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2012-12-11BulletSim: fix crash caused by the creation of a linkset child that is under ↵Robert Adams1-4/+4
the terrain. Users can sure find some interesting corner conditions.
2012-12-11BulletSim: protect character property setting to remove crash from taints ↵Robert Adams2-21/+42
setting properties after the destroy character taint.
2012-12-11BulletSim: protect prim property setting to remove crash from taints setting ↵Robert Adams3-20/+45
properties after the destroy object taint has happened.
2012-12-11BulletSim: modify LIMIT_MOTOR_UP to limit BOAT types to be at water rather ↵Robert Adams1-2/+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.
2012-12-11BulletSim: add ini file and command line parameters to controlRobert Adams4-8/+22
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.
2012-12-11BulletSim: set mass for single prim linksets when going physical. This fixes ↵Robert Adams1-1/+8
single prim vehicles not working (the surf board now zooms).
2012-12-10BulletSim: comment out some chatty debug logging. Rearrange some code in ↵Robert Adams2-5/+7
BSDynamics to make velocity vs force calculation clearer.
2012-12-10BulletSim: Fix crash on the destruction of physical linksets.Robert Adams12-38/+155
While fixing the above, add methods to physical body and shape pointer wrapper so routines won't have to know that IntPtr.Zero means no physical instance. Fix problem with physical linksets failing after a few sits and unsits by properly restoring child prom positions for compound linksets after multiple selection and deselections.
2012-12-09BulletSim: some comments about rebuilding linksets (having to recompute and ↵Robert Adams1-3/+6
restore a child's position in the world based on its position in the moved linkset).
2012-12-09BulletSim: adjust friction and restitution based on material type.Robert Adams2-5/+17
2012-12-08BulletSim: set material properties for static objects. Move ↵Robert Adams2-11/+24
Linkset.MakeStatic() after call to ForceActivationState2() since linkset might change activation state. Make BSPrim.CreateGeomAndObject public as linkset rebuilding might need access to it. Only rebuild prim if selection state is actually changes -- OpenSimulator calls PhysObject.Selected() multiple times whenever a prim is selected or deselected.
2012-12-08BulletSim: fix small problem with setting size/scale of native shapes which ↵Robert Adams1-6/+9
caused the native shapes to be rebuilt when not necessary.
2012-12-08BulletSim: update comments and add more to TODO list.Robert Adams2-4/+10
2012-12-06BulletSim: rewrite and improve vehicle angularDeflection, verticalAttraction,Robert Adams2-83/+130
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.
2012-12-06BulletSim: update and add to the TODO list.Robert Adams1-31/+56
2012-12-06BulletSim: add detail logging detail flag so I don't have to comment and ↵Robert Adams1-27/+34
uncomment the detail logging when changing the depth of logged info.
2012-12-06BulletSim: only check position sanity if the prim is physical -- the user ↵Robert Adams1-3/+1
can do anything dumb they wish.
2012-12-06BulletSim: add values for material friction and restitution. Fix line ↵Robert Adams1-191/+185
endings in material definition file.
2012-12-06BulletSim: Don't add gravity to down force -- let Bullet do that. Add ↵Robert Adams1-14/+28
VehicleAddForce to set of managed vehicle prim properties.
2012-12-06BulletSim: Vehicle angular vertical attraction works. Other vehicle angular ↵Robert Adams2-20/+38
forces commented out for the moment for debugging.
2012-12-03BulletSim: Reduce idle region physics overhead where there are MANYRobert Adams7-80/+95
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.
2012-12-03BulletSim: rework angular corrections to remove any hybrid code and compute ↵Robert Adams4-111/+115
absolute collections.
2012-12-03BulletSim: add stubs for generalization of preStep actions. Will eventually ↵Robert Adams2-3/+22
replace the specialized vehicle processing with preStep event processing. Add TODO comments about this feature. Redo line endings in TODO file to be all Linux.
2012-12-03BulletSim: begin tracking a TODO list. There just are so many things to ↵Robert Adams1-0/+112
remember to do.
2012-12-03BulletSim: revert angular vertical attraction from motor to code. The motor ↵Robert Adams1-47/+19
code did not return the restoring difference but the current value. Remove unused commented out code.
2012-12-03BulletSim: format vehicle detail logging messages so vehicle changs are ↵Robert Adams2-17/+17
grouped better in the log output.
2012-12-03BulletSim: localize vehicle property setting so the vehicle prim is only ↵Robert Adams1-33/+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.
2012-12-01BulletSim: Add DumpActivationInfo2 function. Change static objects from ↵Robert Adams4-10/+15
DISABLE_SIMULATION to ISLAND_SLEEPING. Update DLLs and SOs to add DumpActivationInfo2 function.
2012-11-29BulletSim: remove time scaling of computed vehicle absolute velocity since ↵Robert Adams3-48/+73
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.
2012-11-29BulletSim: add copyright header where it is missing. Remove some unnecessary ↵Robert Adams2-3/+31
'using' requirements so testing framework is less complicated.
2012-11-29BulletSim: add expanded call to IMesher/Meshmerizer which enables/disables ↵Robert Adams4-10/+26
mesh caching. Since BulletSim caches and tracks the unmanaged memory version of meshes, the Meshmerizer itself does not need to cache built meshes once BulletSim has made the physical proxy mesh.
2012-11-29BulletSim: reverse direction of hover correction. Removes problem with ↵Robert Adams1-8/+8
vehicles being orbited.
2012-11-28BulletSim: fix boats floating low by removing LIMIT_MOTOR_UP flag from ↵Robert Adams1-3/+15
TYPE_BOAT definition.
2012-11-28BulletSim: move GetWaterLevelAtXYZ from BSScene to BSPhysTerrain.Robert Adams7-22/+63
2012-11-28Stop logging spurious asset data for {0} is zero length error for sculpts/meshJustin Clark-Casey (justincc)2-1/+9
ODEPrim, for instance, always hits this code path twice at the moment Firstly before any sculpt data has been loaded (hence the spurious message) Secondly when any sculpt data has been loaded or failed to load (when the message would be valid). Hence comment this out and rely on the message in ODEPrim.MeshAssetReceived() instead (though this is not ideal since it requires all physics plugins to copy/paste similar code).
2012-11-27BulletSim: reorganize linear movement routine into separate subroutines ↵Robert Adams1-58/+79
enabling external calibration routines and unit tests.
2012-11-27BulletSim: fix terrain mesh generation for problem with regions that have ↵Robert Adams1-6/+16
unequal edge heights. Thanks UBit.
2012-11-27BulletSim: reorganize angular movement routine into separate subroutines ↵Robert Adams1-95/+114
enabling external calibration routines and unit testing.
2012-11-27BulletSim: implementation of vertical attraction motor.Robert Adams1-41/+62
2012-11-27BulletSim: add 'infinite' timescale that does not reduce motor target or ↵Robert Adams1-10/+27
friction.
2012-11-26BulletSim: increase vehicle stability by suppressing Bullet's update to ↵Robert Adams4-59/+26
angular velocity.
2012-11-25BulletSim: use m_angularMotor to do the basic movement. Add the setting of ↵Robert Adams1-60/+64
same. Rename the angular forces and add comments to match MoveAngular to the form of MoveLinear.
2012-11-25BulletSim: up the vehicle angular damping to 0.95. Still trying to overcome ↵Robert Adams1-2/+2
the movement added by Bullet.
2012-11-25BulletSim: organize MoveLinear code for understandability. Make ↵Robert Adams1-89/+40
LIMIT_MOTOR_UP contribution a velocity and not a force.
2012-11-25BulletSim: add ToString override to BSVMotor.Robert Adams1-1/+6
2012-11-25BulletSim: add BSVMotor as BSDynamics linear motor.Robert Adams2-27/+74
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.
2012-11-25BulletSim: clean up TODO list. It is kept somewhere wlse that should be more ↵Robert Adams2-18/+17
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.
2012-11-25BulletSim: small change to add position correction force with AddForce ↵Robert Adams2-16/+22
rather than just storing it in the variable
2012-11-25BulletSim: complete vector motor. Correct line endings.Robert Adams1-104/+129
2012-11-25BulletSim: add terrain collision margin and vehicle angular dampingRobert Adams1-0/+7
parameters to the parameter block. New API call for setting collision margin.
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