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-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs4
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs126
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs1
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs81
4 files changed, 162 insertions, 50 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 939d38a..aadb583 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -328,6 +328,10 @@ public sealed class BSCharacter : BSPhysObject
328 public override bool Selected { 328 public override bool Selected {
329 set { _selected = value; } 329 set { _selected = value; }
330 } 330 }
331 public override bool IsSelected
332 {
333 get { return _selected; }
334 }
331 public override void CrossingFailure() { return; } 335 public override void CrossingFailure() { return; }
332 public override void link(PhysicsActor obj) { return; } 336 public override void link(PhysicsActor obj) { return; }
333 public override void delink() { return; } 337 public override void delink() { return; }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 2e44ab6..80fdfb9 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -108,10 +108,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
108 private float m_VhoverEfficiency = 0f; 108 private float m_VhoverEfficiency = 0f;
109 private float m_VhoverTimescale = 0f; 109 private float m_VhoverTimescale = 0f;
110 private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height 110 private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
111 private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle. 111 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
112 // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) 112 private float m_VehicleBuoyancy = 0f;
113 // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. 113 private Vector3 m_VehicleGravity = Vector3.Zero; // Gravity computed when buoyancy set
114 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
115 114
116 //Attractor properties 115 //Attractor properties
117 private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction"); 116 private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction");
@@ -149,14 +148,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
149 enableAngularVerticalAttraction = false; 148 enableAngularVerticalAttraction = false;
150 enableAngularDeflection = false; 149 enableAngularDeflection = false;
151 enableAngularBanking = false; 150 enableAngularBanking = false;
152 VDetailLog("{0},BSDynamics.SetupVehicleDebugging,settingDebugMode"); 151 VDetailLog("{0},BSDynamics.SetupVehicleDebugging,settingDebugMode", Prim.LocalID);
153 } 152 }
154 } 153 }
155 154
156 // Return 'true' if this vehicle is doing vehicle things 155 // Return 'true' if this vehicle is doing vehicle things
157 public bool IsActive 156 public bool IsActive
158 { 157 {
159 get { return Type != Vehicle.TYPE_NONE && Prim.IsPhysical; } 158 get { return (Type != Vehicle.TYPE_NONE && !Prim.IsStatic); }
160 } 159 }
161 160
162 #region Vehicle parameter setting 161 #region Vehicle parameter setting
@@ -190,6 +189,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
190 break; 189 break;
191 case Vehicle.BUOYANCY: 190 case Vehicle.BUOYANCY:
192 m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f); 191 m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f);
192 m_VehicleGravity = Prim.ComputeGravity(m_VehicleBuoyancy);
193 break; 193 break;
194 case Vehicle.HOVER_EFFICIENCY: 194 case Vehicle.HOVER_EFFICIENCY:
195 m_VhoverEfficiency = ClampInRange(0f, pValue, 1f); 195 m_VhoverEfficiency = ClampInRange(0f, pValue, 1f);
@@ -562,12 +562,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
562 1f); 562 1f);
563 m_angularMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) 563 m_angularMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
564 564
565 /* Not implemented
565 m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale, 566 m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale,
566 BSMotor.Infinite, BSMotor.InfiniteVector, 567 BSMotor.Infinite, BSMotor.InfiniteVector,
567 m_verticalAttractionEfficiency); 568 m_verticalAttractionEfficiency);
568 // Z goes away and we keep X and Y 569 // Z goes away and we keep X and Y
569 m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f); 570 m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f);
570 m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) 571 m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
572 */
571 } 573 }
572 #endregion // Vehicle parameter setting 574 #endregion // Vehicle parameter setting
573 575
@@ -599,11 +601,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
599 601
600 // Set the gravity for the vehicle depending on the buoyancy 602 // Set the gravity for the vehicle depending on the buoyancy
601 // TODO: what should be done if prim and vehicle buoyancy differ? 603 // TODO: what should be done if prim and vehicle buoyancy differ?
602 Vector3 grav = Prim.ComputeGravity(m_VehicleBuoyancy); 604 m_VehicleGravity = Prim.ComputeGravity(m_VehicleBuoyancy);
603 PhysicsScene.PE.SetGravity(Prim.PhysBody, grav); 605 // The actual vehicle gravity is set to zero in Bullet so we can do all the application of same.
606 PhysicsScene.PE.SetGravity(Prim.PhysBody, Vector3.Zero);
604 607
605 VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4},grav={5}", 608 VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4},grav={5}",
606 Prim.LocalID, m_vehicleMass, friction, Prim.Inertia, angularDamping, grav); 609 Prim.LocalID, m_vehicleMass, friction, Prim.Inertia, angularDamping, m_VehicleGravity);
607 } 610 }
608 else 611 else
609 { 612 {
@@ -643,6 +646,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
643 private Vector3 m_knownPosition; 646 private Vector3 m_knownPosition;
644 private Vector3 m_knownVelocity; 647 private Vector3 m_knownVelocity;
645 private Vector3 m_knownForce; 648 private Vector3 m_knownForce;
649 private Vector3 m_knownForceImpulse;
646 private Quaternion m_knownOrientation; 650 private Quaternion m_knownOrientation;
647 private Vector3 m_knownRotationalVelocity; 651 private Vector3 m_knownRotationalVelocity;
648 private Vector3 m_knownRotationalForce; 652 private Vector3 m_knownRotationalForce;
@@ -651,12 +655,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
651 private const int m_knownChangedPosition = 1 << 0; 655 private const int m_knownChangedPosition = 1 << 0;
652 private const int m_knownChangedVelocity = 1 << 1; 656 private const int m_knownChangedVelocity = 1 << 1;
653 private const int m_knownChangedForce = 1 << 2; 657 private const int m_knownChangedForce = 1 << 2;
654 private const int m_knownChangedOrientation = 1 << 3; 658 private const int m_knownChangedForceImpulse = 1 << 3;
655 private const int m_knownChangedRotationalVelocity = 1 << 4; 659 private const int m_knownChangedOrientation = 1 << 4;
656 private const int m_knownChangedRotationalForce = 1 << 5; 660 private const int m_knownChangedRotationalVelocity = 1 << 5;
657 private const int m_knownChangedTerrainHeight = 1 << 6; 661 private const int m_knownChangedRotationalForce = 1 << 6;
658 private const int m_knownChangedWaterLevel = 1 << 7; 662 private const int m_knownChangedTerrainHeight = 1 << 7;
659 private const int m_knownChangedForwardVelocity = 1 << 8; 663 private const int m_knownChangedWaterLevel = 1 << 8;
664 private const int m_knownChangedForwardVelocity = 1 << 9;
660 665
661 private void ForgetKnownVehicleProperties() 666 private void ForgetKnownVehicleProperties()
662 { 667 {
@@ -677,21 +682,29 @@ namespace OpenSim.Region.Physics.BulletSPlugin
677 if ((m_knownChanged & m_knownChangedVelocity) != 0) 682 if ((m_knownChanged & m_knownChangedVelocity) != 0)
678 { 683 {
679 Prim.ForceVelocity = m_knownVelocity; 684 Prim.ForceVelocity = m_knownVelocity;
680 PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, VehicleVelocity); 685 // Fake out Bullet by making it think the velocity is the same as last time.
686 // Bullet does a bunch of smoothing for changing parameters.
687 // Since the vehicle is demanding this setting, we override Bullet's smoothing
688 // by telling Bullet the value was the same last time.
689 PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, m_knownVelocity);
681 } 690 }
682 691
683 if ((m_knownChanged & m_knownChangedForce) != 0) 692 if ((m_knownChanged & m_knownChangedForce) != 0)
684 Prim.AddForce((Vector3)m_knownForce, false, true); 693 Prim.AddForce((Vector3)m_knownForce, false, true);
685 694
695 if ((m_knownChanged & m_knownChangedForceImpulse) != 0)
696 Prim.AddForceImpulse((Vector3)m_knownForceImpulse, false, true);
697
686 if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) 698 if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0)
687 { 699 {
688 Prim.ForceRotationalVelocity = m_knownRotationalVelocity; 700 Prim.ForceRotationalVelocity = m_knownRotationalVelocity;
689 // Fake out Bullet by making it think the velocity is the same as last time.
690 PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity); 701 PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
691 } 702 }
692 703
693 if ((m_knownChanged & m_knownChangedRotationalForce) != 0) 704 if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
705 {
694 Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true); 706 Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true);
707 }
695 708
696 // If we set one of the values (ie, the physics engine didn't do it) we must force 709 // If we set one of the values (ie, the physics engine didn't do it) we must force
697 // an UpdateProperties event to send the changes up to the simulator. 710 // an UpdateProperties event to send the changes up to the simulator.
@@ -781,15 +794,26 @@ namespace OpenSim.Region.Physics.BulletSPlugin
781 } 794 }
782 } 795 }
783 796
784 private void VehicleAddForce(Vector3 aForce) 797 private void VehicleAddForce(Vector3 pForce)
785 { 798 {
786 if ((m_knownHas & m_knownChangedForce) == 0) 799 if ((m_knownHas & m_knownChangedForce) == 0)
787 { 800 {
788 m_knownForce = Vector3.Zero; 801 m_knownForce = Vector3.Zero;
802 m_knownHas |= m_knownChangedForce;
789 } 803 }
790 m_knownForce += aForce; 804 m_knownForce += pForce;
791 m_knownChanged |= m_knownChangedForce; 805 m_knownChanged |= m_knownChangedForce;
792 m_knownHas |= m_knownChangedForce; 806 }
807
808 private void VehicleAddForceImpulse(Vector3 pImpulse)
809 {
810 if ((m_knownHas & m_knownChangedForceImpulse) == 0)
811 {
812 m_knownForceImpulse = Vector3.Zero;
813 m_knownHas |= m_knownChangedForceImpulse;
814 }
815 m_knownForceImpulse += pImpulse;
816 m_knownChanged |= m_knownChangedForceImpulse;
793 } 817 }
794 818
795 private Vector3 VehicleRotationalVelocity 819 private Vector3 VehicleRotationalVelocity
@@ -868,20 +892,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
868 if (PhysicsScene.VehiclePhysicalLoggingEnabled) 892 if (PhysicsScene.VehiclePhysicalLoggingEnabled)
869 PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody); 893 PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
870 894
871 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", 895 VDetailLog("{0},BSDynamics.Step,done,pos={1}, force={2},velocity={3},angvel={4}",
872 Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity); 896 Prim.LocalID, VehiclePosition, m_knownForce, VehicleVelocity, VehicleRotationalVelocity);
873 } 897 }
874 898
875 // Apply the effect of the linear motor and other linear motions (like hover and float). 899 // Apply the effect of the linear motor and other linear motions (like hover and float).
876 private void MoveLinear(float pTimestep) 900 private void MoveLinear(float pTimestep)
877 { 901 {
878 Vector3 linearMotorContribution = m_linearMotor.Step(pTimestep); 902 ComputeLinearVelocity(pTimestep);
879
880 // The movement computed in the linear motor is relative to the vehicle
881 // coordinates. Rotate the movement to world coordinates.
882 linearMotorContribution *= VehicleOrientation;
883
884 VehicleVelocity = linearMotorContribution;
885 903
886 ComputeLinearTerrainHeightCorrection(pTimestep); 904 ComputeLinearTerrainHeightCorrection(pTimestep);
887 905
@@ -891,6 +909,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
891 909
892 ComputeLinearMotorUp(pTimestep); 910 ComputeLinearMotorUp(pTimestep);
893 911
912 ApplyGravity(pTimestep);
913
894 // If not changing some axis, reduce out velocity 914 // If not changing some axis, reduce out velocity
895 if ((m_flags & (VehicleFlag.NO_X | VehicleFlag.NO_Y | VehicleFlag.NO_Z)) != 0) 915 if ((m_flags & (VehicleFlag.NO_X | VehicleFlag.NO_Y | VehicleFlag.NO_Z)) != 0)
896 { 916 {
@@ -919,6 +939,43 @@ namespace OpenSim.Region.Physics.BulletSPlugin
919 939
920 } // end MoveLinear() 940 } // end MoveLinear()
921 941
942 public void ComputeLinearVelocity(float pTimestep)
943 {
944 Vector3 linearMotorStep = m_linearMotor.Step(pTimestep);
945
946 // The movement computed in the linear motor is relative to the vehicle
947 // coordinates. Rotate the movement to world coordinates.
948 Vector3 linearMotorVelocity = linearMotorStep * VehicleOrientation;
949
950 // If we're a ground vehicle, don't loose any Z action (like gravity acceleration).
951 float mixFactor = 1f; // 1 means use all linear motor Z value, 0 means use all existing Z
952 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
953 {
954 if (!Prim.IsColliding)
955 {
956 // If a ground vehicle and not on the ground, I want gravity effect
957 mixFactor = 0.2f;
958 }
959 }
960 else
961 {
962 // I'm not a ground vehicle but don't totally loose the effect of the environment
963 mixFactor = 0.8f;
964 }
965 linearMotorVelocity.Z = mixFactor * linearMotorVelocity.Z + (1f - mixFactor) * VehicleVelocity.Z;
966
967 // What we want to contribute to the vehicle's existing velocity
968 Vector3 linearMotorForce = linearMotorVelocity - VehicleVelocity;
969
970 // Act against the inertia of the vehicle
971 linearMotorForce *= m_vehicleMass;
972
973 VehicleAddForceImpulse(linearMotorForce);
974
975 VDetailLog("{0}, MoveLinear,velocity,vehVel={1},step={2},stepVel={3},mix={4},force={5}",
976 Prim.LocalID, VehicleVelocity, linearMotorStep, linearMotorVelocity, mixFactor, linearMotorForce);
977 }
978
922 public void ComputeLinearTerrainHeightCorrection(float pTimestep) 979 public void ComputeLinearTerrainHeightCorrection(float pTimestep)
923 { 980 {
924 // If below the terrain, move us above the ground a little. 981 // If below the terrain, move us above the ground a little.
@@ -979,7 +1036,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
979 float verticalCorrectionVelocity = verticalError / m_VhoverTimescale; 1036 float verticalCorrectionVelocity = verticalError / m_VhoverTimescale;
980 1037
981 // TODO: implement m_VhoverEfficiency correctly 1038 // TODO: implement m_VhoverEfficiency correctly
982 VehicleVelocity += new Vector3(0f, 0f, verticalCorrectionVelocity); 1039 VehicleAddForceImpulse(new Vector3(0f, 0f, verticalCorrectionVelocity));
983 1040
984 VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corrVel={7}", 1041 VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corrVel={7}",
985 Prim.LocalID, VehiclePosition, m_VhoverEfficiency, 1042 Prim.LocalID, VehiclePosition, m_VhoverEfficiency,
@@ -1096,6 +1153,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1096 } 1153 }
1097 } 1154 }
1098 1155
1156 private void ApplyGravity(float pTimeStep)
1157 {
1158 Vector3 appliedGravity = m_VehicleGravity * m_vehicleMass;
1159 VehicleAddForce(appliedGravity);
1160
1161 VDetailLog("{0}, MoveLinear,applyGravity,vehGrav={1},appliedForce-{2}",
1162 Prim.LocalID, m_VehicleGravity, appliedGravity);
1163 }
1164
1099 // ======================================================================= 1165 // =======================================================================
1100 // ======================================================================= 1166 // =======================================================================
1101 // Apply the effect of the angular motor. 1167 // Apply the effect of the angular motor.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index e8575f6..2c84293 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -135,6 +135,7 @@ public abstract class BSPhysObject : PhysicsActor
135 public virtual OMV.Vector3 Scale { get; set; } 135 public virtual OMV.Vector3 Scale { get; set; }
136 public abstract bool IsSolid { get; } 136 public abstract bool IsSolid { get; }
137 public abstract bool IsStatic { get; } 137 public abstract bool IsStatic { get; }
138 public abstract bool IsSelected { get; }
138 139
139 // Materialness 140 // Materialness
140 public MaterialAttributes.Material Material { get; private set; } 141 public MaterialAttributes.Material Material { get; private set; }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 50ba343..02d06b4 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -204,6 +204,10 @@ public sealed class BSPrim : BSPhysObject
204 } 204 }
205 } 205 }
206 } 206 }
207 public override bool IsSelected
208 {
209 get { return _isSelected; }
210 }
207 public override void CrossingFailure() { return; } 211 public override void CrossingFailure() { return; }
208 212
209 // link me to the specified parent 213 // link me to the specified parent
@@ -1153,33 +1157,70 @@ public sealed class BSPrim : BSPhysObject
1153 // This added force will only last the next simulation tick. 1157 // This added force will only last the next simulation tick.
1154 public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { 1158 public void AddForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
1155 // for an object, doesn't matter if force is a pushforce or not 1159 // for an object, doesn't matter if force is a pushforce or not
1156 if (!IsStatic && force.IsFinite()) 1160 if (!IsStatic)
1157 { 1161 {
1158 float magnitude = force.Length(); 1162 if (force.IsFinite())
1159 if (magnitude > BSParam.MaxAddForceMagnitude)
1160 { 1163 {
1161 // Force has a limit 1164 float magnitude = force.Length();
1162 force = force / magnitude * BSParam.MaxAddForceMagnitude; 1165 if (magnitude > BSParam.MaxAddForceMagnitude)
1163 } 1166 {
1167 // Force has a limit
1168 force = force / magnitude * BSParam.MaxAddForceMagnitude;
1169 }
1164 1170
1165 OMV.Vector3 addForce = force; 1171 OMV.Vector3 addForce = force;
1166 // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); 1172 // DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce);
1167 1173
1168 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() 1174 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate()
1169 {
1170 // Bullet adds this central force to the total force for this tick
1171 DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
1172 if (PhysBody.HasPhysicalBody)
1173 { 1175 {
1174 PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce); 1176 // Bullet adds this central force to the total force for this tick
1175 ActivateIfPhysical(false); 1177 DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce);
1176 } 1178 if (PhysBody.HasPhysicalBody)
1177 }); 1179 {
1180 PhysicsScene.PE.ApplyCentralForce(PhysBody, addForce);
1181 ActivateIfPhysical(false);
1182 }
1183 });
1184 }
1185 else
1186 {
1187 m_log.WarnFormat("{0}: AddForce: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID);
1188 return;
1189 }
1178 } 1190 }
1179 else 1191 }
1192
1193 public void AddForceImpulse(OMV.Vector3 impulse, bool pushforce, bool inTaintTime) {
1194 // for an object, doesn't matter if force is a pushforce or not
1195 if (!IsStatic)
1180 { 1196 {
1181 m_log.WarnFormat("{0}: Got a NaN force applied to a prim. LocalID={1}", LogHeader, LocalID); 1197 if (impulse.IsFinite())
1182 return; 1198 {
1199 float magnitude = impulse.Length();
1200 if (magnitude > BSParam.MaxAddForceMagnitude)
1201 {
1202 // Force has a limit
1203 impulse = impulse / magnitude * BSParam.MaxAddForceMagnitude;
1204 }
1205
1206 // DetailLog("{0},BSPrim.addForceImpulse,call,impulse={1}", LocalID, impulse);
1207 OMV.Vector3 addImpulse = impulse;
1208 PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddImpulse", delegate()
1209 {
1210 // Bullet adds this impulse immediately to the velocity
1211 DetailLog("{0},BSPrim.addForceImpulse,taint,impulseforce={1}", LocalID, addImpulse);
1212 if (PhysBody.HasPhysicalBody)
1213 {
1214 PhysicsScene.PE.ApplyCentralImpulse(PhysBody, addImpulse);
1215 ActivateIfPhysical(false);
1216 }
1217 });
1218 }
1219 else
1220 {
1221 m_log.WarnFormat("{0}: AddForceImpulse: Got a NaN impulse applied to a prim. LocalID={1}", LogHeader, LocalID);
1222 return;
1223 }
1183 } 1224 }
1184 } 1225 }
1185 1226