From 00b5b915c7fb656743628b6409e10a6420db2de7 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 7 Mar 2015 17:47:40 -0800 Subject: BulletSim: add VEHICLE_ more parameter value limit checking. This only bounds passed parameters as there is no good way of refusing the parameter setting. This mostly means that passing NaN's won't crash the simulator. --- OpenSim/Region/Framework/Scenes/Scene.cs | 4 ++ OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 82 ++++++++++++++-------- 2 files changed, 57 insertions(+), 29 deletions(-) diff --git a/OpenSim/Region/Framework/Scenes/Scene.cs b/OpenSim/Region/Framework/Scenes/Scene.cs index 21d47aa..4715558 100644 --- a/OpenSim/Region/Framework/Scenes/Scene.cs +++ b/OpenSim/Region/Framework/Scenes/Scene.cs @@ -5216,6 +5216,10 @@ namespace OpenSim.Region.Framework.Scenes return null; } + // Get terrain height at the specified location. + // Presumes the underlying implementation is a heightmap which is a 1m grid. + // Finds heightmap grid points before and after the point and + // does a linear approximation of the height at this intermediate point. public float GetGroundHeight(float x, float y) { if (x < 0) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 2bf32e7..a4ef709 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -76,8 +76,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin private Vector3 m_linearMotorOffset = Vector3.Zero; // the point of force can be offset from the center private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL private Vector3 m_linearFrictionTimescale = Vector3.Zero; - private float m_linearMotorDecayTimescale = 0; - private float m_linearMotorTimescale = 0; + private float m_linearMotorDecayTimescale = 1; + private float m_linearMotorTimescale = 1; private Vector3 m_lastLinearVelocityVector = Vector3.Zero; private Vector3 m_lastPositionVector = Vector3.Zero; // private bool m_LinearMotorSetLastFrame = false; @@ -88,8 +88,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor // private int m_angularMotorApply = 0; // application frame counter private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity - private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate - private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate + private float m_angularMotorTimescale = 1; // motor angular velocity ramp up rate + private float m_angularMotorDecayTimescale = 1; // motor angular velocity decay rate private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate private Vector3 m_lastAngularVelocity = Vector3.Zero; private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body @@ -103,7 +103,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin //Banking properties private float m_bankingEfficiency = 0; - private float m_bankingMix = 0; + private float m_bankingMix = 1; private float m_bankingTimescale = 0; //Hover and Buoyancy properties @@ -124,8 +124,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin private float m_verticalAttractionTimescale = 510f; // Just some recomputed constants: - static readonly float PIOverFour = ((float)Math.PI) / 4f; #pragma warning disable 414 + static readonly float TwoPI = ((float)Math.PI) * 2f; + static readonly float FourPI = ((float)Math.PI) * 4f; + static readonly float PIOverFour = ((float)Math.PI) / 4f; static readonly float PIOverTwo = ((float)Math.PI) / 2f; #pragma warning restore 414 @@ -159,56 +161,58 @@ namespace OpenSim.Region.Physics.BulletSPlugin public void ProcessFloatVehicleParam(Vehicle pParam, float pValue) { VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue); + float clampTemp; + switch (pParam) { case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: m_angularDeflectionEfficiency = ClampInRange(0f, pValue, 1f); break; case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: - m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); + m_angularDeflectionTimescale = ClampInRange(0.25f, pValue, 120); break; case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: - m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120); + m_angularMotorDecayTimescale = ClampInRange(0.25f, pValue, 120); m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale; break; case Vehicle.ANGULAR_MOTOR_TIMESCALE: - m_angularMotorTimescale = Math.Max(pValue, 0.01f); + m_angularMotorTimescale = ClampInRange(0.25f, pValue, 120); m_angularMotor.TimeScale = m_angularMotorTimescale; break; case Vehicle.BANKING_EFFICIENCY: m_bankingEfficiency = ClampInRange(-1f, pValue, 1f); break; case Vehicle.BANKING_MIX: - m_bankingMix = Math.Max(pValue, 0.01f); + m_bankingMix = ClampInRange(0.01f, pValue, 1); break; case Vehicle.BANKING_TIMESCALE: - m_bankingTimescale = Math.Max(pValue, 0.01f); + m_bankingTimescale = ClampInRange(0.25f, pValue, 120); break; case Vehicle.BUOYANCY: m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f); m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy); break; case Vehicle.HOVER_EFFICIENCY: - m_VhoverEfficiency = ClampInRange(0f, pValue, 1f); + m_VhoverEfficiency = ClampInRange(0.01f, pValue, 1f); break; case Vehicle.HOVER_HEIGHT: - m_VhoverHeight = pValue; + m_VhoverHeight = ClampInRange(0f, pValue, 1000000f); break; case Vehicle.HOVER_TIMESCALE: - m_VhoverTimescale = Math.Max(pValue, 0.01f); + m_VhoverTimescale = ClampInRange(0.01f, pValue, 120); break; case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: m_linearDeflectionEfficiency = ClampInRange(0f, pValue, 1f); break; case Vehicle.LINEAR_DEFLECTION_TIMESCALE: - m_linearDeflectionTimescale = Math.Max(pValue, 0.01f); + m_linearDeflectionTimescale = ClampInRange(0.01f, pValue, 120); break; case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120); m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale; break; case Vehicle.LINEAR_MOTOR_TIMESCALE: - m_linearMotorTimescale = Math.Max(pValue, 0.01f); + m_linearMotorTimescale = ClampInRange(0.01f, pValue, 120); m_linearMotor.TimeScale = m_linearMotorTimescale; break; case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: @@ -216,30 +220,35 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency; break; case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: - m_verticalAttractionTimescale = Math.Max(pValue, 0.01f); + m_verticalAttractionTimescale = ClampInRange(0.01f, pValue, 120); m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale; break; // These are vector properties but the engine lets you use a single float value to // set all of the components to the same value case Vehicle.ANGULAR_FRICTION_TIMESCALE: - m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); + clampTemp = ClampInRange(0.01f, pValue, 120); + m_angularFrictionTimescale = new Vector3(clampTemp, clampTemp, clampTemp); break; case Vehicle.ANGULAR_MOTOR_DIRECTION: - m_angularMotorDirection = new Vector3(pValue, pValue, pValue); + clampTemp = ClampInRange(-TwoPI, pValue, TwoPI); + m_angularMotorDirection = new Vector3(clampTemp, clampTemp, clampTemp); m_angularMotor.Zero(); m_angularMotor.SetTarget(m_angularMotorDirection); break; case Vehicle.LINEAR_FRICTION_TIMESCALE: - m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); + clampTemp = ClampInRange(0.01f, pValue, 120); + m_linearFrictionTimescale = new Vector3(clampTemp, clampTemp, clampTemp); break; case Vehicle.LINEAR_MOTOR_DIRECTION: - m_linearMotorDirection = new Vector3(pValue, pValue, pValue); - m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue); + clampTemp = ClampInRange(-BSParam.MaxLinearVelocity, pValue, BSParam.MaxLinearVelocity); + m_linearMotorDirection = new Vector3(clampTemp, clampTemp, clampTemp); + m_linearMotorDirectionLASTSET = new Vector3(clampTemp, clampTemp, clampTemp); m_linearMotor.SetTarget(m_linearMotorDirection); break; case Vehicle.LINEAR_MOTOR_OFFSET: - m_linearMotorOffset = new Vector3(pValue, pValue, pValue); + clampTemp = ClampInRange(-1000, pValue, 1000); + m_linearMotorOffset = new Vector3(clampTemp, clampTemp, clampTemp); break; } @@ -251,29 +260,46 @@ namespace OpenSim.Region.Physics.BulletSPlugin switch (pParam) { case Vehicle.ANGULAR_FRICTION_TIMESCALE: + pValue.X = ClampInRange(0.25f, pValue.X, 120); + pValue.Y = ClampInRange(0.25f, pValue.Y, 120); + pValue.Z = ClampInRange(0.25f, pValue.Z, 120); m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); break; case Vehicle.ANGULAR_MOTOR_DIRECTION: // Limit requested angular speed to 2 rps= 4 pi rads/sec - pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f); - pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f); - pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f); + pValue.X = ClampInRange(-FourPI, pValue.X, FourPI); + pValue.Y = ClampInRange(-FourPI, pValue.Y, FourPI); + pValue.Z = ClampInRange(-FourPI, pValue.Z, FourPI); m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); m_angularMotor.Zero(); m_angularMotor.SetTarget(m_angularMotorDirection); break; case Vehicle.LINEAR_FRICTION_TIMESCALE: + pValue.X = ClampInRange(0.25f, pValue.X, 120); + pValue.Y = ClampInRange(0.25f, pValue.Y, 120); + pValue.Z = ClampInRange(0.25f, pValue.Z, 120); m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); break; case Vehicle.LINEAR_MOTOR_DIRECTION: + pValue.X = ClampInRange(-BSParam.MaxLinearVelocity, pValue.X, BSParam.MaxLinearVelocity); + pValue.Y = ClampInRange(-BSParam.MaxLinearVelocity, pValue.Y, BSParam.MaxLinearVelocity); + pValue.Z = ClampInRange(-BSParam.MaxLinearVelocity, pValue.Z, BSParam.MaxLinearVelocity); m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); m_linearMotor.SetTarget(m_linearMotorDirection); break; case Vehicle.LINEAR_MOTOR_OFFSET: + // Not sure the correct range to limit this variable + pValue.X = ClampInRange(-1000, pValue.X, 1000); + pValue.Y = ClampInRange(-1000, pValue.Y, 1000); + pValue.Z = ClampInRange(-1000, pValue.Z, 1000); m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); break; case Vehicle.BLOCK_EXIT: + // Not sure the correct range to limit this variable + pValue.X = ClampInRange(-10000, pValue.X, 10000); + pValue.Y = ClampInRange(-10000, pValue.Y, 10000); + pValue.Z = ClampInRange(-10000, pValue.Z, 10000); m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z); break; } @@ -1601,7 +1627,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin deflectContributionV = (-deflectionError) * ClampInRange(0, m_angularDeflectionEfficiency/m_angularDeflectionTimescale,1f); //deflectContributionV /= m_angularDeflectionTimescale; - // VehicleRotationalVelocity += deflectContributionV * VehicleOrientation; VehicleRotationalVelocity += deflectContributionV; VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", ControllingPrim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV); @@ -1659,7 +1684,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // TODO: the banking effect should not go to infinity but what to limit it to? // And what should happen when this is being added to a user defined yaw that is already PI*4? - mixedYawAngle = ClampInRange(-12, mixedYawAngle, 12); + mixedYawAngle = ClampInRange(-FourPI, mixedYawAngle, FourPI); // Build the force vector to change rotation from what it is to what it should be bankingContributionV.Z = -mixedYawAngle; @@ -1667,7 +1692,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Don't do it all at once. Fudge because 1 second is too fast with most user defined roll as PI*4. bankingContributionV /= m_bankingTimescale * BSParam.VehicleAngularBankingTimescaleFudge; - //VehicleRotationalVelocity += bankingContributionV * VehicleOrientation; VehicleRotationalVelocity += bankingContributionV; -- cgit v1.1