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2012-12-27BulletSim: fix physical object not interacting with static objects.Robert Adams1-9/+24
Another instance of the underlying Bullet doing, ah, helpful things when items are added to the world.
2012-12-27BulletSim: Parameterize nominal frame rate (55) and add parameters to ↵Robert Adams4-5/+21
dynamially turn on/off detailed, unmanaged data dumping of prims and vehicles.
2012-12-27BulletSim: move logic for IsColliding, CollidingGround and CollidingObj from ↵Robert Adams4-39/+55
individual sub-classes and up to parent BSPhysObject class.
2012-12-27BulletSim: fix buoyancy so it's properly set by a script when anRobert Adams4-15/+44
object is selected. Update TODO list.
2012-12-27BulletSim: fix odd code that wasn't really recomputing the mass of aRobert Adams1-7/+7
rebuilt linkset. I was burnt by making get/set methods with side effects. I should know better.
2012-12-27BulletSim: add physical parameter min/max constants in BSParam. I just don't ↵Robert Adams4-11/+15
like raw numbers scattered around the code.
2012-12-27BulletSim: complete applyImpulse function in BSCharacter (like I saidRobert Adams1-8/+17
I did last time).
2012-12-18* Merges BulletSim Updates to BulletSimN(BulletSNPlugin)teravus19-79/+116
2012-12-26BulletSim: scale the force for external AddForce by the simulationRobert Adams3-1/+19
step time so it will be applied completely the next step. The internal AddForce routine does not scale the force.
2012-12-25BulletSim: make llBuoyancy work. For some reason, Bullet resets anRobert Adams3-5/+13
object's individual gravity to the world gravity when the object is added to the physical world.
2012-12-25BulletSim: stop avatar from sliding VERY slowly after walking byRobert Adams1-3/+2
only zeroing the movement motor in the UpdateProperties routine.
2012-12-24BulletSim: Rename some of the interface structures (BulletWorld, ...)Robert Adams9-13/+412
to get ready for... Start creation of BulletAPITemplate. This defines the abstract interface functions. Following commits will move over to the new interface. This will enable switching between the managed and unmanaged version of Bullet.
2012-12-24BulletSim: Default avatar density changed to 3.5 which is WAY closerRobert Adams2-9/+9
to the SL value. Fixed frictin values for physical materials which were just wrong which caused things that should have slipped to not.
2012-12-24BulletSim: Fix single physical prim reporting its mass as zero.Robert Adams7-54/+83
Properly return root mass as mass of just the root prim rather than the mass of the linkset. SOG has the logic to add the masses together to get the linkset mass. Update TODO list.
2012-12-23* Update BulletSimN terrain implementation to default to Heightfield, it's ↵teravus1-1/+1
less CPU intensive.
2012-12-23* Initial commit of BulletSimN (BulletSNPlugin). Purely C# implementation ↵teravus23-0/+11718
of BulletSim. This is designed to be /as close as possible/ to the BulletSim plugin while still being entirely in the managed space to make keeping it up to date easy as possible (no thinking work). This implementation is /slower/ then the c++ version just because it's fully managed, so it's not appropriate for huge sims, but it will run small ones OK. At the moment, it supports all known features of BulletSim. Think of it like.. POS but everything works. To use this plugin, set the physics plugin to BulletSimN.
2012-12-22BulletSim: modify avatar motor code to make falling movement better. Clean ↵Robert Adams3-35/+45
up some usages. Disable motor when done.
2012-12-22BulletSim: remove post step one-time taints (doesn't make any sense). Rename ↵Robert Adams1-82/+30
pre and post step event invocation routines to Trigger* to be consistant. Remove old, unused code.
2012-12-22BulletSim: add Enabled parameter and operation to motors.Robert Adams1-2/+16
2012-12-21BulletSim: remove all special vehicle code from BSScene. Replace per-frame ↵Robert Adams2-101/+20
updates for vehicles with per-frame action registration. One fewer special case.
2012-12-21BulletSim: remove the movement decay while flying. Made flying slow down ↵Robert Adams1-6/+0
over time.
2012-12-21BulletSim: Fix llApplyImpulse so it works after the first impulse. The ↵Robert Adams2-4/+29
problem was Bullet deactivating the object between the pushes (when, as far as the physics engine is concerned, it isn't moving).
2012-12-21BulletSim: add BSPhysObject code to manage registrations of preStep events. ↵Robert Adams3-66/+104
Use same to implement setForce and setTorque so the values are restored at the beginning of each step (since Bullet zeros forces applied last step). Simplify implementation of AddForce and AddTorque by relying on the addition of forces in Bullet.
2012-12-21BulletSim: repair vehicle problems introduced in previous 'improvements'. ↵Robert Adams4-572/+598
Fix line endings in BSParams.
2012-12-21BulletSim: Move all the parameter variables, tables and get and fetch logic ↵Robert Adams13-606/+681
to a separate, static class for easier addition and to remove all that bulk from the BSScene class.
2012-12-21BulletSim: small fix to avatar movement motor use which keeps avatar from ↵Robert Adams1-1/+2
flying up forever. This doesn't fix the overall problem but keeps avatar flying from being totally unusable.
2012-12-21BulletSim: avatar movement smoothed with motor that modifies avatar velocity ↵Robert Adams2-4/+81
to target velocity. Fails in incorporating physical world effects (gravity) so avatar doesn't fly correctly.
2012-12-21BulletSim: Better detail logging of VMotor actions.Robert Adams1-7/+8
2012-12-21BulletSim: begin movement of parameters from pinned memory block to ↵Robert Adams2-7/+19
variables all in managed code. Add note to TODO list to remember to do the rest. Other updates to TODO list.
2012-12-20BulletSim: fix incorrectly defined property changed flag.Robert Adams1-3/+1
2012-12-20BulletSim: Check for unspecified TimeScale in BSVMotor and don't scale if ↵Robert Adams1-9/+43
not specified. Add test dump routine. Don'e zero current and target values when error goes to zero as the values could be used externally to store the actual target values, etc.
2012-12-20BulletSim: replace use of funky nullable values for vehicle property update ↵Robert Adams1-26/+43
control (m_known* stuff). Bitmaps will be quicker to test and to clear.
2012-12-20BulletSim: angularMotorUp working again (seems a little slow as it takes ↵Robert Adams2-32/+66
longer than timescale to correct, but getting better). Disabled angularDeflection (need to resolve interactions between angular corrections). Update TODO list.
2012-12-20BulletSim: reorganize motor step code to separate error computation allowing ↵Robert Adams1-51/+91
subclass for PID error correction.
2012-12-18BulletSim: improve angularVerticalAttraction calculation to compute angular ↵Robert Adams1-18/+15
correction velocity rather than estimating correction (excuse to use trig functions).
2012-12-18BulletSim: initial implementation of a PID motor. Not hooked up yet.Robert Adams1-6/+38
2012-12-18BulletSim: comments and TODO list updateRobert Adams2-3/+9
2012-12-17BulletSim: apply friction to linear and angular motion before returning ↵Robert Adams3-14/+2
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.
2012-12-17BulletSim: fix vehicles going underground when unsat. Problem was that, when ↵Robert Adams4-29/+32
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.
2012-12-16BulletSim: fix vehicles being shot in the air at border crossings because of ↵Robert Adams1-2/+5
mis-application of correction to postion for below groundness.
2012-12-16BulletSim: add parameter to UpdateProperties call into the linkset so ↵Robert Adams6-36/+65
changes from the physics engine can be differentiated from changes made by the user. This eliminates a linkset rebuild loop. Also add logic to not rebuild or freak out when the object/linkset crosses a terrain boundry.
2012-12-16BulletSim: add even more to the TODO list.Robert Adams1-4/+27
2012-12-16BulletSim: add check for border crossing in character position sanity check.Robert Adams1-2/+10
2012-12-16BulletSim: refactor to combine common terrain height testing code. Add ↵Robert Adams1-38/+48
function to test if a position is over known terrain.
2012-12-16BulletSim: remove some errors on shutdown by moving terrain destruction ↵Robert Adams2-3/+16
until after physical object destruction. TerrainManager also made disposable and that feature used.
2012-12-16BulletSim: rip out old code for linkset child position fetching. BulletSim ↵Robert Adams5-45/+31
doesn't need to do that bookkeeping because SOG/SOP already does it.
2012-12-13BulletSim: Add more to the TODO list. Clean up and improve some comments.Robert Adams2-10/+9
2012-12-13Return the last set targetVelocity rather than the current velocity as the ↵Robert Adams1-5/+8
default action made available in PhysicsActor.TargetVelocity. Doesn't change any physics operation but makes DSG work better as the targetVelocity value does not keep moving around.
2012-12-13BulletSim: fix problem with continuious rebuilding of physical linksets. ↵Robert Adams3-79/+88
This caused movement problems and large prim vehicles to take up a LOT of simulation time.
2012-12-13BulletSim: correct line endings in new BulletSimData.cs file.Robert Adams1-282/+282
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