_controllingPrim.RawTorque); 127 m_physicsScene.DetailLog("{0},BSActorSetTorque,preStep,force={1}", m_controllingPrim.LocalID, m_controllingPrim.RawTorque);
128 if (m_controllingPrim.PhysBody.HasPhysicalBody) 128 if (m_controllingPrim.PhysBody.HasPhysicalBody)
129 { 129 {
130 m_controllingPrim.AddAngularForce(m_controllingPrim.RawTorque, false, true); 130 m_controllingPrim.AddAngularForce(true /* inTaintTime */, m_controllingPrim.RawTorque);
131 m_controllingPrim.ActivateIfPhysical(false); 131 m_controllingPrim.ActivateIfPhysical(false);
132 } 132 }
133 133
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
index ab9cc27..0eb5fba 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
@@ -457,7 +457,7 @@ public sealed class BSCharacter : BSPhysObject
457 get { return RawVelocity; } 457 get { return RawVelocity; }
458 set { 458 set {
459 RawVelocity = value; 459 RawVelocity = value;
460 OMV.Vector3 vel = RawVelocity; 460 OMV.Vector3 vel = RawVelocity;
461 461
462 DetailLog("{0}: set Velocity = {1}", LocalID, value); 462 DetailLog("{0}: set Velocity = {1}", LocalID, value);
463 463
@@ -662,10 +662,10 @@ public sealed class BSCharacter : BSPhysObject
662 addForce *= Mass * BSParam.AvatarAddForcePushFactor; 662 addForce *= Mass * BSParam.AvatarAddForcePushFactor;
663 663
664 DetailLog("{0},BSCharacter.addForce,call,force={1},addForce={2},push={3},mass={4}", LocalID, force, addForce, pushforce, Mass); 664 DetailLog("{0},BSCharacter.addForce,call,force={1},addForce={2},push={3},mass={4}", LocalID, force, addForce, pushforce, Mass);
665 AddForce(addForce, pushforce, false); 665 AddForce(false, addForce);
666 } 666 }
667 667
668 public override void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { 668 public override void AddForce(bool inTaintTime, OMV.Vector3 force) {
669 if (force.IsFinite()) 669 if (force.IsFinite())
670 { 670 {
671 OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); 671 OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
@@ -692,7 +692,7 @@ public sealed class BSCharacter : BSPhysObject
692 } 692 }
693 } 693 }
694 694
695 public override void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { 695 public override void AddAngularForce(bool inTaintTime, OMV.Vector3 force) {
696 } 696 }
697 public override void SetMomentum(OMV.Vector3 momentum) { 697 public override void SetMomentum(OMV.Vector3 momentum) {
698 } 698 }
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSDynamics.cs b/OpenSim/Region/PhysicsModules/BulletS/BSDynamics.cs
index 0fc5577..313c961 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSDynamics.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSDynamics.cs
@@ -768,7 +768,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
768 } 768 }
769 769
770 if ((m_knownChanged & m_knownChangedForce) != 0) 770 if ((m_knownChanged & m_knownChangedForce) != 0)
771 ControllingPrim.AddForce((Vector3)m_knownForce, false /*pushForce*/, true /*inTaintTime*/); 771 ControllingPrim.AddForce(false /* inTaintTime */, (Vector3)m_knownForce);
772 772
773 if ((m_knownChanged & m_knownChangedForceImpulse) != 0) 773 if ((m_knownChanged & m_knownChangedForceImpulse) != 0)
774 ControllingPrim.AddForceImpulse((Vector3)m_knownForceImpulse, false /*pushforce*/, true /*inTaintTime*/); 774 ControllingPrim.AddForceImpulse((Vector3)m_knownForceImpulse, false /*pushforce*/, true /*inTaintTime*/);
@@ -784,7 +784,7 @@ namespace OpenSim.Region.PhysicsModule.BulletS
784 784
785 if ((m_knownChanged & m_knownChangedRotationalForce) != 0) 785 if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
786 { 786 {
787 ControllingPrim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/); 787 ControllingPrim.AddAngularForce(true /* inTaintTime */, (Vector3)m_knownRotationalForce);
788 } 788 }
789 789
790 // If we set one of the values (ie, the physics engine didn't do it) we must force 790 // If we set one of the values (ie, the physics engine didn't do it) we must force
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs b/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs
index b50e4cc..ff6baca 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs
@@ -245,10 +245,10 @@ public abstract class BSPhysObject : PhysicsActor
245 245
246 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) 246 public override void AddAngularForce(OMV.Vector3 force, bool pushforce)
247 { 247 {
248 AddAngularForce(force, pushforce, false); 248 AddAngularForce(false, force);
249 } 249 }
250 public abstract void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime); 250 public abstract void AddAngularForce(bool inTaintTime, OMV.Vector3 force);
251 public abstract void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime); 251 public abstract void AddForce(bool inTaintTime, OMV.Vector3 force);
252 252
253 public abstract OMV.Vector3 ForceRotationalVelocity { get; set; } 253 public abstract OMV.Vector3 ForceRotationalVelocity { get; set; }
254 254
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs b/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
index 1d552eb..fd9b834 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSPrim.cs
@@ -394,7 +394,7 @@ public class BSPrim : BSPhysObject
394 // Apply upforce and overcome gravity. 394 // Apply upforce and overcome gravity.
395 OMV.Vector3 correctionForce = upForce - PhysScene.DefaultGravity; 395 OMV.Vector3 correctionForce = upForce - PhysScene.DefaultGravity;
396 DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, RawPosition, upForce, correctionForce); 396 DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, RawPosition, upForce, correctionForce);
397 AddForce(correctionForce, false, inTaintTime); 397 AddForce(inTaintTime, correctionForce);
398 ret = true; 398 ret = true;
399 } 399 }
400 } 400 }
@@ -1249,14 +1249,18 @@ public class BSPrim : BSPhysObject
1249 // Per documentation, max force is limited. 1249 // Per documentation, max force is limited.
1250 OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); 1250 OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
1251 1251
1252 // Since this force is being applied in only one step, make this a force per second. 1252 // Push forces seem to be scaled differently (follow pattern in ubODE)
1253 addForce /= PhysScene.LastTimeStep; 1253 if (!pushforce) {
1254 AddForce(addForce, pushforce, false /* inTaintTime */); 1254 // Since this force is being applied in only one step, make this a force per second.
1255 addForce /= PhysScene.LastTimeStep;
1256 }
1257
1258 AddForce(false /* inTaintTime */, addForce);
1255 } 1259 }
1256 1260
1257 // Applying a force just adds this to the total force on the object. 1261 // Applying a force just adds this to the total force on the object.
1258 // This added force will only last the next simulation tick. 1262 // This added force will only last the next simulation tick.
1259 public override void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { 1263 public override void AddForce(bool inTaintTime, OMV.Vector3 force) {
1260 // for an object, doesn't matter if force is a pushforce or not 1264 // for an object, doesn't matter if force is a pushforce or not
1261 if (IsPhysicallyActive) 1265 if (IsPhysicallyActive)
1262 { 1266 {
@@ -1315,7 +1319,7 @@ public class BSPrim : BSPhysObject
1315 } 1319 }
1316 1320
1317 // BSPhysObject.AddAngularForce() 1321 // BSPhysObject.AddAngularForce()
1318 public override void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) 1322 public override void AddAngularForce(bool inTaintTime, OMV.Vector3 force)
1319 { 1323 {
1320 if (force.IsFinite()) 1324 if (force.IsFinite())
1321 { 1325 {