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-rwxr-xr-xOpenSim/Region/PhysicsModules/BulletS/BSActorAvatarMove.cs35
-rw-r--r--OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs18
-rwxr-xr-xOpenSim/Region/PhysicsModules/BulletS/BSParam.cs15
-rwxr-xr-xOpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs6
-rw-r--r--OpenSim/Region/PhysicsModules/BulletS/BSScene.cs1
5 files changed, 57 insertions, 18 deletions
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSActorAvatarMove.cs b/OpenSim/Region/PhysicsModules/BulletS/BSActorAvatarMove.cs
index 0191893..12ffacb 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSActorAvatarMove.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSActorAvatarMove.cs
@@ -187,12 +187,25 @@ public class BSActorAvatarMove : BSActor
187 187
188 if (m_controllingPrim.IsColliding) 188 if (m_controllingPrim.IsColliding)
189 { 189 {
190 // If we are colliding with a stationary object, presume we're standing and don't move around 190 // if colliding with something stationary and we're not doing volume detect .
191 if (!m_controllingPrim.ColliderIsMoving && !m_controllingPrim.ColliderIsVolumeDetect) 191 if (!m_controllingPrim.ColliderIsMoving && !m_controllingPrim.ColliderIsVolumeDetect)
192 { 192 {
193 m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", m_controllingPrim.LocalID); 193 m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,totalForce={1}, vel={2}", /* DEBUG */
194 m_controllingPrim.IsStationary = true; 194 m_controllingPrim.LocalID, m_physicsScene.PE.GetTotalForce(m_controllingPrim.PhysBody), m_controllingPrim.Velocity); /* DEBUG */
195 m_controllingPrim.ZeroMotion(true /* inTaintTime */); 195 // If velocity is very small, assume it is movement creep and suppress it.
196 // Applying push forces (Character.AddForce) should move the avatar and that is only seen here as velocity.
197 if ( (m_controllingPrim.Velocity.LengthSquared() < BSParam.AvatarStopZeroThresholdSquared)
198 && (m_physicsScene.PE.GetTotalForce(m_controllingPrim.PhysBody).LengthSquared() < BSParam.AvatarStopZeroThresholdSquared) )
199 {
200 m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", m_controllingPrim.LocalID);
201 m_controllingPrim.IsStationary = true;
202 m_controllingPrim.ZeroMotion(true /* inTaintTime */);
203 }
204 else
205 {
206 m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,not zeroing because velocity={1}",
207 m_controllingPrim.LocalID, m_controllingPrim.Velocity);
208 }
196 } 209 }
197 210
198 // Standing has more friction on the ground 211 // Standing has more friction on the ground
@@ -222,8 +235,8 @@ public class BSActorAvatarMove : BSActor
222 } 235 }
223 } 236 }
224 237
225 m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", 238 m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2},isStationary={3}",
226 m_controllingPrim.LocalID, m_velocityMotor.TargetValue, m_controllingPrim.IsColliding); 239 m_controllingPrim.LocalID, m_velocityMotor.TargetValue, m_controllingPrim.IsColliding,m_controllingPrim.IsStationary);
227 } 240 }
228 else 241 else
229 { 242 {
@@ -237,6 +250,8 @@ public class BSActorAvatarMove : BSActor
237 m_physicsScene.PE.SetFriction(m_controllingPrim.PhysBody, m_controllingPrim.Friction); 250 m_physicsScene.PE.SetFriction(m_controllingPrim.PhysBody, m_controllingPrim.Friction);
238 } 251 }
239 252
253 // If not flying and not colliding, assume falling and keep the downward motion component.
254 // This check is done here for the next jump test.
240 if (!m_controllingPrim.Flying && !m_controllingPrim.IsColliding) 255 if (!m_controllingPrim.Flying && !m_controllingPrim.IsColliding)
241 { 256 {
242 stepVelocity.Z = m_controllingPrim.RawVelocity.Z; 257 stepVelocity.Z = m_controllingPrim.RawVelocity.Z;
@@ -267,11 +282,9 @@ public class BSActorAvatarMove : BSActor
267 } 282 }
268 else 283 else
269 { 284 {
270
271 // Since we're not affected by anything, the avatar must be falling and we do not want that to be too fast. 285 // Since we're not affected by anything, the avatar must be falling and we do not want that to be too fast.
272 if (m_controllingPrim.RawVelocity.Z < BSParam.AvatarTerminalVelocity) 286 if (m_controllingPrim.RawVelocity.Z < BSParam.AvatarTerminalVelocity)
273 { 287 {
274
275 stepVelocity.Z = BSParam.AvatarTerminalVelocity; 288 stepVelocity.Z = BSParam.AvatarTerminalVelocity;
276 } 289 }
277 else 290 else
@@ -315,7 +328,11 @@ public class BSActorAvatarMove : BSActor
315 if (m_controllingPrim.IsStationary) 328 if (m_controllingPrim.IsStationary)
316 { 329 {
317 entprop.Position = m_controllingPrim.RawPosition; 330 entprop.Position = m_controllingPrim.RawPosition;
318 entprop.Velocity = OMV.Vector3.Zero; 331 // Suppress small movement velocity
332 if (entprop.Velocity.LengthSquared() < BSParam.AvatarStopZeroThresholdSquared) {
333 m_physicsScene.DetailLog("{0},BSCharacter.MoveMotor,OnPreUpdate,zeroing velocity={1}", m_controllingPrim.LocalID, entprop.Velocity);
334 entprop.Velocity = OMV.Vector3.Zero;
335 }
319 m_physicsScene.PE.SetTranslation(m_controllingPrim.PhysBody, entprop.Position, entprop.Rotation); 336 m_physicsScene.PE.SetTranslation(m_controllingPrim.PhysBody, entprop.Position, entprop.Rotation);
320 } 337 }
321 338
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
index bd3c7ac..ab9cc27 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
@@ -652,13 +652,16 @@ public sealed class BSCharacter : BSPhysObject
652 public override void AddForce(OMV.Vector3 force, bool pushforce) 652 public override void AddForce(OMV.Vector3 force, bool pushforce)
653 { 653 {
654 // Since this force is being applied in only one step, make this a force per second. 654 // Since this force is being applied in only one step, make this a force per second.
655 OMV.Vector3 addForce = force / PhysScene.LastTimeStep; 655 OMV.Vector3 addForce = force;
656 656
657 // compensate for density variation 657 // The interaction of this force with the simulator rate and collision occurance is tricky.
658 // with a adicional parameter to sync with old ode 658 // ODE multiplies the force by 100
659 if(pushforce) 659 // ubODE multiplies the force by 5.3
660 addForce = addForce * Density * BSParam.DensityScaleFactor * 0.08f;; 660 // BulletSim, after much in-world testing, thinks it gets a similar effect by multiplying mass*0.315f
661 // This number could be a feature of friction or timing, but it seems to move avatars the same as ubODE
662 addForce *= Mass * BSParam.AvatarAddForcePushFactor;
661 663
664 DetailLog("{0},BSCharacter.addForce,call,force={1},addForce={2},push={3},mass={4}", LocalID, force, addForce, pushforce, Mass);
662 AddForce(addForce, pushforce, false); 665 AddForce(addForce, pushforce, false);
663 } 666 }
664 667
@@ -666,7 +669,7 @@ public sealed class BSCharacter : BSPhysObject
666 if (force.IsFinite()) 669 if (force.IsFinite())
667 { 670 {
668 OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude); 671 OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
669 // DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce); 672 // DetailLog("{0},BSCharacter.addForce,call,force={1},push={2},inTaint={3}", LocalID, addForce, pushforce, inTaintTime);
670 673
671 PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.AddForce", delegate() 674 PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.AddForce", delegate()
672 { 675 {
@@ -674,6 +677,9 @@ public sealed class BSCharacter : BSPhysObject
674 // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce); 677 // DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce);
675 if (PhysBody.HasPhysicalBody) 678 if (PhysBody.HasPhysicalBody)
676 { 679 {
680 // Bullet adds this central force to the total force for this tick.
681 // Deep down in Bullet:
682 // linearVelocity += totalForce / mass * timeStep;
677 PhysScene.PE.ApplyCentralForce(PhysBody, addForce); 683 PhysScene.PE.ApplyCentralForce(PhysBody, addForce);
678 PhysScene.PE.Activate(PhysBody, true); 684 PhysScene.PE.Activate(PhysBody, true);
679 } 685 }
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs b/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs
index c296008..aea69d7 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSParam.cs
@@ -149,7 +149,9 @@ public static class BSParam
149 public static float AvatarFlyingGroundUpForce { get; private set; } 149 public static float AvatarFlyingGroundUpForce { get; private set; }
150 public static float AvatarTerminalVelocity { get; private set; } 150 public static float AvatarTerminalVelocity { get; private set; }
151 public static float AvatarContactProcessingThreshold { get; private set; } 151 public static float AvatarContactProcessingThreshold { get; private set; }
152 public static float AvatarAddForcePushFactor { get; private set; }
152 public static float AvatarStopZeroThreshold { get; private set; } 153 public static float AvatarStopZeroThreshold { get; private set; }
154 public static float AvatarStopZeroThresholdSquared { get; private set; }
153 public static int AvatarJumpFrames { get; private set; } 155 public static int AvatarJumpFrames { get; private set; }
154 public static float AvatarBelowGroundUpCorrectionMeters { get; private set; } 156 public static float AvatarBelowGroundUpCorrectionMeters { get; private set; }
155 public static float AvatarStepHeight { get; private set; } 157 public static float AvatarStepHeight { get; private set; }
@@ -230,6 +232,8 @@ public static class BSParam
230 public static float PID_D { get; private set; } // derivative 232 public static float PID_D { get; private set; } // derivative
231 public static float PID_P { get; private set; } // proportional 233 public static float PID_P { get; private set; } // proportional
232 234
235 public static float DebugNumber { get; private set; } // A console setable number used for debugging
236
233 // Various constants that come from that other virtual world that shall not be named. 237 // Various constants that come from that other virtual world that shall not be named.
234 public const float MinGravityZ = -1f; 238 public const float MinGravityZ = -1f;
235 public const float MaxGravityZ = 28f; 239 public const float MaxGravityZ = 28f;
@@ -601,7 +605,7 @@ public static class BSParam
601 1.3f ), 605 1.3f ),
602 // For historical reasons, density is reported * 100 606 // For historical reasons, density is reported * 100
603 new ParameterDefn<float>("AvatarDensity", "Density of an avatar. Changed on avatar recreation. Scaled times 100.", 607 new ParameterDefn<float>("AvatarDensity", "Density of an avatar. Changed on avatar recreation. Scaled times 100.",
604 3500f) , // 3.5 * 100 608 350f) , // 3.5 * 100
605 new ParameterDefn<float>("AvatarRestitution", "Bouncyness. Changed on avatar recreation.", 609 new ParameterDefn<float>("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
606 0f ), 610 0f ),
607 new ParameterDefn<int>("AvatarShape", "Code for avatar physical shape: 0:capsule, 1:cube, 2:ovoid, 2:mesh", 611 new ParameterDefn<int>("AvatarShape", "Code for avatar physical shape: 0:capsule, 1:cube, 2:ovoid, 2:mesh",
@@ -626,8 +630,12 @@ public static class BSParam
626 -54.0f ), 630 -54.0f ),
627 new ParameterDefn<float>("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions", 631 new ParameterDefn<float>("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
628 0.1f ), 632 0.1f ),
633 new ParameterDefn<float>("AvatarAddForcePushFactor", "BSCharacter.AddForce is multiplied by this and mass to be like other physics engines",
634 0.315f ),
629 new ParameterDefn<float>("AvatarStopZeroThreshold", "Movement velocity below which avatar is assumed to be stopped", 635 new ParameterDefn<float>("AvatarStopZeroThreshold", "Movement velocity below which avatar is assumed to be stopped",
630 0.1f ), 636 0.1f,
637 (s) => { return (float)AvatarStopZeroThreshold; },
638 (s,v) => { AvatarStopZeroThreshold = v; AvatarStopZeroThresholdSquared = v * v; } ),
631 new ParameterDefn<float>("AvatarBelowGroundUpCorrectionMeters", "Meters to move avatar up if it seems to be below ground", 639 new ParameterDefn<float>("AvatarBelowGroundUpCorrectionMeters", "Meters to move avatar up if it seems to be below ground",
632 1.0f ), 640 1.0f ),
633 new ParameterDefn<int>("AvatarJumpFrames", "Number of frames to allow jump forces. Changes jump height.", 641 new ParameterDefn<int>("AvatarJumpFrames", "Number of frames to allow jump forces. Changes jump height.",
@@ -812,6 +820,9 @@ public static class BSParam
812 new ParameterDefn<float>("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)", 820 new ParameterDefn<float>("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
813 40 ), 821 40 ),
814 822
823 new ParameterDefn<float>("DebugNumber", "A console setable number sometimes used for debugging",
824 1.0f ),
825
815 new ParameterDefn<int>("PhysicsMetricFrames", "Frames between outputting detailed phys metrics. (0 is off)", 826 new ParameterDefn<int>("PhysicsMetricFrames", "Frames between outputting detailed phys metrics. (0 is off)",
816 0, 827 0,
817 (s) => { return s.PhysicsMetricDumpFrames; }, 828 (s) => { return s.PhysicsMetricDumpFrames; },
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs b/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs
index 0ad95c4..e8ea604 100755
--- a/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSPhysObject.cs
@@ -239,8 +239,10 @@ public abstract class BSPhysObject : PhysicsActor
239 public virtual OMV.Vector3 RawVelocity { get; set; } 239 public virtual OMV.Vector3 RawVelocity { get; set; }
240 public abstract OMV.Vector3 ForceVelocity { get; set; } 240 public abstract OMV.Vector3 ForceVelocity { get; set; }
241 241
242 // RawForce is a constant force applied to object (see Force { set; } )
242 public OMV.Vector3 RawForce { get; set; } 243 public OMV.Vector3 RawForce { get; set; }
243 public OMV.Vector3 RawTorque { get; set; } 244 public OMV.Vector3 RawTorque { get; set; }
245
244 public override void AddAngularForce(OMV.Vector3 force, bool pushforce) 246 public override void AddAngularForce(OMV.Vector3 force, bool pushforce)
245 { 247 {
246 AddAngularForce(force, pushforce, false); 248 AddAngularForce(force, pushforce, false);
@@ -570,7 +572,11 @@ public abstract class BSPhysObject : PhysicsActor
570 PhysScene.TaintedObject(LocalID, TypeName+".SubscribeEvents", delegate() 572 PhysScene.TaintedObject(LocalID, TypeName+".SubscribeEvents", delegate()
571 { 573 {
572 if (PhysBody.HasPhysicalBody) 574 if (PhysBody.HasPhysicalBody)
575 {
573 CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS); 576 CurrentCollisionFlags = PhysScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.BS_SUBSCRIBE_COLLISION_EVENTS);
577 DetailLog("{0},{1}.SubscribeEvents,setting collision. ms={2}, collisionFlags={3:x}",
578 LocalID, TypeName, ms, CurrentCollisionFlags);
579 }
574 }); 580 });
575 } 581 }
576 else 582 else
diff --git a/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs b/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
index f02104c..747bad5 100644
--- a/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
+++ b/OpenSim/Region/PhysicsModules/BulletS/BSScene.cs
@@ -679,7 +679,6 @@ namespace OpenSim.Region.PhysicsModule.BulletS
679 try 679 try
680 { 680 {
681 numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount); 681 numSubSteps = PE.PhysicsStep(World, timeStep, m_maxSubSteps, m_fixedTimeStep, out updatedEntityCount, out collidersCount);
682
683 } 682 }
684 catch (Exception e) 683 catch (Exception e)
685 { 684 {