diff options
Diffstat (limited to 'OpenSim/Region')
5 files changed, 50 insertions, 17 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index e967dfc..e3ce7fb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | |||
@@ -395,7 +395,8 @@ public sealed class BSLinksetCompound : BSLinkset | |||
395 | // Constraint linksets are rebuilt every time. | 395 | // Constraint linksets are rebuilt every time. |
396 | // Note that this works for rebuilding just the root after a linkset is taken apart. | 396 | // Note that this works for rebuilding just the root after a linkset is taken apart. |
397 | // Called at taint time!! | 397 | // Called at taint time!! |
398 | private bool disableCOM = true; // DEBUG DEBUG: disable until we get this debugged | 398 | private bool UseBulletSimRootOffsetHack = false; |
399 | private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting | ||
399 | private void RecomputeLinksetCompound() | 400 | private void RecomputeLinksetCompound() |
400 | { | 401 | { |
401 | if (!LinksetRoot.IsPhysicallyActive) | 402 | if (!LinksetRoot.IsPhysicallyActive) |
@@ -428,11 +429,19 @@ public sealed class BSLinksetCompound : BSLinkset | |||
428 | 429 | ||
429 | // 'centerDisplacement' is the value to subtract from children to give physical offset position | 430 | // 'centerDisplacement' is the value to subtract from children to give physical offset position |
430 | OMV.Vector3 centerDisplacement = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation; | 431 | OMV.Vector3 centerDisplacement = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation; |
431 | LinksetRoot.SetEffectiveCenterOfMassW(centerDisplacement); | 432 | if (UseBulletSimRootOffsetHack || disableCOM) |
432 | 433 | { | |
433 | // TODO: add phantom root shape to be the center-of-mass | 434 | centerDisplacement = OMV.Vector3.Zero; |
435 | LinksetRoot.ClearDisplacement(); | ||
436 | } | ||
437 | else | ||
438 | { | ||
439 | LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacement); | ||
440 | } | ||
441 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}", | ||
442 | LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacement); | ||
434 | 443 | ||
435 | // Add a shape for each of the other children in the linkset | 444 | // Add the shapes of all the components of the linkset |
436 | int memberIndex = 1; | 445 | int memberIndex = 1; |
437 | ForEachMember(delegate(BSPrimLinkable cPrim) | 446 | ForEachMember(delegate(BSPrimLinkable cPrim) |
438 | { | 447 | { |
@@ -449,8 +458,8 @@ public sealed class BSLinksetCompound : BSLinkset | |||
449 | OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; | 458 | OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacement; |
450 | OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; | 459 | OMV.Quaternion offsetRot = cPrim.RawOrientation * invRootOrientation; |
451 | m_physicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); | 460 | m_physicsScene.PE.AddChildShapeToCompoundShape(LinksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); |
452 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},rShape={2},cShape={3},offPos={4},offRot={5}", | 461 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1}cShape={2},offPos={3},offRot={4}", |
453 | LinksetRoot.LocalID, memberIndex, LinksetRoot.PhysShape, cPrim.PhysShape, offsetPos, offsetRot); | 462 | LinksetRoot.LocalID, memberIndex, cPrim.PhysShape, offsetPos, offsetRot); |
454 | 463 | ||
455 | memberIndex++; | 464 | memberIndex++; |
456 | 465 | ||
@@ -463,13 +472,21 @@ public sealed class BSLinksetCompound : BSLinkset | |||
463 | m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody); | 472 | m_physicsScene.PE.RemoveObjectFromWorld(m_physicsScene.World, LinksetRoot.PhysBody); |
464 | m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo); | 473 | m_physicsScene.PE.SetCollisionShape(m_physicsScene.World, LinksetRoot.PhysBody, LinksetShape.physShapeInfo); |
465 | m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody); | 474 | m_physicsScene.PE.AddObjectToWorld(m_physicsScene.World, LinksetRoot.PhysBody); |
475 | DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addBody,body={1},shape={2}", | ||
476 | LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetShape); | ||
466 | 477 | ||
467 | // With all of the linkset packed into the root prim, it has the mass of everyone. | 478 | // With all of the linkset packed into the root prim, it has the mass of everyone. |
468 | LinksetMass = ComputeLinksetMass(); | 479 | LinksetMass = ComputeLinksetMass(); |
469 | LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); | 480 | LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); |
470 | 481 | ||
471 | // Enable the physical position updator to return the position and rotation of the root shape | 482 | if (UseBulletSimRootOffsetHack) |
472 | m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); | 483 | { |
484 | // Enable the physical position updator to return the position and rotation of the root shape. | ||
485 | // This enables a feature in the C++ code to return the world coordinates of the first shape in the | ||
486 | // compound shape. This eleviates the need to offset the returned physical position by the | ||
487 | // center-of-mass offset. | ||
488 | m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); | ||
489 | } | ||
473 | } | 490 | } |
474 | finally | 491 | finally |
475 | { | 492 | { |
@@ -477,7 +494,7 @@ public sealed class BSLinksetCompound : BSLinkset | |||
477 | } | 494 | } |
478 | 495 | ||
479 | // See that the Aabb surrounds the new shape | 496 | // See that the Aabb surrounds the new shape |
480 | m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetRoot.PhysShape.physShapeInfo); | 497 | m_physicsScene.PE.RecalculateCompoundShapeLocalAabb(LinksetShape.physShapeInfo); |
481 | } | 498 | } |
482 | } | 499 | } |
483 | } \ No newline at end of file | 500 | } \ No newline at end of file |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 28d4bd7..7eba851 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs | |||
@@ -259,7 +259,8 @@ public abstract class BSPhysObject : PhysicsActor | |||
259 | 259 | ||
260 | // The user can optionally set the center of mass. The user's setting will override any | 260 | // The user can optionally set the center of mass. The user's setting will override any |
261 | // computed center-of-mass (like in linksets). | 261 | // computed center-of-mass (like in linksets). |
262 | public OMV.Vector3? UserSetCenterOfMass { get; set; } | 262 | // Note this is a displacement from the root's coordinates. Zero means use the root prim as center-of-mass. |
263 | public OMV.Vector3? UserSetCenterOfMassDisplacement { get; set; } | ||
263 | 264 | ||
264 | public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free. | 265 | public OMV.Vector3 LockedAxis { get; set; } // zero means locked. one means free. |
265 | public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free | 266 | public readonly OMV.Vector3 LockedAxisFree = new OMV.Vector3(1f, 1f, 1f); // All axis are free |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs index f1c3b5c..f5ee671 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs | |||
@@ -78,14 +78,16 @@ public class BSPrimDisplaced : BSPrim | |||
78 | // Set this sets and computes the displacement from the passed prim to the center-of-mass. | 78 | // Set this sets and computes the displacement from the passed prim to the center-of-mass. |
79 | // A user set value for center-of-mass overrides whatever might be passed in here. | 79 | // A user set value for center-of-mass overrides whatever might be passed in here. |
80 | // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates). | 80 | // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates). |
81 | public virtual void SetEffectiveCenterOfMassW(Vector3 centerOfMassDisplacement) | 81 | public virtual void SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement) |
82 | { | 82 | { |
83 | Vector3 comDisp; | 83 | Vector3 comDisp; |
84 | if (UserSetCenterOfMass.HasValue) | 84 | if (UserSetCenterOfMassDisplacement.HasValue) |
85 | comDisp = (OMV.Vector3)UserSetCenterOfMass; | 85 | comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement; |
86 | else | 86 | else |
87 | comDisp = centerOfMassDisplacement; | 87 | comDisp = centerOfMassDisplacement; |
88 | 88 | ||
89 | DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}", | ||
90 | LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp); | ||
89 | if (comDisp == Vector3.Zero) | 91 | if (comDisp == Vector3.Zero) |
90 | { | 92 | { |
91 | // If there is no diplacement. Things get reset. | 93 | // If there is no diplacement. Things get reset. |
@@ -107,9 +109,15 @@ public class BSPrimDisplaced : BSPrim | |||
107 | set | 109 | set |
108 | { | 110 | { |
109 | if (PositionDisplacement != OMV.Vector3.Zero) | 111 | if (PositionDisplacement != OMV.Vector3.Zero) |
110 | base.ForcePosition = value - (PositionDisplacement * RawOrientation); | 112 | { |
113 | OMV.Vector3 displacedPos = value - (PositionDisplacement * RawOrientation); | ||
114 | DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos); | ||
115 | base.ForcePosition = displacedPos; | ||
116 | } | ||
111 | else | 117 | else |
118 | { | ||
112 | base.ForcePosition = value; | 119 | base.ForcePosition = value; |
120 | } | ||
113 | } | 121 | } |
114 | } | 122 | } |
115 | 123 | ||
@@ -118,6 +126,7 @@ public class BSPrimDisplaced : BSPrim | |||
118 | get { return base.ForceOrientation; } | 126 | get { return base.ForceOrientation; } |
119 | set | 127 | set |
120 | { | 128 | { |
129 | // TODO: | ||
121 | base.ForceOrientation = value; | 130 | base.ForceOrientation = value; |
122 | } | 131 | } |
123 | } | 132 | } |
@@ -143,7 +152,10 @@ public class BSPrimDisplaced : BSPrim | |||
143 | { | 152 | { |
144 | // Correct for any rotation around the center-of-mass | 153 | // Correct for any rotation around the center-of-mass |
145 | // TODO!!! | 154 | // TODO!!! |
146 | entprop.Position = entprop.Position + (PositionDisplacement * entprop.Rotation); | 155 | |
156 | OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation); | ||
157 | DetailLog("{0},BSPrimDisplaced.ForcePosition,physPos={1},disp={2},newPos={3}", LocalID, entprop.Position, PositionDisplacement, displacedPos); | ||
158 | entprop.Position = displacedPos; | ||
147 | // entprop.Rotation = something; | 159 | // entprop.Rotation = something; |
148 | } | 160 | } |
149 | 161 | ||
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs index f0c9fd5..3faa484 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapes.cs | |||
@@ -117,7 +117,7 @@ public abstract class BSShape | |||
117 | StringBuilder buff = new StringBuilder(); | 117 | StringBuilder buff = new StringBuilder(); |
118 | buff.Append("<t="); | 118 | buff.Append("<t="); |
119 | buff.Append(ShapeType.ToString()); | 119 | buff.Append(ShapeType.ToString()); |
120 | buff.Append("<p="); | 120 | buff.Append(",p="); |
121 | buff.Append(AddrString); | 121 | buff.Append(AddrString); |
122 | buff.Append(",c="); | 122 | buff.Append(",c="); |
123 | buff.Append(referenceCount.ToString()); | 123 | buff.Append(referenceCount.ToString()); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 559a73f..5792ae6 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | |||
@@ -52,6 +52,9 @@ One sided meshes? Should terrain be built into a closed shape? | |||
52 | 52 | ||
53 | VEHICLES TODO LIST: | 53 | VEHICLES TODO LIST: |
54 | ================================================= | 54 | ================================================= |
55 | LINEAR_MOTOR_DIRECTION values should be clamped to reasonable numbers. | ||
56 | What are the limits in SL? | ||
57 | Same for other velocity settings. | ||
55 | UBit improvements to remove rubber-banding of avatars sitting on vehicle child prims: | 58 | UBit improvements to remove rubber-banding of avatars sitting on vehicle child prims: |
56 | https://github.com/UbitUmarov/Ubit-opensim | 59 | https://github.com/UbitUmarov/Ubit-opensim |
57 | Border crossing with linked vehicle causes crash | 60 | Border crossing with linked vehicle causes crash |