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path: root/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs (follow)
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* BulletSim: move center of gravity of linkset to its geometric center.Robert Adams2013-01-111-7/+6
| | | | | | | Necessitated allowing simulator and physical position of a body to get out of sync since Bullet assumes that <0,0,0> is the center of mass. Update DLLs and SOs for the UpdateChildTransform so positions of individual prim in a linkset can be implemented.
* BulletSim: Add IsSelected attribute to physical objects. Have vehicles check ↵Robert Adams2013-01-111-30/+96
| | | | to see if physical before trying to step. Replace vehicle gravity application. Previously relying on Bullet to apply gravity but since vehicles over-ride the velocity calculation, gravity never had a chance to accelerate the body down. Added AddForceImpulse as well as AddForce for those who need to apply immediate velocity updates. Use the impulse to apply the linear motion.
* BulletSim: Redo linear function coding so they can better interact. New ↵Robert Adams2013-01-111-62/+85
| | | | algorithm for limitMotorUp that relies on going up when not colliding rather than distance from ground. Add parameter for turning on and off embedded source vehicle debugging.
* BulletSim: remove double application of buoyancy. Centralize computation of ↵Robert Adams2013-01-111-19/+23
| | | | buoyancy. Add motor angular debugging controls.
* BulletSim: Fix hover height (boats float at the correct level).Robert Adams2013-01-081-6/+10
| | | | Fix problem of vehicles going crazy when backing up.
* BulletSim: improve vehicle angular banking and deflection computation. ↵Robert Adams2013-01-071-19/+18
| | | | Rotate angular correction forces to be world relative rather than vehicle relative.
* BulletSim: update DLLs and SOs with better debugging output.Robert Adams2013-01-061-1/+3
| | | | | Add definition of hand crafted avatar mesh. Not used yet. Comments and cleanup.
* BulletSim: complete movement of BulletSimAPI functions to BSAPITemplate.Robert Adams2012-12-311-2/+2
| | | | Update BulletSim DLLs and SOs with simplier step function interface.
* BulletSim: nearly complete in conversion from BulletSimAPI to BSAPITemplate. ↵Robert Adams2012-12-311-6/+6
| | | | Only initialization and debug fuctions left.
* BulletSim: another round of conversion: dynamics world and collision object ↵Robert Adams2012-12-311-5/+5
| | | | functions.
* BulletSim: Parameterize nominal frame rate (55) and add parameters to ↵Robert Adams2012-12-271-0/+6
| | | | dynamially turn on/off detailed, unmanaged data dumping of prims and vehicles.
* BulletSim: make llBuoyancy work. For some reason, Bullet resets anRobert Adams2012-12-251-0/+3
| | | | | object's individual gravity to the world gravity when the object is added to the physical world.
* BulletSim: repair vehicle problems introduced in previous 'improvements'. ↵Robert Adams2012-12-211-9/+28
| | | | Fix line endings in BSParams.
* BulletSim: Move all the parameter variables, tables and get and fetch logic ↵Robert Adams2012-12-211-1/+1
| | | | to a separate, static class for easier addition and to remove all that bulk from the BSScene class.
* BulletSim: fix incorrectly defined property changed flag.Robert Adams2012-12-201-3/+1
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* BulletSim: replace use of funky nullable values for vehicle property update ↵Robert Adams2012-12-201-26/+43
| | | | control (m_known* stuff). Bitmaps will be quicker to test and to clear.
* BulletSim: angularMotorUp working again (seems a little slow as it takes ↵Robert Adams2012-12-201-21/+44
| | | | longer than timescale to correct, but getting better). Disabled angularDeflection (need to resolve interactions between angular corrections). Update TODO list.
* BulletSim: improve angularVerticalAttraction calculation to compute angular ↵Robert Adams2012-12-181-18/+15
| | | | correction velocity rather than estimating correction (excuse to use trig functions).
* BulletSim: apply friction to linear and angular motion before returning ↵Robert Adams2012-12-171-6/+0
| | | | advanced motor value. This seems to be the problem with BulletSim vehicles turning too quickly. Also removed the configuration parameter that controlled the timestep scaling kludge for angular velocity that was added to research the question of quick turning.
* BulletSim: fix vehicles going underground when unsat. Problem was that, when ↵Robert Adams2012-12-171-20/+23
| | | | doing unsit, the order of operations on the prims and the vehicle is very chaotic and not in a good order so the root prim was being left physical and thus it fell for a bit. Also changed default of velocity scaling to be closer to the movement standard.
* BulletSim: fix vehicles being shot in the air at border crossings because of ↵Robert Adams2012-12-161-2/+5
| | | | mis-application of correction to postion for below groundness.
* BulletSim: modify LIMIT_MOTOR_UP to limit BOAT types to be at water rather ↵Robert Adams2012-12-111-2/+2
| | | | than ground level. This makes boats float at water level better but not perfectly. There probably needs to be some interaction between HOVER and LIMIT_MOTOR_UP.
* BulletSim: add ini file and command line parameters to controlRobert Adams2012-12-111-3/+6
| | | | | | | | | dumping of physical vehicle parameters (out of Bullet) on each simulation step and to optionally scale vehicle angular velocity by the time step. The latter looks to be part of a difference between angular parameters for ODE and BulletSim. SL docs say angular velocity is measured in radians/timeScale. Not sure if this is different than what ODE does.
* BulletSim: comment out some chatty debug logging. Rearrange some code in ↵Robert Adams2012-12-101-3/+5
| | | | BSDynamics to make velocity vs force calculation clearer.
* BulletSim: rewrite and improve vehicle angularDeflection, verticalAttraction,Robert Adams2012-12-061-83/+129
| | | | | | linearMotorUp and related vehicle forces. Fixed problems with downward vehicle position correction forces being too large. Add vehicle collision flag so can sense whether vehicle is on the ground.
* BulletSim: Don't add gravity to down force -- let Bullet do that. Add ↵Robert Adams2012-12-061-14/+28
| | | | VehicleAddForce to set of managed vehicle prim properties.
* BulletSim: Vehicle angular vertical attraction works. Other vehicle angular ↵Robert Adams2012-12-061-20/+35
| | | | forces commented out for the moment for debugging.
* BulletSim: Reduce idle region physics overhead where there are MANYRobert Adams2012-12-031-35/+46
| | | | | | | | | | | | static objects by more restrictive selection of objects that collide with static objects. Rename collision mask fuctions from 'filter' to 'group' so it is clear what is being set. Rename BulletSimAPI.SetCollisionFilterMask() to SetCollisionGroupMask to match above. Restore passing of time step to linear and angular motion component routines. Use buffering vehicle physical parameter get/set routines consistantly. Make range enforcement clearer by using ClampInRange() function for parameter setting. Remove commented out experimental vehicle calculations.
* BulletSim: rework angular corrections to remove any hybrid code and compute ↵Robert Adams2012-12-031-107/+97
| | | | absolute collections.
* BulletSim: revert angular vertical attraction from motor to code. The motor ↵Robert Adams2012-12-031-47/+19
| | | | code did not return the restoring difference but the current value. Remove unused commented out code.
* BulletSim: format vehicle detail logging messages so vehicle changs are ↵Robert Adams2012-12-031-14/+14
| | | | grouped better in the log output.
* BulletSim: localize vehicle property setting so the vehicle prim is only ↵Robert Adams2012-12-031-33/+128
| | | | updated at the end of the vehicle simulation step and the push of the physics property update event only happens if the properties are actually changed.
* BulletSim: Add DumpActivationInfo2 function. Change static objects from ↵Robert Adams2012-12-011-6/+6
| | | | DISABLE_SIMULATION to ISLAND_SLEEPING. Update DLLs and SOs to add DumpActivationInfo2 function.
* BulletSim: remove time scaling of computed vehicle absolute velocity since ↵Robert Adams2012-11-291-37/+61
| | | | Bullet will scale the movement by the time slice. Restore LIMIT_MOTOR_UP to definitition of BOAT simce some vehicle engines use it even for land vehicles. Push vehicle parameter updates through the regular property update to solve vehicles floating off when they should be stopped.
* BulletSim: add copyright header where it is missing. Remove some unnecessary ↵Robert Adams2012-11-291-2/+0
| | | | 'using' requirements so testing framework is less complicated.
* BulletSim: reverse direction of hover correction. Removes problem with ↵Robert Adams2012-11-291-8/+8
| | | | vehicles being orbited.
* BulletSim: fix boats floating low by removing LIMIT_MOTOR_UP flag from ↵Robert Adams2012-11-281-3/+15
| | | | TYPE_BOAT definition.
* BulletSim: move GetWaterLevelAtXYZ from BSScene to BSPhysTerrain.Robert Adams2012-11-281-4/+6
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* BulletSim: reorganize linear movement routine into separate subroutines ↵Robert Adams2012-11-271-58/+79
| | | | enabling external calibration routines and unit tests.
* BulletSim: reorganize angular movement routine into separate subroutines ↵Robert Adams2012-11-271-95/+114
| | | | enabling external calibration routines and unit testing.
* BulletSim: implementation of vertical attraction motor.Robert Adams2012-11-271-41/+62
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* BulletSim: increase vehicle stability by suppressing Bullet's update to ↵Robert Adams2012-11-261-8/+13
| | | | angular velocity.
* BulletSim: use m_angularMotor to do the basic movement. Add the setting of ↵Robert Adams2012-11-251-60/+64
| | | | same. Rename the angular forces and add comments to match MoveAngular to the form of MoveLinear.
* BulletSim: organize MoveLinear code for understandability. Make ↵Robert Adams2012-11-251-89/+40
| | | | LIMIT_MOTOR_UP contribution a velocity and not a force.
* BulletSim: add BSVMotor as BSDynamics linear motor.Robert Adams2012-11-251-13/+42
| | | | | | | | | | | Properly limit *_MOTOR_DECAY_TIMESCALE to 120 as per specs. Invode BSDynamics.Refresh() when vehicle type is changed. Previously the vehicle properties weren't getting set because the physical properties were set before the vehicle type was set. Add a "use name" to BSMotors for identification while debugging. Correct current and target confusion in BSVMotor design. Rename CurrentValueReductionTimescale to FrictionTimescale. Event more detailed logging.
* BulletSim: clean up TODO list. It is kept somewhere wlse that should be more ↵Robert Adams2012-11-251-1/+1
| | | | public. Add error logging for the detail log writer so a message is output when it cannot write to the specified logging directory. Modify friction defaults to be closer to ODE's values. Add new collision margin and vehicle angular damping parameters.
* BulletSim: small change to add position correction force with AddForce ↵Robert Adams2012-11-251-11/+18
| | | | rather than just storing it in the variable
* BulletSim: many changes to tune vehicles for BulletSim.Robert Adams2012-11-061-63/+161
| | | | | | | | The problem left is that the vehicle sitting on something needs to press down for gravity and what its sitting on pushes up so the vehicle does not penetrate. The effect is Bullet calculates a lot of random angular motion for the vehicle. Various schemes of damping and zeroing has not resolved the problem.
* BulletSim: fix compound linkset crash by not freeing shape of child prims.Robert Adams2012-11-031-3/+3
| | | | | Remove all compilation warnings (mostly 'protected' in sealed classes.) Add the dynamicAabbEnable parameter to creation of compound shapes.
* BulletSim: rename BSBody and BSShape to PhysBody and PhysShape. Add skeleton ↵Robert Adams2012-11-031-2/+2
| | | | of BSLinksetCompound.
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