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* * Added in the manifold point dept on collision desc. In BulletSim engine ↵teravus2013-01-241-5/+64
| | | | BulletXNA.
* * Repairs the Object updates, Collision updates, and Child Prim methods ↵teravus2013-01-241-164/+282
| | | | | | making the bulletXNA engine work again. * The only thing that had an issue was when creating a new RigidBody, BulletXNA didn't know the type SimMotionState and the upcast type is unknown in the constructor. Therefore, I had to update the IMotionState with a new method 'SetBody'. All of the duplicated type information has been removed and BulletXNA is not relying on any non-standard types external to the library.
* BulletSim: pass up and report the real collision penetration.Robert Adams2013-01-232-2/+4
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* BulletSim: remove setting of vehicle InterpolationRotationalVelocity.Robert Adams2013-01-232-36/+34
| | | | | | This doesn't seem to help the vehicle stability. Rename vehicle internal variables adding a "V" or "W" so it is clear when coordinates are vehicle or world relative.
* BulletSim: small change to center-of-mass computation left out last commitRobert Adams2013-01-231-3/+8
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* BulletSim: center-of-gravity linkset changes. Not working yet.Robert Adams2013-01-234-29/+9
| | | | | | Conflicts: OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
* BulletSim: working on COMRobert Adams2013-01-234-7/+36
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* BulletSim: fix build break introduced by previous commitRobert Adams2013-01-231-5/+0
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* BulletSim: remove the unused RestoreBodyDependencies used by linksetsRobert Adams2013-01-233-33/+2
| | | | and vehicles and clean up code by removing their kludgyness.
* BulletSim: Tweeks to vehicle motion.Robert Adams2013-01-213-15/+11
| | | | | Pass through old angular velocity making for smoother transitions. Remove some old kludges for angular motion (damping and rotvel suppression).
* BulletSim: allow changing position and rotation of a child of a linksetRobert Adams2013-01-218-46/+112
| | | | | without rebuilding the whole compound shape. Should make vehicles move smoother.
* BulletSim: remove unused MaxTaintsToProcessPerStep parameterRobert Adams2013-01-213-8/+5
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* BulletSim: More aggressive as setting character velocity to zeroRobert Adams2013-01-205-91/+153
| | | | | | | | | | | | when should be standing. Modify angular force routines to be the same pattern as linear force routines. BulletSim vehicle turning is scaled like SL and is DIFFERENT THAN ODE!! Fix some bugs in BSMotor dealing with the motor going to zero. Add a bunch of parameters: MaxLinearVelocity, MaxAngularVelocity, MaxAddForceMagnitude, VehicleMaxLinearVelocity, VehicleMaxAngularVelocity, and most of the values are defaulted to values that are larger than in SL. Use the new parameters in BSPrim, BSCharacter and BSDynamic.
* BulletSim: fix problem of avatar sliding very slowly occasionally after ↵Robert Adams2013-01-201-34/+41
| | | | stopping walking. Consolidate movement tests into the one prestep motion action
* BulletSim: small fix making sure terrain height is calculatedRobert Adams2013-01-201-1/+3
| | | | properly if the vehicle moves during vehicle actions.
* BulletSim: modify motors to return correction rather than current valueRobert Adams2013-01-205-38/+36
| | | | | | | to better use them for incremental updates. Modify prim and character to use the new motors. Simplify the vehicle linear movement code to just update the velocity directly or the basic movement.
* This updates prebuild to remove BulletSimN, implements the BulletSim API in ↵teravus2013-01-201-262/+623
| | | | BulletSPlugin using the BulletXNA Bullet physics engine. It also updates the BulletXNA library to be compatible with the changes. OpenSimDefaults has been updated to describe how to switch engines and terrain implementations.
* BulletSim: reduce jitter in avatar velocity when walking or flying.Robert Adams2013-01-182-2/+9
| | | | | | | OpenSimulator is VERY sensitive to changes in avatar velocity and will send an avatar update message when velocity changes more than 0.001m/s. This significantly reduces the number of avatar update messages by smoothing the avatar velocity returned by Bullet.
* BulletSim: add logic to turn off pre-step actions when object goesRobert Adams2013-01-181-0/+21
| | | | | non-active. This turns off 'setForce', 'setTorque' and 'moveToTarget' when the object is selected or made non-physical.
* BulletSim: Add one function that all actors who act on the physicalRobert Adams2013-01-175-24/+31
| | | | | can use to know if the object is currently active. Code cleaning including use of Util.ClampV function.
* BulletSim: add the editting children in linkset going phantom bug to TODO list.Robert Adams2013-01-151-0/+2
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* BulletSim: don't modify angular parameters when doing LIMIT_MOTOR_UP.Robert Adams2013-01-155-28/+30
| | | | | It was a dumb idea to try and do a nose over feature for jumping cars anyway. Add better logging of native shape creation/reuse so can tell the difference.
* BulletSim: add debugging messages to know when assets for physicalRobert Adams2013-01-154-17/+51
| | | | | objects have been fetched. Update TODO list with more work.
* BulletSim: reduce maximum force a script can apply (like in llApplyImpulse)Robert Adams2013-01-151-3/+3
| | | | to the documented maximum from the outragious number previously.
* BulletSim: tweeks to improve hover.Robert Adams2013-01-151-5/+21
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* BulletSim: temporarily disable banking and direction deflectionRobert Adams2013-01-152-10/+29
| | | | | because the computations are wrong. Add VehicleTorqueImpulse routines.
* BulletSim: fix logic for enabling unmanaged code debug messages.Robert Adams2013-01-151-1/+14
| | | | Free pinned memory when physics engine is unloaded.
* BulletSim: by default, turn on continuious collision detection (CCD)Robert Adams2013-01-151-3/+3
| | | | | and enable friction computation caching. Remove dangerous BulletSim settings from OpenSimDefaults.ini.
* BulletSim: fix not moving physical objects below terrain to over terrain.Robert Adams2013-01-145-18/+36
| | | | | Add locking on register prestep action list preventing potential race conditions. Little comment and formatting changes.
* BulletSim: disable center-of-mass computation for linksets until debugged. ↵Robert Adams2013-01-142-25/+36
| | | | Move physical prim above ground if it is underground. Previously tried to correct by applying and up force but the prim would never go through the ground.
* BulletSim: move center of gravity of linkset to its geometric center.Robert Adams2013-01-1110-32/+106
| | | | | | | 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 osGetPhysicsEngineType() LSL function and updateRobert Adams2013-01-112-3/+8
| | | | | | | | the physics engines to return the name that is specified in the INI file ("physics = XXX") as the type of engine. This os function is a little different than the others in that it does not throw an exception of one is not privilaged to use it. It merely returns an empty string.
* BulletSim: Add IsSelected attribute to physical objects. Have vehicles check ↵Robert Adams2013-01-114-50/+162
| | | | 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 Adams2013-01-112-62/+91
| | | | 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 Adams2013-01-114-65/+59
| | | | buoyancy. Add motor angular debugging controls.
* BulletSim: fix the 'No recognised physics mesh found ...' error spew by ↵Robert Adams2013-01-111-1/+1
| | | | remembering that the last asset fetch failed until the simulator resets the shape parameters.
* BulletSim: Fix hover height (boats float at the correct level).Robert Adams2013-01-082-8/+12
| | | | 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: add function to push avatar up when hitting stairs.Robert Adams2013-01-075-27/+119
| | | | | | | | | | It looks like BulletSim and ODE rely on penetration correction to cause the avatar to move up and thus allowing walking up stairs. Object penetration was minimized for walking and flying (so one doesn't go through walls) and this stopped stairs from working. This commit introduces avatar movement code to check for collisions at the feet while walking and attempts to raise the avatar for the steps. Not yet perfect but movement is better.
* BulletSim: fix exception when re-creating the terrain when loading an OAR fileRobert Adams2013-01-071-0/+2
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* BulletSim: comments and removing small compile errors introduced in last commit.Robert Adams2013-01-063-9/+3
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* BulletSim: update DLLs and SOs with better debugging output.Robert Adams2013-01-064-12/+151
| | | | | Add definition of hand crafted avatar mesh. Not used yet. Comments and cleanup.
* BulletSim: fix problem where mesh shapes were physically just their bounding ↵Robert Adams2013-01-041-0/+1
| | | | box and not the complete mesh. Fill mesh physical objects are back.
* BulletSim: implement llMoveToTarget by adding PIDActive, etc.Robert Adams2013-01-042-50/+33
| | | | | Implementation of non-vehicle hover but haven't tested it a lot. Update TODO list.
* BulletSim: add some features to the PID motor to make it more flexible.Robert Adams2013-01-041-9/+18
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* BulletSim: convert avatar movement from a force to an impulse. Shouldn'tRobert Adams2013-01-041-2/+2
| | | | change functionality but removes an oddity in computing the force.
* BulletSim: add initial implementation of llMoveToTarget and hover height.Robert Adams2013-01-041-10/+147
| | | | Not all there yet.
* BulletSim: reorganize motor code a little to pull together common functions.Robert Adams2013-01-041-18/+129
| | | | Add BSFMotor.
* BulletSim: add comments to force and impulse setting functionsRobert Adams2013-01-041-0/+8
| | | | so it is clear what Bullet is actually doing with the set values.
* BulletSim: fix problem where pre-step actions would not replacedRobert Adams2013-01-041-0/+4
| | | | by new registrations thus causing multiple instances of an action.
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