From a65cec3986431f5a2f4f9eb2424157def0d035c8 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 6 Jul 2013 08:22:59 -0700 Subject: BulletSim: implementation of linkset center-of-mass. Default off, for the moment, until more testing. Add separate thread and center-of-mass flags to OpenSimDefaults.ini. Clean up comments in OpenSimDefaults.ini. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 20 +++++--- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 3 ++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 5 +- .../Physics/BulletSPlugin/BSPrimDisplaced.cs | 60 ++++++++++++++++------ .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 11 ++-- bin/OpenSimDefaults.ini | 56 +++++++++++++------- 6 files changed, 107 insertions(+), 48 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 96626ca..1d94142 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -271,6 +271,8 @@ public sealed class BSLinksetCompound : BSLinkset // to what they should be as if the root was not in a linkset. // Not that bad since we only get into this routine if there are children in the linkset and // something has been updated/changed. + // Have to do the rebuild before checking for physical because this might be a linkset + // being destructed and going non-physical. LinksetRoot.ForceBodyShapeRebuild(true); // There is no reason to build all this physical stuff for a non-physical linkset. @@ -283,28 +285,29 @@ public sealed class BSLinksetCompound : BSLinkset // Get a new compound shape to build the linkset shape in. BSShape linksetShape = BSShapeCompound.GetReference(m_physicsScene); - // The center of mass for the linkset is the geometric center of the group. // Compute a displacement for each component so it is relative to the center-of-mass. // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass OMV.Vector3 centerOfMassW = ComputeLinksetCenterOfMass(); OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation)); + OMV.Vector3 origRootPosition = LinksetRoot.RawPosition; - // 'centerDisplacementV' is the value to subtract from children to give physical offset position + // 'centerDisplacementV' is the vehicle relative distance from the simulator root position to the center-of-mass OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation; if (UseBulletSimRootOffsetHack || !BSParam.LinksetOffsetCenterOfMass) { + // Zero everything if center-of-mass displacement is not being done. centerDisplacementV = OMV.Vector3.Zero; LinksetRoot.ClearDisplacement(); } else { - LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV); // The actual center-of-mass could have been set by the user. - centerDisplacementV = LinksetRoot.PositionDisplacement; + centerDisplacementV = LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV); } + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}", - LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacementV); + LinksetRoot.LocalID, origRootPosition, centerOfMassW, centerDisplacementV); // Add the shapes of all the components of the linkset int memberIndex = 1; @@ -321,11 +324,11 @@ public sealed class BSLinksetCompound : BSLinkset memberIndex++; } - // Get a reference to the shape of the child and add that shape to the linkset compound shape + // Get a reference to the shape of the child for adding of that shape to the linkset compound shape BSShape childShape = cPrim.PhysShape.GetReference(m_physicsScene, cPrim); - // Offset the child shape from the center-of-mass and rotate it to vehicle relative - OMV.Vector3 offsetPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation - centerDisplacementV; + // Offset the child shape from the center-of-mass and rotate it to vehicle relative. + OMV.Vector3 offsetPos = (cPrim.RawPosition - origRootPosition) * invRootOrientation - centerDisplacementV; OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation; // Add the child shape to the compound shape being built @@ -366,6 +369,7 @@ public sealed class BSLinksetCompound : BSLinkset // This enables a feature in the C++ code to return the world coordinates of the first shape in the // compound shape. This aleviates the need to offset the returned physical position by the // center-of-mass offset. + // TODO: either debug this feature or remove it. m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index a0d5c42..738e2d0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -90,6 +90,8 @@ public abstract class BSPhysObject : PhysicsActor PhysBody = new BulletBody(localID); PhysShape = new BSShapeNull(); + UserSetCenterOfMassDisplacement = null; + PrimAssetState = PrimAssetCondition.Unknown; // Default material type. Also sets Friction, Restitution and Density. @@ -180,6 +182,7 @@ public abstract class BSPhysObject : PhysicsActor Material = (MaterialAttributes.Material)material; // Setting the material sets the material attributes also. + // TODO: decide if this is necessary -- the simulator does this. MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false); Friction = matAttrib.friction; Restitution = matAttrib.restitution; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index f0858ca..ce4c3da 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -802,6 +802,7 @@ public class BSPrim : BSPhysObject // isSolid: other objects bounce off of this object // isVolumeDetect: other objects pass through but can generate collisions // collisionEvents: whether this object returns collision events + // NOTE: overloaded by BSPrimLinkable to also update linkset physical parameters. public virtual void UpdatePhysicalParameters() { if (!PhysBody.HasPhysicalBody) @@ -1532,6 +1533,8 @@ public class BSPrim : BSPhysObject // The physics engine says that properties have updated. Update same and inform // the world that things have changed. + // NOTE: BSPrim.UpdateProperties is overloaded by BSPrimLinkable which modifies updates from root and children prims. + // NOTE: BSPrim.UpdateProperties is overloaded by BSPrimDisplaced which handles mapping physical position to simulator position. public override void UpdateProperties(EntityProperties entprop) { // Let anyone (like the actors) modify the updated properties before they are pushed into the object and the simulator. @@ -1567,8 +1570,6 @@ public class BSPrim : BSPhysObject LastEntityProperties = CurrentEntityProperties; CurrentEntityProperties = entprop; - // Note that BSPrim can be overloaded by BSPrimLinkable which controls updates from root and children prims. - PhysScene.PostUpdate(this); } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs index a11bca0..35d5a08 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs @@ -59,6 +59,7 @@ public class BSPrimDisplaced : BSPrim // are converted into simulator origin values before being passed to the base // class. + // PositionDisplacement is the vehicle relative distance from the root prim position to the center-of-mass. public virtual OMV.Vector3 PositionDisplacement { get; set; } public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, @@ -72,49 +73,77 @@ public class BSPrimDisplaced : BSPrim // Does not clear the displacement set by the user. public void ClearDisplacement() { - SetEffectiveCenterOfMassDisplacement(OMV.Vector3.Zero); + if (UserSetCenterOfMassDisplacement.HasValue) + PositionDisplacement = (OMV.Vector3)UserSetCenterOfMassDisplacement; + else + PositionDisplacement = OMV.Vector3.Zero; } // Set this sets and computes the displacement from the passed prim to the center-of-mass. // A user set value for center-of-mass overrides whatever might be passed in here. // The displacement is in local coordinates (relative to root prim in linkset oriented coordinates). + // Returns the relative offset from the root position to the center-of-mass. // Called at taint time. - public virtual void SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement) + public virtual Vector3 SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement) { + PhysScene.AssertInTaintTime("BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement"); Vector3 comDisp; if (UserSetCenterOfMassDisplacement.HasValue) comDisp = (OMV.Vector3)UserSetCenterOfMassDisplacement; else comDisp = centerOfMassDisplacement; + // Eliminate any jitter caused be very slight differences in masses and positions if (comDisp.ApproxEquals(Vector3.Zero, 0.01f) ) comDisp = Vector3.Zero; DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}", LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp); - if ( comDisp != PositionDisplacement ) + if ( !comDisp.ApproxEquals(PositionDisplacement, 0.01f) ) { // Displacement setting is changing. // The relationship between the physical object and simulated object must be aligned. PositionDisplacement = comDisp; this.ForcePosition = RawPosition; } + + return PositionDisplacement; } + // 'ForcePosition' is the one way to set the physical position of the body in the physics engine. + // Displace the simulator idea of position (center of root prim) to the physical position. public override Vector3 ForcePosition { - get { return base.ForcePosition; } + get { + OMV.Vector3 physPosition = base.ForcePosition; + if (PositionDisplacement != OMV.Vector3.Zero) + { + // If there is some displacement, return the physical position (center-of-mass) + // location minus the displacement to give the center of the root prim. + OMV.Vector3 displacement = PositionDisplacement * ForceOrientation; + DetailLog("{0},BSPrimDisplaced.ForcePosition,get,physPos={1},disp={2},simPos={3}", + LocalID, physPosition, displacement, physPosition - displacement); + physPosition -= displacement; + } + return physPosition; + } set { if (PositionDisplacement != OMV.Vector3.Zero) { - // The displacement is always relative to the vehicle so, when setting position, - // the caller means to set the position of the root prim. - // This offsets the setting value to the center-of-mass and sends that to the - // physics engine. - OMV.Vector3 displacedPos = value - (PositionDisplacement * RawOrientation); - DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos); - base.ForcePosition = displacedPos; + // This value is the simulator's idea of where the prim is: the center of the root prim + RawPosition = value; + + // Move the passed root prim postion to the center-of-mass position and set in the physics engine. + OMV.Vector3 displacement = PositionDisplacement * RawOrientation; + OMV.Vector3 displacedPos = RawPosition + displacement; + DetailLog("{0},BSPrimDisplaced.ForcePosition,set,simPos={1},disp={2},physPos={3}", + LocalID, RawPosition, displacement, displacedPos); + if (PhysBody.HasPhysicalBody) + { + PhysScene.PE.SetTranslation(PhysBody, displacedPos, RawOrientation); + ActivateIfPhysical(false); + } } else { @@ -143,10 +172,11 @@ public class BSPrimDisplaced : BSPrim // These physical location must be back converted to be centered around the displaced // root shape. - // The root position is the reported position displaced by the rotated displacement. - OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation); - DetailLog("{0},BSPrimDisplaced.UpdateProperties,physPos={1},disp={2},newPos={3}", - LocalID, entprop.Position, PositionDisplacement, displacedPos); + // Move the returned center-of-mass location to the root prim location. + OMV.Vector3 displacement = PositionDisplacement * entprop.Rotation; + OMV.Vector3 displacedPos = entprop.Position - displacement; + DetailLog("{0},BSPrimDisplaced.UpdateProperties,physPos={1},disp={2},simPos={3}", + LocalID, entprop.Position, displacement, displacedPos); entprop.Position = displacedPos; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 7058646..1fbcfcc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -160,10 +160,13 @@ public class BSPrimLinkable : BSPrimDisplaced protected override void MakeDynamic(bool makeStatic) { base.MakeDynamic(makeStatic); - if (makeStatic) - Linkset.MakeStatic(this); - else - Linkset.MakeDynamic(this); + if (Linkset != null) // null can happen during initialization + { + if (makeStatic) + Linkset.MakeStatic(this); + else + Linkset.MakeDynamic(this); + } } // Body is being taken apart. Remove physical dependencies and schedule a rebuild. diff --git a/bin/OpenSimDefaults.ini b/bin/OpenSimDefaults.ini index 4a89fe2..4a3104e 100644 --- a/bin/OpenSimDefaults.ini +++ b/bin/OpenSimDefaults.ini @@ -919,54 +919,72 @@ ; ## Joint support ; ## - ; if you would like physics joints to be enabled through a special naming convention in the client, set this to true. - ; (see NINJA Physics documentation, http://opensimulator.org/wiki/NINJA_Physics) - ; default is false + ; If you would like physics joints to be enabled through a special naming + ; convention in the client, set this to true. + ; (See NINJA Physics documentation, http://opensimulator.org/wiki/NINJA_Physics) + ; Default is false ;use_NINJA_physics_joints = true ; ## ; ## additional meshing options ; ## - ; physical collision mesh proxies are normally created for complex prim shapes, and collisions for simple boxes and - ; spheres are computed algorithmically. If you would rather have mesh proxies for simple prims, you can set this to - ; true. Note that this will increase memory usage and region startup time. Default is false. + ; Physical collision mesh proxies are normally created for complex prim shapes, + ; and collisions for simple boxes and spheres are computed algorithmically. + ; If you would rather have mesh proxies for simple prims, you can set this to + ; true. Note that this will increase memory usage and region startup time. + ; Default is false. ;force_simple_prim_meshing = true [BulletSim] - ; All the BulletSim parameters can be displayed with the console command "physics get all" - ; and all are defined in the source file OpenSim/Regions/Physics/BulletSPlugin/BSParam.cs. + ; All the BulletSim parameters can be displayed with the console command + ; "physics get all" and all are defined in the source file + ; OpenSim/Regions/Physics/BulletSPlugin/BSParam.cs. - ; There are two bullet physics libraries, bulletunmanaged is the default and is a native c++ dll - ; bulletxna is a managed C# dll. They have comparible functionality but the c++ one is much faster. + ; There are two bullet physics libraries, bulletunmanaged is the default and is a + ; native c++ dll bulletxna is a managed C# dll. They have comparible functionality + ; but the c++ one is much faster. BulletEngine = "bulletunmanaged" ; BulletEngine = "bulletxna" - ; Terrain Implementation - TerrainImplementation = 1 ; 0=Heightfield, 1=mesh - ; For mesh terrain, the detail of the created mesh. '1' gives 256x256 (heightfield resolution). '2' - ; gives 512x512. Etc. Cannot be larger than '4'. Higher magnification uses lots of memory. + ; BulletSim can run on its own thread independent of the simulator's heartbeat + ; thread. Enabling this will nto let the physics engine slow down avatar movement, etc. + UseSeparatePhysicsThread = false + + ; Terrain implementation can use either Bullet's heightField or BulletSim can build + ; a mesh. 0=heightField, 1=mesh + TerrainImplementation = 1 + ; For mesh terrain, the detail of the created mesh. '1' gives 256x256 (heightfield + ; resolution). '2' gives 512x512. Etc. Cannot be larger than '4'. Higher + ; magnification uses lots of memory. TerrainMeshMagnification = 2 - ; Avatar physics height adjustments. http://opensimulator.org/wiki/BulletSim#Adjusting_Avatar_Height + ; Avatar physics height adjustments. + ; http://opensimulator.org/wiki/BulletSim#Adjusting_Avatar_Height AvatarHeightLowFudge = -0.2 ; Adjustment at low end of height range AvatarHeightMidFudge = 0.1 ; Adjustment at mid point of avatar height range AvatarHeightHighFudge = 0.1 ; Adjustment at high end of height range ; Default linkset implmentation - ; 'Constraint' uses physics constraints to hold linkset together. 'Compound' builds a compound - ; shape from the children shapes to create a single physical shape. 'Compound' uses a lot less CPU time. + ; 'Constraint' uses physics constraints to hold linkset together. 'Compound' + ; builds a compound shape from the children shapes to create a single physical + ; shape. 'Compound' uses a lot less CPU time. LinkImplementation = 1 ; 0=constraint, 1=compound + ; If 'true', offset a linkset's origin based on mass of linkset parts. + LinksetOffsetCenterOfMass = false + ; If 'true', turn scuplties into meshes MeshSculptedPrim = true ; If 'true', force simple prims (box and sphere) to be meshed - ; If 'false', the Bullet native special case shape is used for square rectangles and even dimensioned spheres + ; If 'false', the Bullet native special case shape is used for square rectangles + ; and even dimensioned spheres. ForceSimplePrimMeshing = false ; If 'true', when creating meshes, remove all triangles that have two equal vertexes. - ; Happens often in sculpties. If turned off, there will be some doorways that cannot be walked through. + ; Happens often in sculpties. If turned off, there will be some doorways + ; that cannot be walked through. ShouldRemoveZeroWidthTriangles = true ; If 'true', use convex hull definition in mesh asset if present. -- cgit v1.1