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-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs147
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSParam.cs6
2 files changed, 91 insertions, 62 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 47f2759..2e44ab6 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -134,6 +134,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin
134 PhysicsScene = myScene; 134 PhysicsScene = myScene;
135 Prim = myPrim; 135 Prim = myPrim;
136 Type = Vehicle.TYPE_NONE; 136 Type = Vehicle.TYPE_NONE;
137 SetupVehicleDebugging();
138 }
139
140 // Stopgap debugging enablement. Allows source level debugging but still checking
141 // in changes by making enablement of debugging flags from INI file.
142 public void SetupVehicleDebugging()
143 {
144 enableAngularVerticalAttraction = true;
145 enableAngularDeflection = true;
146 enableAngularBanking = true;
147 if (BSParam.VehicleDebuggingEnabled != ConfigurationParameters.numericFalse)
148 {
149 enableAngularVerticalAttraction = false;
150 enableAngularDeflection = false;
151 enableAngularBanking = false;
152 VDetailLog("{0},BSDynamics.SetupVehicleDebugging,settingDebugMode");
153 }
137 } 154 }
138 155
139 // Return 'true' if this vehicle is doing vehicle things 156 // Return 'true' if this vehicle is doing vehicle things
@@ -576,8 +593,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
576 // Vehicles report collision events so we know when it's on the ground 593 // Vehicles report collision events so we know when it's on the ground
577 PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS); 594 PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
578 595
579 Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(Prim.PhysShape, m_vehicleMass); 596 Prim.Inertia = PhysicsScene.PE.CalculateLocalInertia(Prim.PhysShape, m_vehicleMass);
580 PhysicsScene.PE.SetMassProps(Prim.PhysBody, m_vehicleMass, localInertia); 597 PhysicsScene.PE.SetMassProps(Prim.PhysBody, m_vehicleMass, Prim.Inertia);
581 PhysicsScene.PE.UpdateInertiaTensor(Prim.PhysBody); 598 PhysicsScene.PE.UpdateInertiaTensor(Prim.PhysBody);
582 599
583 // Set the gravity for the vehicle depending on the buoyancy 600 // Set the gravity for the vehicle depending on the buoyancy
@@ -586,7 +603,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
586 PhysicsScene.PE.SetGravity(Prim.PhysBody, grav); 603 PhysicsScene.PE.SetGravity(Prim.PhysBody, grav);
587 604
588 VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4},grav={5}", 605 VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4},grav={5}",
589 Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping, grav); 606 Prim.LocalID, m_vehicleMass, friction, Prim.Inertia, angularDamping, grav);
590 } 607 }
591 else 608 else
592 { 609 {
@@ -863,69 +880,47 @@ namespace OpenSim.Region.Physics.BulletSPlugin
863 // The movement computed in the linear motor is relative to the vehicle 880 // The movement computed in the linear motor is relative to the vehicle
864 // coordinates. Rotate the movement to world coordinates. 881 // coordinates. Rotate the movement to world coordinates.
865 linearMotorContribution *= VehicleOrientation; 882 linearMotorContribution *= VehicleOrientation;
866 // All the contributions after this are world relative (mostly Z modifications)
867 883
868 Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep); 884 VehicleVelocity = linearMotorContribution;
869 885
870 Vector3 hoverContribution = ComputeLinearHover(pTimestep); 886 ComputeLinearTerrainHeightCorrection(pTimestep);
871 887
872 ComputeLinearBlockingEndPoint(pTimestep); 888 ComputeLinearHover(pTimestep);
873
874 Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep);
875 889
876 // ================================================================== 890 ComputeLinearBlockingEndPoint(pTimestep);
877 // Select between velocities and forces. Forces will happen over time and
878 // will take into account inertia, collisions, etc. Velocities are
879 // raw updates to the velocity of the vehicle.
880 Vector3 newVelocity = linearMotorContribution
881 + terrainHeightContribution
882 + hoverContribution
883 + limitMotorUpContribution;
884 891
885 Vector3 newForce = Vector3.Zero; 892 ComputeLinearMotorUp(pTimestep);
886 893
887 // If not changing some axis, reduce out velocity 894 // If not changing some axis, reduce out velocity
888 if ((m_flags & (VehicleFlag.NO_X)) != 0) 895 if ((m_flags & (VehicleFlag.NO_X | VehicleFlag.NO_Y | VehicleFlag.NO_Z)) != 0)
889 newVelocity.X = 0; 896 {
890 if ((m_flags & (VehicleFlag.NO_Y)) != 0) 897 Vector3 vel = VehicleVelocity;
891 newVelocity.Y = 0; 898 if ((m_flags & (VehicleFlag.NO_X)) != 0)
892 if ((m_flags & (VehicleFlag.NO_Z)) != 0) 899 vel.X = 0;
893 newVelocity.Z = 0; 900 if ((m_flags & (VehicleFlag.NO_Y)) != 0)
901 vel.Y = 0;
902 if ((m_flags & (VehicleFlag.NO_Z)) != 0)
903 vel.Z = 0;
904 VehicleVelocity = vel;
905 }
894 906
895 // ================================================================== 907 // ==================================================================
896 // Clamp high or low velocities 908 // Clamp high or low velocities
897 float newVelocityLengthSq = newVelocity.LengthSquared(); 909 float newVelocityLengthSq = VehicleVelocity.LengthSquared();
898 if (newVelocityLengthSq > 1000f) 910 if (newVelocityLengthSq > 1000f)
899 { 911 {
900 newVelocity /= newVelocity.Length(); 912 VehicleVelocity /= VehicleVelocity.Length();
901 newVelocity *= 1000f; 913 VehicleVelocity *= 1000f;
902 } 914 }
903 else if (newVelocityLengthSq < 0.001f) 915 else if (newVelocityLengthSq < 0.001f)
904 newVelocity = Vector3.Zero; 916 VehicleVelocity = Vector3.Zero;
905
906 // ==================================================================
907 // Stuff new linear velocity into the vehicle.
908 // Since the velocity is just being set, it is not scaled by pTimeStep. Bullet will do that for us.
909 // Also not scaled by mass since this is a super-physical setting of velocity.
910 VehicleVelocity = newVelocity;
911
912 // Other linear forces are applied as forces.
913 Vector3 totalDownForce = newForce * m_vehicleMass;
914 if (!totalDownForce.ApproxEquals(Vector3.Zero, 0.01f))
915 {
916 VehicleAddForce(totalDownForce);
917 }
918 917
919 VDetailLog("{0}, MoveLinear,done,linContrib={1},terrContrib={2},hoverContrib={3},limitContrib={4},totDown={5},isColl={6},newVel={7}", 918 VDetailLog("{0}, MoveLinear,done,isColl={1},newVel={2}", Prim.LocalID, Prim.IsColliding, VehicleVelocity );
920 Prim.LocalID,
921 linearMotorContribution, terrainHeightContribution, hoverContribution, limitMotorUpContribution,
922 totalDownForce, Prim.IsColliding, newVelocity );
923 919
924 } // end MoveLinear() 920 } // end MoveLinear()
925 921
926 public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep) 922 public void ComputeLinearTerrainHeightCorrection(float pTimestep)
927 { 923 {
928 Vector3 ret = Vector3.Zero;
929 // If below the terrain, move us above the ground a little. 924 // If below the terrain, move us above the ground a little.
930 // TODO: Consider taking the rotated size of the object or possibly casting a ray. 925 // TODO: Consider taking the rotated size of the object or possibly casting a ray.
931 if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition)) 926 if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition))
@@ -937,13 +932,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
937 VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}", 932 VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}",
938 Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition); 933 Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition);
939 } 934 }
940 return ret;
941 } 935 }
942 936
943 public Vector3 ComputeLinearHover(float pTimestep) 937 public void ComputeLinearHover(float pTimestep)
944 { 938 {
945 Vector3 ret = Vector3.Zero;
946
947 // m_VhoverEfficiency: 0=bouncy, 1=totally damped 939 // m_VhoverEfficiency: 0=bouncy, 1=totally damped
948 // m_VhoverTimescale: time to achieve height 940 // m_VhoverTimescale: time to achieve height
949 if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) 941 if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
@@ -976,6 +968,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
976 Vector3 pos = VehiclePosition; 968 Vector3 pos = VehiclePosition;
977 pos.Z = m_VhoverTargetHeight; 969 pos.Z = m_VhoverTargetHeight;
978 VehiclePosition = pos; 970 VehiclePosition = pos;
971
972 VDetailLog("{0}, MoveLinear,hover,pos={1},lockHoverHeight", Prim.LocalID, pos);
979 } 973 }
980 } 974 }
981 else 975 else
@@ -985,14 +979,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
985 float verticalCorrectionVelocity = verticalError / m_VhoverTimescale; 979 float verticalCorrectionVelocity = verticalError / m_VhoverTimescale;
986 980
987 // TODO: implement m_VhoverEfficiency correctly 981 // TODO: implement m_VhoverEfficiency correctly
988 ret = new Vector3(0f, 0f, verticalCorrectionVelocity); 982 VehicleVelocity += new Vector3(0f, 0f, verticalCorrectionVelocity);
983
984 VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corrVel={7}",
985 Prim.LocalID, VehiclePosition, m_VhoverEfficiency,
986 m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight,
987 verticalError, verticalCorrectionVelocity);
989 } 988 }
990 989
991 VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},ret={6}",
992 Prim.LocalID, VehiclePosition, m_VhoverEfficiency, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight, ret);
993 } 990 }
994
995 return ret;
996 } 991 }
997 992
998 public bool ComputeLinearBlockingEndPoint(float pTimestep) 993 public bool ComputeLinearBlockingEndPoint(float pTimestep)
@@ -1047,30 +1042,58 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1047 // TODO: this code is wrong. Also, what should it do for boats (height from water)? 1042 // TODO: this code is wrong. Also, what should it do for boats (height from water)?
1048 // This is just using the ground and a general collision check. Should really be using 1043 // This is just using the ground and a general collision check. Should really be using
1049 // a downward raycast to find what is below. 1044 // a downward raycast to find what is below.
1050 public Vector3 ComputeLinearMotorUp(float pTimestep) 1045 public void ComputeLinearMotorUp(float pTimestep)
1051 { 1046 {
1052 Vector3 ret = Vector3.Zero; 1047 Vector3 ret = Vector3.Zero;
1053 float distanceAboveGround = 0f;
1054 1048
1055 if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) 1049 if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
1056 { 1050 {
1051 // This code tries to decide if the object is not on the ground and then pushing down
1052 /*
1057 float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition); 1053 float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
1058 distanceAboveGround = VehiclePosition.Z - targetHeight; 1054 distanceAboveGround = VehiclePosition.Z - targetHeight;
1059 // Not colliding if the vehicle is off the ground 1055 // Not colliding if the vehicle is off the ground
1060 if (!Prim.IsColliding) 1056 if (!Prim.IsColliding)
1061 { 1057 {
1062 // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale); 1058 // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale);
1063 ret = new Vector3(0, 0, -distanceAboveGround); 1059 VehicleVelocity += new Vector3(0, 0, -distanceAboveGround);
1064 } 1060 }
1065 // TODO: this calculation is wrong. From the description at 1061 // TODO: this calculation is wrong. From the description at
1066 // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce 1062 // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce
1067 // has a decay factor. This says this force should 1063 // has a decay factor. This says this force should
1068 // be computed with a motor. 1064 // be computed with a motor.
1069 // TODO: add interaction with banking. 1065 // TODO: add interaction with banking.
1070 } 1066 VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
1071 VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
1072 Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret); 1067 Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret);
1073 return ret; 1068 */
1069
1070 // Another approach is to measure if we're going up. If going up and not colliding,
1071 // the vehicle is in the air. Fix that by pushing down.
1072 if (!Prim.IsColliding && VehicleVelocity.Z > 0.1)
1073 {
1074 // Get rid of any of the velocity vector that is pushing us up.
1075 VehicleVelocity += new Vector3(0, 0, -VehicleVelocity.Z);
1076
1077 // If we're pointed up into the air, we should nose down
1078 Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
1079 // The rotation around the Y axis is pitch up or down
1080 if (pointingDirection.Y > 0.01f)
1081 {
1082 float angularCorrectionForce = -(float)Math.Asin(pointingDirection.Y);
1083 Vector3 angularCorrectionVector = new Vector3(0f, angularCorrectionForce, 0f);
1084 // Rotate into world coordinates and apply to vehicle
1085 angularCorrectionVector *= VehicleOrientation;
1086 VehicleAddAngularForce(angularCorrectionVector);
1087 VDetailLog("{0}, MoveLinear,limitMotorUp,newVel={1},pntDir={2},corrFrc={3},aCorr={4}",
1088 Prim.LocalID, VehicleVelocity, pointingDirection, angularCorrectionForce, angularCorrectionVector);
1089 }
1090 else
1091 {
1092 VDetailLog("{0}, MoveLinear,limitMotorUp,newVel={1},pntDir={2}",
1093 Prim.LocalID, VehicleVelocity, pointingDirection);
1094 }
1095 }
1096 }
1074 } 1097 }
1075 1098
1076 // ======================================================================= 1099 // =======================================================================
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 23d573f..27ff047 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -80,6 +80,7 @@ public static class BSParam
80 public static float AvatarStepForceFactor { get; private set; } 80 public static float AvatarStepForceFactor { get; private set; }
81 81
82 public static float VehicleAngularDamping { get; private set; } 82 public static float VehicleAngularDamping { get; private set; }
83 public static float VehicleDebuggingEnabled { get; private set; }
83 84
84 public static float LinksetImplementation { get; private set; } 85 public static float LinksetImplementation { get; private set; }
85 public static float LinkConstraintUseFrameOffset { get; private set; } 86 public static float LinkConstraintUseFrameOffset { get; private set; }
@@ -427,6 +428,11 @@ public static class BSParam
427 (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, 428 (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
428 (s) => { return VehicleAngularDamping; }, 429 (s) => { return VehicleAngularDamping; },
429 (s,p,l,v) => { VehicleAngularDamping = v; } ), 430 (s,p,l,v) => { VehicleAngularDamping = v; } ),
431 new ParameterDefn("VehicleDebuggingEnable", "Turn on/off vehicle debugging",
432 ConfigurationParameters.numericFalse,
433 (s,cf,p,v) => { VehicleDebuggingEnabled = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },
434 (s) => { return VehicleDebuggingEnabled; },
435 (s,p,l,v) => { VehicleDebuggingEnabled = v; } ),
430 436
431 new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)", 437 new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
432 0f, 438 0f,