From c358d5d168f349cbfbb10c1c4f1e992830b11fa4 Mon Sep 17 00:00:00 2001 From: Diva Canto Date: Fri, 5 Jul 2013 20:17:10 -0700 Subject: Changed a few bits in Inventory/Archiver/InventoryArchiveReadRequest.cs to be less dependent on a Scene. --- .../Archiver/InventoryArchiveReadRequest.cs | 32 ++++++++++++---------- .../Inventory/Archiver/InventoryArchiverModule.cs | 4 +-- .../Tests/InventoryArchiveLoadPathTests.cs | 12 ++++---- .../Archiver/Tests/InventoryArchiveSaveTests.cs | 2 +- .../CoreModules/Framework/Library/LibraryModule.cs | 4 +-- 5 files changed, 29 insertions(+), 25 deletions(-) diff --git a/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveReadRequest.cs b/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveReadRequest.cs index 98285e9..31c42d8 100644 --- a/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveReadRequest.cs +++ b/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiveReadRequest.cs @@ -67,10 +67,9 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver /// protected bool m_merge; - /// - /// We only use this to request modules - /// - protected Scene m_scene; + protected IInventoryService m_InventoryService; + protected IAssetService m_AssetService; + protected IUserAccountService m_UserAccountService; /// /// The stream from which the inventory archive will be loaded. @@ -118,9 +117,11 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver protected Dictionary m_creatorIdForAssetId = new Dictionary(); public InventoryArchiveReadRequest( - Scene scene, UserAccount userInfo, string invPath, string loadPath, bool merge) + IInventoryService inv, IAssetService assets, IUserAccountService uacc, UserAccount userInfo, string invPath, string loadPath, bool merge) : this( - scene, + inv, + assets, + uacc, userInfo, invPath, new GZipStream(ArchiveHelpers.GetStream(loadPath), CompressionMode.Decompress), @@ -129,9 +130,11 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver } public InventoryArchiveReadRequest( - Scene scene, UserAccount userInfo, string invPath, Stream loadStream, bool merge) + IInventoryService inv, IAssetService assets, IUserAccountService uacc, UserAccount userInfo, string invPath, Stream loadStream, bool merge) { - m_scene = scene; + m_InventoryService = inv; + m_AssetService = assets; + m_UserAccountService = uacc; m_merge = merge; m_userInfo = userInfo; m_invPath = invPath; @@ -162,7 +165,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver List folderCandidates = InventoryArchiveUtils.FindFoldersByPath( - m_scene.InventoryService, m_userInfo.PrincipalID, m_invPath); + m_InventoryService, m_userInfo.PrincipalID, m_invPath); if (folderCandidates.Count == 0) { @@ -297,7 +300,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver string plainPath = ArchiveConstants.ExtractPlainPathFromIarPath(archivePath); List folderCandidates = InventoryArchiveUtils.FindFoldersByPath( - m_scene.InventoryService, m_userInfo.PrincipalID, plainPath); + m_InventoryService, m_userInfo.PrincipalID, plainPath); if (folderCandidates.Count != 0) { @@ -380,7 +383,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver = new InventoryFolderBase( newFolderId, newFolderName, m_userInfo.PrincipalID, (short)AssetType.Unknown, destFolder.ID, 1); - m_scene.InventoryService.AddFolder(destFolder); + m_InventoryService.AddFolder(destFolder); // Record that we have now created this folder iarPathExisting += rawDirsToCreate[i] + "/"; @@ -406,7 +409,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver // Don't use the item ID that's in the file item.ID = UUID.Random(); - UUID ospResolvedId = OspResolver.ResolveOspa(item.CreatorId, m_scene.UserAccountService); + UUID ospResolvedId = OspResolver.ResolveOspa(item.CreatorId, m_UserAccountService); if (UUID.Zero != ospResolvedId) // The user exists in this grid { // m_log.DebugFormat("[INVENTORY ARCHIVER]: Found creator {0} via OSPA resolution", ospResolvedId); @@ -436,7 +439,8 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver // relying on native tar tools. m_creatorIdForAssetId[item.AssetID] = item.CreatorIdAsUuid; - m_scene.AddInventoryItem(item); + if (!m_InventoryService.AddItem(item)) + m_log.WarnFormat("[INVENTORY ARCHIVER]: Unable to save item {0} in folder {1}", item.Name, item.Folder); return item; } @@ -533,7 +537,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver AssetBase asset = new AssetBase(assetId, "From IAR", assetType, UUID.Zero.ToString()); asset.Data = data; - m_scene.AssetService.Store(asset); + m_AssetService.Store(asset); return true; } diff --git a/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiverModule.cs b/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiverModule.cs index 849449b..797097f 100644 --- a/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiverModule.cs +++ b/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/InventoryArchiverModule.cs @@ -294,7 +294,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver try { - request = new InventoryArchiveReadRequest(m_aScene, userInfo, invPath, loadStream, merge); + request = new InventoryArchiveReadRequest(m_aScene.InventoryService, m_aScene.AssetService, m_aScene.UserAccountService, userInfo, invPath, loadStream, merge); } catch (EntryPointNotFoundException e) { @@ -342,7 +342,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver try { - request = new InventoryArchiveReadRequest(m_aScene, userInfo, invPath, loadPath, merge); + request = new InventoryArchiveReadRequest(m_aScene.InventoryService, m_aScene.AssetService, m_aScene.UserAccountService, userInfo, invPath, loadPath, merge); } catch (EntryPointNotFoundException e) { diff --git a/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/Tests/InventoryArchiveLoadPathTests.cs b/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/Tests/InventoryArchiveLoadPathTests.cs index 95f562e..08f199a 100644 --- a/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/Tests/InventoryArchiveLoadPathTests.cs +++ b/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/Tests/InventoryArchiveLoadPathTests.cs @@ -229,7 +229,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver.Tests { // Test replication of path1 - new InventoryArchiveReadRequest(scene, ua1, null, (Stream)null, false) + new InventoryArchiveReadRequest(scene.InventoryService, scene.AssetService, scene.UserAccountService, ua1, null, (Stream)null, false) .ReplicateArchivePathToUserInventory( iarPath1, scene.InventoryService.GetRootFolder(ua1.PrincipalID), foldersCreated, nodesLoaded); @@ -246,7 +246,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver.Tests { // Test replication of path2 - new InventoryArchiveReadRequest(scene, ua1, null, (Stream)null, false) + new InventoryArchiveReadRequest(scene.InventoryService, scene.AssetService, scene.UserAccountService, ua1, null, (Stream)null, false) .ReplicateArchivePathToUserInventory( iarPath2, scene.InventoryService.GetRootFolder(ua1.PrincipalID), foldersCreated, nodesLoaded); @@ -291,8 +291,8 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver.Tests string folder2ArchiveName = InventoryArchiveWriteRequest.CreateArchiveFolderName(folder2Name, UUID.Random()); string itemArchivePath = string.Join("", new string[] { folder1ArchiveName, folder2ArchiveName }); - - new InventoryArchiveReadRequest(scene, ua1, null, (Stream)null, false) + + new InventoryArchiveReadRequest(scene.InventoryService, scene.AssetService, scene.UserAccountService, ua1, null, (Stream)null, false) .ReplicateArchivePathToUserInventory( itemArchivePath, scene.InventoryService.GetRootFolder(ua1.PrincipalID), new Dictionary(), new HashSet()); @@ -342,8 +342,8 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver.Tests string folder2ArchiveName = InventoryArchiveWriteRequest.CreateArchiveFolderName(folder2Name, UUID.Random()); string itemArchivePath = string.Join("", new string[] { folder1ArchiveName, folder2ArchiveName }); - - new InventoryArchiveReadRequest(scene, ua1, folder1ExistingName, (Stream)null, true) + + new InventoryArchiveReadRequest(scene.InventoryService, scene.AssetService, scene.UserAccountService, ua1, folder1ExistingName, (Stream)null, true) .ReplicateArchivePathToUserInventory( itemArchivePath, scene.InventoryService.GetRootFolder(ua1.PrincipalID), new Dictionary(), new HashSet()); diff --git a/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/Tests/InventoryArchiveSaveTests.cs b/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/Tests/InventoryArchiveSaveTests.cs index 5e7e24c..b85739e 100644 --- a/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/Tests/InventoryArchiveSaveTests.cs +++ b/OpenSim/Region/CoreModules/Avatar/Inventory/Archiver/Tests/InventoryArchiveSaveTests.cs @@ -86,7 +86,7 @@ namespace OpenSim.Region.CoreModules.Avatar.Inventory.Archiver.Tests Assert.That(filePath, Is.EqualTo(ArchiveConstants.CONTROL_FILE_PATH)); InventoryArchiveReadRequest iarr - = new InventoryArchiveReadRequest(null, null, null, (Stream)null, false); + = new InventoryArchiveReadRequest(null, null, null, null, null, (Stream)null, false); iarr.LoadControlFile(filePath, data); Assert.That(iarr.ControlFileLoaded, Is.True); diff --git a/OpenSim/Region/CoreModules/Framework/Library/LibraryModule.cs b/OpenSim/Region/CoreModules/Framework/Library/LibraryModule.cs index d07cff4..69d7e16 100644 --- a/OpenSim/Region/CoreModules/Framework/Library/LibraryModule.cs +++ b/OpenSim/Region/CoreModules/Framework/Library/LibraryModule.cs @@ -176,7 +176,7 @@ namespace OpenSim.Region.CoreModules.Framework.Library m_log.InfoFormat("[LIBRARY MODULE]: Loading library archive {0} ({1})...", iarFileName, simpleName); simpleName = GetInventoryPathFromName(simpleName); - InventoryArchiveReadRequest archread = new InventoryArchiveReadRequest(m_MockScene, uinfo, simpleName, iarFileName, false); + InventoryArchiveReadRequest archread = new InventoryArchiveReadRequest(m_MockScene.InventoryService, m_MockScene.AssetService, m_MockScene.UserAccountService, uinfo, simpleName, iarFileName, false); try { HashSet nodes = archread.Execute(); @@ -185,7 +185,7 @@ namespace OpenSim.Region.CoreModules.Framework.Library // didn't find the subfolder with the given name; place it on the top m_log.InfoFormat("[LIBRARY MODULE]: Didn't find {0} in library. Placing archive on the top level", simpleName); archread.Close(); - archread = new InventoryArchiveReadRequest(m_MockScene, uinfo, "/", iarFileName, false); + archread = new InventoryArchiveReadRequest(m_MockScene.InventoryService, m_MockScene.AssetService, m_MockScene.UserAccountService, uinfo, "/", iarFileName, false); archread.Execute(); } -- cgit v1.1 From 5f97c6f8f06f0b90ab815a1d44358dc256ec5a50 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Thu, 4 Jul 2013 12:16:33 -0700 Subject: BulletSim: non-functional updates. Comments and formatting. Update TODO list. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 14 +++- OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 15 +++-- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 6 +- .../Region/Physics/BulletSPlugin/BulletSimTODO.txt | 75 +++++++++++++--------- 4 files changed, 67 insertions(+), 43 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index aa247dd..c27d3f0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -774,7 +774,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Since the computation of terrain height can be a little involved, this routine // is used to fetch the height only once for each vehicle simulation step. - Vector3 lastRememberedHeightPos; + Vector3 lastRememberedHeightPos = new Vector3(-1, -1, -1); private float GetTerrainHeight(Vector3 pos) { if ((m_knownHas & m_knownChangedTerrainHeight) == 0 || pos != lastRememberedHeightPos) @@ -788,14 +788,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Since the computation of water level can be a little involved, this routine // is used ot fetch the level only once for each vehicle simulation step. + Vector3 lastRememberedWaterHeightPos = new Vector3(-1, -1, -1); private float GetWaterLevel(Vector3 pos) { - if ((m_knownHas & m_knownChangedWaterLevel) == 0) + if ((m_knownHas & m_knownChangedWaterLevel) == 0 || pos != lastRememberedWaterHeightPos) { + lastRememberedWaterHeightPos = pos; m_knownWaterLevel = ControllingPrim.PhysScene.TerrainManager.GetWaterLevelAtXYZ(pos); m_knownHas |= m_knownChangedWaterLevel; } - return (float)m_knownWaterLevel; + return m_knownWaterLevel; } private Vector3 VehiclePosition @@ -991,11 +993,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin { Vector3 vel = VehicleVelocity; if ((m_flags & (VehicleFlag.NO_X)) != 0) + { vel.X = 0; + } if ((m_flags & (VehicleFlag.NO_Y)) != 0) + { vel.Y = 0; + } if ((m_flags & (VehicleFlag.NO_Z)) != 0) + { vel.Z = 0; + } VehicleVelocity = vel; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index 1214703..7693195 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs @@ -188,6 +188,8 @@ public class BSVMotor : BSMotor CurrentValue = current; return Step(timeStep); } + // Given and error, computer a correction for this step. + // Simple scaling of the error by the timestep. public virtual Vector3 StepError(float timeStep, Vector3 error) { if (!Enabled) return Vector3.Zero; @@ -221,7 +223,7 @@ public class BSVMotor : BSMotor CurrentValue, TargetValue); LastError = BSMotor.InfiniteVector; - while (maxOutput-- > 0 && !LastError.ApproxEquals(Vector3.Zero, ErrorZeroThreshold)) + while (maxOutput-- > 0 && !ErrorIsZero()) { Vector3 lastStep = Step(timeStep); MDetailLog("{0},BSVMotor.Test,{1},cur={2},tgt={3},lastError={4},lastStep={5}", @@ -375,7 +377,6 @@ public class BSPIDVMotor : BSVMotor // The factors are vectors for the three dimensions. This is the proportional of each // that is applied. This could be multiplied through the actual factors but it // is sometimes easier to manipulate the factors and their mix separately. - // to public Vector3 FactorMix; // Arbritrary factor range. @@ -413,14 +414,14 @@ public class BSPIDVMotor : BSVMotor // If efficiency is high (1f), use a factor value that moves the error value to zero with little overshoot. // If efficiency is low (0f), use a factor value that overcorrects. // TODO: might want to vary contribution of different factor depending on efficiency. - float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f; - // float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow; + // float factor = ((1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow) / 3f; + float factor = (1f - this.Efficiency) * EfficiencyHigh + EfficiencyLow; proportionFactor = new Vector3(factor, factor, factor); integralFactor = new Vector3(factor, factor, factor); derivFactor = new Vector3(factor, factor, factor); - MDetailLog("{0},BSPIDVMotor.setEfficiency,eff={1},factor={2}", BSScene.DetailLogZero, Efficiency, factor); + MDetailLog("{0}, BSPIDVMotor.setEfficiency,eff={1},factor={2}", BSScene.DetailLogZero, Efficiency, factor); } } @@ -441,8 +442,8 @@ public class BSPIDVMotor : BSVMotor + derivitive / TimeScale * derivFactor * FactorMix.Z ; - MDetailLog("{0}, BSPIDVMotor.step,ts={1},err={2},runnInt={3},deriv={4},ret={5}", - BSScene.DetailLogZero, timeStep, error, RunningIntegration, derivitive, ret); + MDetailLog("{0}, BSPIDVMotor.step,ts={1},err={2},lerr={3},runnInt={4},deriv={5},ret={6}", + BSScene.DetailLogZero, timeStep, error, LastError, RunningIntegration, derivitive, ret); return ret; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index b2947c6..f0858ca 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -1125,7 +1125,9 @@ public class BSPrim : BSPhysObject OMV.Vector3 addForce = force; PhysScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() { - // Bullet adds this central force to the total force for this tick + // Bullet adds this central force to the total force for this tick. + // Deep down in Bullet: + // linearVelocity += totalForce / mass * timeStep; DetailLog("{0},BSPrim.addForce,taint,force={1}", LocalID, addForce); if (PhysBody.HasPhysicalBody) { @@ -1493,6 +1495,8 @@ public class BSPrim : BSPhysObject returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass); // DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass); + DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3},pathB={4},pathE={5},profB={6},profE={7},siz={8}", + LocalID, Density, volume, returnMass, pathBegin, pathEnd, profileBegin, profileEnd, _size); return returnMass; }// end CalculateMass diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index 4357ef1..0453376 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt @@ -3,25 +3,21 @@ CURRENT PROBLEMS TO FIX AND/OR LOOK AT Vehicle buoyancy. Computed correctly? Possibly creating very large effective mass. Interaction of llSetBuoyancy and vehicle buoyancy. Should be additive? Negative buoyancy computed correctly +Center-of-gravity Computation of mesh mass. How done? How should it be done? -Script changing rotation of child prim while vehicle moving (eg turning wheel) causes - the wheel to appear to jump back. Looks like sending position from previous update. Enable vehicle border crossings (at least as poorly as ODE) Terrain skirts Avatar created in previous region and not new region when crossing border Vehicle recreated in new sim at small Z value (offset from root value?) (DONE) +User settable terrain mesh + Allow specifying as convex or concave and use different getHeight functions depending +Boats, when turning nose down into the water + Acts like rotation around Z is also effecting rotation around X and Y Deleting a linkset while standing on the root will leave the physical shape of the root behind. Not sure if it is because standing on it. Done with large prim linksets. Linkset child rotations. Nebadon spiral tube has middle sections which are rotated wrong. Select linked spiral tube. Delink and note where the middle section ends up. -Refarb compound linkset creation to create a pseudo-root for center-of-mass - Let children change their shape to physical indendently and just add shapes to compound -Vehicle angular vertical attraction -vehicle angular banking -Center-of-gravity -Vehicle angular deflection - Preferred orientation angular correction fix Teravus llMoveToTarget script debug Mixing of hover, buoyancy/gravity, moveToTarget, into one force Setting hover height to zero disables hover even if hover flags are on (from SL wiki) @@ -33,10 +29,16 @@ Vehicle script tuning/debugging Avanti speed script Weapon shooter script Move material definitions (friction, ...) into simulator. +osGetPhysicsEngineVerion() and create a version code for the C++ DLL One sided meshes? Should terrain be built into a closed shape? When meshes get partially wedged into the terrain, they cannot push themselves out. It is possible that Bullet processes collisions whether entering or leaving a mesh. Ref: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=4869 +Small physical objects do not interact correctly + Create chain of .5x.5x.1 torui and make all but top physical so to hang. + The chain will fall apart and pairs will dance around on ground + Chains of 1x1x.2 will stay connected but will dance. + Chains above 2x2x.4 are more stable and get stablier as torui get larger. VEHICLES TODO LIST: ================================================= @@ -45,14 +47,12 @@ LINEAR_MOTOR_DIRECTION values should be clamped to reasonable numbers. Same for other velocity settings. UBit improvements to remove rubber-banding of avatars sitting on vehicle child prims: https://github.com/UbitUmarov/Ubit-opensim -Vehicles (Move smoothly) Some vehicles should not be able to turn if no speed or off ground. Cannot edit/move a vehicle being ridden: it jumps back to the origional position. Neb car jiggling left and right Happens on terrain and any other mesh object. Flat cubes are much smoother. This has been reduced but not eliminated. Implement referenceFrame for all the motion routines. -For limitMotorUp, use raycast down to find if vehicle is in the air. Verify llGetVel() is returning a smooth and good value for vehicle movement. llGetVel() should return the root's velocity if requested in a child prim. Implement function efficiency for lineaar and angular motion. @@ -93,29 +93,15 @@ Revisit CollisionMargin. Builders notice the 0.04 spacing between prims. Duplicating a physical prim causes old prim to jump away Dup a phys prim and the original become unselected and thus interacts w/ selected prim. Scenes with hundred of thousands of static objects take a lot of physics CPU time. -BSPrim.Force should set a continious force on the prim. The force should be - applied each tick. Some limits? Gun sending shooter flying. Collision margin (gap between physical objects lying on each other) Boundry checking (crashes related to crossing boundry) Add check for border edge position for avatars and objects. Verify the events are created for border crossings. -Avatar rotation (check out changes to ScenePresence for physical rotation) -Avatar running (what does phys engine need to do?) -Small physical objects do not interact correctly - Create chain of .5x.5x.1 torui and make all but top physical so to hang. - The chain will fall apart and pairs will dance around on ground - Chains of 1x1x.2 will stay connected but will dance. - Chains above 2x2x.4 are more stable and get stablier as torui get larger. -Add PID motor for avatar movement (slow to stop, ...) -setForce should set a constant force. Different than AddImpulse. -Implement raycast. Implement ShapeCollection.Dispose() -Implement water as a plain so raycasting and collisions can happen with same. +Implement water as a plain or mesh so raycasting and collisions can happen with same. Add collision penetration return Add field passed back by BulletSim.dll and fill with info in ManifoldConstact.GetDistance() -Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE - Also osGetPhysicsEngineVerion() maybe. Linkset.Position and Linkset.Orientation requre rewrite to properly return child position. LinksetConstraint acts like it's at taint time!! Implement LockAngularMotion -- implements llSetStatus(ROTATE_AXIS_*, T/F) @@ -127,9 +113,6 @@ Selecting and deselecting physical objects causes CPU processing time to jump Re-implement buoyancy as a separate force on the object rather than diddling gravity. Register a pre-step event to add the force. More efficient memory usage when passing hull information from BSPrim to BulletSim -Avatar movement motor check for zero or small movement. Somehow suppress small movements - when avatar has stopped and is just standing. Simple test for near zero has - the problem of preventing starting up (increase from zero) especially when falling. Physical and phantom will drop through the terrain @@ -172,7 +155,6 @@ Do we need to do convex hulls all the time? Can complex meshes be left meshes? There is some problem with meshes and collisions Hulls are not as detailed as meshes. Hulled vehicles insides are different shape. Debounce avatar contact so legs don't keep folding up when standing. -Implement LSL physics controls. Like STATUS_ROTATE_X. Add border extensions to terrain to help region crossings and objects leaving region. Use a different capsule shape for avatar when sitting LL uses a pyrimidal shape scaled by the avatar's bounding box @@ -205,8 +187,6 @@ Keep avatar scaling correct. http://pennycow.blogspot.fr/2011/07/matter-of-scale INTERNAL IMPROVEMENT/CLEANUP ================================================= -Can the 'inTaintTime' flag be cleaned up and used? For instance, a call to - BSScene.TaintedObject() could immediately execute the callback if already in taint time. Create the physical wrapper classes (BulletBody, BulletShape) by methods on BSAPITemplate and make their actual implementation Bullet engine specific. For the short term, just call the existing functions in ShapeCollection. @@ -365,4 +345,35 @@ After getting off a vehicle, the root prim is phantom (can be walked through) Explore btGImpactMeshShape as alternative to convex hulls for simplified physical objects. Regular triangle meshes don't do physical collisions. (DONE: discovered GImpact is VERY CPU intensive) +Script changing rotation of child prim while vehicle moving (eg turning wheel) causes + the wheel to appear to jump back. Looks like sending position from previous update. + (DONE: redo of compound linksets fixed problem) +Refarb compound linkset creation to create a pseudo-root for center-of-mass + Let children change their shape to physical indendently and just add shapes to compound + (DONE: redo of compound linkset fixed problem) +Vehicle angular vertical attraction (DONE: vegaslon code) +vehicle angular banking (DONE: vegaslon code) +Vehicle angular deflection (DONE: vegaslon code) + Preferred orientation angular correction fix +Vehicles (Move smoothly) +For limitMotorUp, use raycast down to find if vehicle is in the air. + (WILL NOT BE DONE: gravity does the job well enough) +BSPrim.Force should set a continious force on the prim. The force should be + applied each tick. Some limits? + (DONE: added physical actors. Implemented SetForce, SetTorque, ...) +Implement LSL physics controls. Like STATUS_ROTATE_X. (DONE) +Add osGetPhysicsEngineName() so scripters can tell whether BulletSim or ODE +Avatar rotation (check out changes to ScenePresence for physical rotation) (DONE) +Avatar running (what does phys engine need to do?) (DONE: multiplies run factor by walking force) +setForce should set a constant force. Different than AddImpulse. (DONE) +Add PID motor for avatar movement (slow to stop, ...) (WNBD: current works ok) +Avatar movement motor check for zero or small movement. Somehow suppress small movements + when avatar has stopped and is just standing. Simple test for near zero has + the problem of preventing starting up (increase from zero) especially when falling. + (DONE: avatar movement actor knows if standing on stationary object and zeros motion) +Can the 'inTaintTime' flag be cleaned up and used? For instance, a call to + BSScene.TaintedObject() could immediately execute the callback if already in taint time. + (DONE) + + -- cgit v1.1 From 03268d85c41c94e7b35802b9dea1ce08299e5426 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 2 Jun 2013 10:04:15 -0700 Subject: BulletSim: comments and non-functional changes working toward the center-of-gravity implementation. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 11 +++++---- OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 3 +++ .../Physics/BulletSPlugin/BSPrimDisplaced.cs | 26 +++++++++++++--------- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 19 ++++++++++++---- 4 files changed, 39 insertions(+), 20 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 308cf13..30f6c8c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -315,7 +315,6 @@ public sealed class BSLinksetCompound : BSLinkset // Note that this works for rebuilding just the root after a linkset is taken apart. // Called at taint time!! private bool UseBulletSimRootOffsetHack = false; // Attempt to have Bullet track the coords of root compound shape - private bool disableCOM = true; // For basic linkset debugging, turn off the center-of-mass setting private void RecomputeLinksetCompound() { try @@ -331,9 +330,7 @@ public sealed class BSLinksetCompound : BSLinkset // There is no reason to build all this physical stuff for a non-physical linkset. if (!LinksetRoot.IsPhysicallyActive) { - // Clean up any old linkset shape and make sure the root shape is set to the root object. DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,notPhysical", LinksetRoot.LocalID); - return; // Note the 'finally' clause at the botton which will get executed. } @@ -347,9 +344,9 @@ public sealed class BSLinksetCompound : BSLinkset OMV.Quaternion invRootOrientation = OMV.Quaternion.Normalize(OMV.Quaternion.Inverse(LinksetRoot.RawOrientation)); - // 'centerDisplacement' is the value to subtract from children to give physical offset position + // 'centerDisplacementV' is the value to subtract from children to give physical offset position OMV.Vector3 centerDisplacementV = (centerOfMassW - LinksetRoot.RawPosition) * invRootOrientation; - if (UseBulletSimRootOffsetHack || disableCOM) + if (UseBulletSimRootOffsetHack || !BSParam.LinksetOffsetCenterOfMass) { centerDisplacementV = OMV.Vector3.Zero; LinksetRoot.ClearDisplacement(); @@ -357,6 +354,8 @@ public sealed class BSLinksetCompound : BSLinkset else { LinksetRoot.SetEffectiveCenterOfMassDisplacement(centerDisplacementV); + // The actual center-of-mass could have been set by the user. + centerDisplacementV = LinksetRoot.PositionDisplacement; } DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,rootPos={1},com={2},comDisp={3}", LinksetRoot.LocalID, LinksetRoot.RawPosition, centerOfMassW, centerDisplacementV); @@ -409,7 +408,7 @@ public sealed class BSLinksetCompound : BSLinkset { // Enable the physical position updator to return the position and rotation of the root shape. // This enables a feature in the C++ code to return the world coordinates of the first shape in the - // compound shape. This eleviates the need to offset the returned physical position by the + // compound shape. This aleviates the need to offset the returned physical position by the // center-of-mass offset. m_physicsScene.PE.AddToCollisionFlags(LinksetRoot.PhysBody, CollisionFlags.BS_RETURN_ROOT_COMPOUND_SHAPE); } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index d17c8e7..0f84bf7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -176,6 +176,7 @@ public static class BSParam // Linkset implementation parameters public static float LinksetImplementation { get; private set; } + public static bool LinksetOffsetCenterOfMass { get; private set; } public static bool LinkConstraintUseFrameOffset { get; private set; } public static bool LinkConstraintEnableTransMotor { get; private set; } public static float LinkConstraintTransMotorMaxVel { get; private set; } @@ -684,6 +685,8 @@ public static class BSParam new ParameterDefn("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)", (float)BSLinkset.LinksetImplementation.Compound ), + new ParameterDefn("LinksetOffsetCenterOfMass", "If 'true', compute linkset center-of-mass and offset linkset position to account for same", + false ), new ParameterDefn("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.", false ), new ParameterDefn("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints", diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs index f5ee671..9a05349 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs @@ -44,12 +44,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public class BSPrimDisplaced : BSPrim { - // The purpose of this module is to do any mapping between what the simulator thinks + // The purpose of this subclass is to do any mapping between what the simulator thinks // the prim position and orientation is and what the physical position/orientation. // This difference happens because Bullet assumes the center-of-mass is the <0,0,0> - // of the prim/linkset. The simulator tracks the location of the prim/linkset by - // the location of the root prim. So, if center-of-mass is anywhere but the origin - // of the root prim, the physical origin is displaced from the simulator origin. + // of the prim/linkset. The simulator, on the other hand, tracks the location of + // the prim/linkset by the location of the root prim. So, if center-of-mass is anywhere + // but the origin of the root prim, the physical origin is displaced from the simulator origin. // // This routine works by capturing the Force* setting of position/orientation/... and // adjusting the simulator values (being set) into the physical values. @@ -61,6 +61,7 @@ public class BSPrimDisplaced : BSPrim public virtual OMV.Vector3 PositionDisplacement { get; set; } public virtual OMV.Quaternion OrientationDisplacement { get; set; } + public virtual OMV.Quaternion OrientationDisplacementOrigInv { get; set; } public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) @@ -99,7 +100,8 @@ public class BSPrimDisplaced : BSPrim // Remember the displacement from root as well as the origional rotation of the // new center-of-mass. PositionDisplacement = comDisp; - OrientationDisplacement = OMV.Quaternion.Identity; + OrientationDisplacement = Quaternion.Normalize(RawOrientation); + OrientationDisplacementOrigInv = Quaternion.Inverse(OrientationDisplacement); } } @@ -110,7 +112,7 @@ public class BSPrimDisplaced : BSPrim { if (PositionDisplacement != OMV.Vector3.Zero) { - OMV.Vector3 displacedPos = value - (PositionDisplacement * RawOrientation); + OMV.Vector3 displacedPos = value - (PositionDisplacement * (OrientationDisplacementOrigInv * RawOrientation)); DetailLog("{0},BSPrimDisplaced.ForcePosition,val={1},disp={2},newPos={3}", LocalID, value, PositionDisplacement, displacedPos); base.ForcePosition = displacedPos; } @@ -126,7 +128,8 @@ public class BSPrimDisplaced : BSPrim get { return base.ForceOrientation; } set { - // TODO: + // Changing orientation also changes the position of the center-of-mass since + // the orientation passed is for a rotation around the root prim's center. base.ForceOrientation = value; } } @@ -150,10 +153,13 @@ public class BSPrimDisplaced : BSPrim // Undo any center-of-mass displacement that might have been done. if (PositionDisplacement != OMV.Vector3.Zero || OrientationDisplacement != OMV.Quaternion.Identity) { - // Correct for any rotation around the center-of-mass - // TODO!!! + // The origional shape was offset from 'zero' by PositionDisplacement and rotated by OrientationDisplacement. + // These physical locations and rotation 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 * OrientationDisplacementOrigInv)); - OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation); DetailLog("{0},BSPrimDisplaced.ForcePosition,physPos={1},disp={2},newPos={3}", LocalID, entprop.Position, PositionDisplacement, displacedPos); entprop.Position = displacedPos; // entprop.Rotation = something; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 87eed98..6d7de35 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -37,6 +37,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin { public class BSPrimLinkable : BSPrimDisplaced { + // The purpose of this subclass is to add linkset functionality to the prim. This overrides + // operations necessary for keeping the linkset created and, additionally, this + // calls the linkset implementation for its creation and management. + + // This adds the overrides for link() and delink() so the prim is linkable. + public BSLinkset Linkset { get; set; } // The index of this child prim. public int LinksetChildIndex { get; set; } @@ -69,8 +75,8 @@ public class BSPrimLinkable : BSPrimDisplaced BSPrimLinkable parent = obj as BSPrimLinkable; if (parent != null) { - BSPhysObject parentBefore = Linkset.LinksetRoot; - int childrenBefore = Linkset.NumberOfChildren; + BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG + int childrenBefore = Linkset.NumberOfChildren; // DEBUG Linkset = parent.Linkset.AddMeToLinkset(this); @@ -85,8 +91,8 @@ public class BSPrimLinkable : BSPrimDisplaced // TODO: decide if this parent checking needs to happen at taint time // Race condition here: if link() and delink() in same simulation tick, the delink will not happen - BSPhysObject parentBefore = Linkset.LinksetRoot; - int childrenBefore = Linkset.NumberOfChildren; + BSPhysObject parentBefore = Linkset.LinksetRoot; // DEBUG + int childrenBefore = Linkset.NumberOfChildren; // DEBUG Linkset = Linkset.RemoveMeFromLinkset(this); @@ -128,6 +134,7 @@ public class BSPrimLinkable : BSPrimDisplaced get { return Linkset.LinksetMass; } } + // Refresh the linkset structure and parameters when the prim's physical parameters are changed. public override void UpdatePhysicalParameters() { base.UpdatePhysicalParameters(); @@ -139,6 +146,7 @@ public class BSPrimLinkable : BSPrimDisplaced Linkset.Refresh(this); } + // When the prim is made dynamic or static, the linkset needs to change. protected override void MakeDynamic(bool makeStatic) { base.MakeDynamic(makeStatic); @@ -155,6 +163,8 @@ public class BSPrimLinkable : BSPrimDisplaced base.RemoveDependencies(); } + // Called after a simulation step for the changes in physical object properties. + // Do any filtering/modification needed for linksets. public override void UpdateProperties(EntityProperties entprop) { if (Linkset.IsRoot(this)) @@ -176,6 +186,7 @@ public class BSPrimLinkable : BSPrimDisplaced Linkset.UpdateProperties(UpdatedProperties.EntPropUpdates, this); } + // Called after a simulation step to post a collision with this object. public override bool Collide(uint collidingWith, BSPhysObject collidee, OMV.Vector3 contactPoint, OMV.Vector3 contactNormal, float pentrationDepth) { -- cgit v1.1 From 97698ae3119e01ecd2c98f7a17ad37204b9bfd9c Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 10 Jun 2013 06:40:07 -0700 Subject: BulletSim: More tweaking on center-of-mass. Almost there. Changes have no effect if LinksetOffsetCenterOfMass=false (the default). --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 78 +++++----------------- .../Physics/BulletSPlugin/BSPrimDisplaced.cs | 63 +++++++---------- .../Region/Physics/BulletSPlugin/BSPrimLinkable.cs | 10 +++ OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 1 - 4 files changed, 51 insertions(+), 101 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 30f6c8c..96626ca 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -35,62 +35,6 @@ using OMV = OpenMetaverse; namespace OpenSim.Region.Physics.BulletSPlugin { - /* -// When a child is linked, the relationship position of the child to the parent -// is remembered so the child's world position can be recomputed when it is -// removed from the linkset. -sealed class BSLinksetCompoundInfo : BSLinksetInfo -{ - public int Index; - public OMV.Vector3 OffsetFromRoot; - public OMV.Vector3 OffsetFromCenterOfMass; - public OMV.Quaternion OffsetRot; - public BSLinksetCompoundInfo(int indx, OMV.Vector3 p, OMV.Quaternion r) - { - Index = indx; - OffsetFromRoot = p; - OffsetFromCenterOfMass = p; - OffsetRot = r; - } - // 'centerDisplacement' is the distance from the root the the center-of-mass (Bullet 'zero' of the shape) - public BSLinksetCompoundInfo(int indx, BSPrimLinkable root, BSPrimLinkable child, OMV.Vector3 centerDisplacement) - { - // Each child position and rotation is given relative to the center-of-mass. - OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(root.RawOrientation); - OMV.Vector3 displacementFromRoot = (child.RawPosition - root.RawPosition) * invRootOrientation; - OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement; - OMV.Quaternion displacementRot = child.RawOrientation * invRootOrientation; - - // Save relative position for recomputing child's world position after moving linkset. - Index = indx; - OffsetFromRoot = displacementFromRoot; - OffsetFromCenterOfMass = displacementFromCOM; - OffsetRot = displacementRot; - } - public override void Clear() - { - Index = 0; - OffsetFromRoot = OMV.Vector3.Zero; - OffsetFromCenterOfMass = OMV.Vector3.Zero; - OffsetRot = OMV.Quaternion.Identity; - } - public override string ToString() - { - StringBuilder buff = new StringBuilder(); - buff.Append(""); - return buff.ToString(); - } -}; - */ - public sealed class BSLinksetCompound : BSLinkset { private static string LogHeader = "[BULLETSIM LINKSET COMPOUND]"; @@ -151,7 +95,9 @@ public sealed class BSLinksetCompound : BSLinkset public override bool MakeStatic(BSPrimLinkable child) { bool ret = false; + DetailLog("{0},BSLinksetCompound.MakeStatic,call,IsRoot={1}", child.LocalID, IsRoot(child)); + child.ClearDisplacement(); if (IsRoot(child)) { // Schedule a rebuild to verify that the root shape is set to the real shape. @@ -364,16 +310,28 @@ public sealed class BSLinksetCompound : BSLinkset int memberIndex = 1; ForEachMember(delegate(BSPrimLinkable cPrim) { - // Root shape is always index zero. - cPrim.LinksetChildIndex = IsRoot(cPrim) ? 0 : memberIndex; + if (IsRoot(cPrim)) + { + // Root shape is always index zero. + cPrim.LinksetChildIndex = 0; + } + else + { + cPrim.LinksetChildIndex = memberIndex; + memberIndex++; + } // Get a reference to the shape of the child and add 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; OMV.Quaternion offsetRot = OMV.Quaternion.Normalize(cPrim.RawOrientation) * invRootOrientation; + + // Add the child shape to the compound shape being built m_physicsScene.PE.AddChildShapeToCompoundShape(linksetShape.physShapeInfo, childShape.physShapeInfo, offsetPos, offsetRot); DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addChild,indx={1},cShape={2},offPos={3},offRot={4}", - LinksetRoot.LocalID, memberIndex, childShape, offsetPos, offsetRot); + LinksetRoot.LocalID, cPrim.LinksetChildIndex, childShape, offsetPos, offsetRot); // Since we are borrowing the shape of the child, disable the origional child body if (!IsRoot(cPrim)) @@ -385,8 +343,6 @@ public sealed class BSLinksetCompound : BSLinkset cPrim.PhysBody.collisionType = CollisionType.LinksetChild; } - memberIndex++; - return false; // 'false' says to move onto the next child in the list }); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs index 9a05349..a11bca0 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs @@ -51,7 +51,7 @@ public class BSPrimDisplaced : BSPrim // the prim/linkset by the location of the root prim. So, if center-of-mass is anywhere // but the origin of the root prim, the physical origin is displaced from the simulator origin. // - // This routine works by capturing the Force* setting of position/orientation/... and + // This routine works by capturing ForcePosition and // adjusting the simulator values (being set) into the physical values. // The conversion is also done in the opposite direction (physical origin -> simulator origin). // @@ -60,8 +60,6 @@ public class BSPrimDisplaced : BSPrim // class. public virtual OMV.Vector3 PositionDisplacement { get; set; } - public virtual OMV.Quaternion OrientationDisplacement { get; set; } - public virtual OMV.Quaternion OrientationDisplacementOrigInv { get; set; } public BSPrimDisplaced(uint localID, String primName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, OMV.Quaternion rotation, PrimitiveBaseShape pbs, bool pisPhysical) @@ -70,15 +68,17 @@ public class BSPrimDisplaced : BSPrim ClearDisplacement(); } + // Clears any center-of-mass displacement introduced by linksets, etc. + // Does not clear the displacement set by the user. public void ClearDisplacement() { - PositionDisplacement = OMV.Vector3.Zero; - OrientationDisplacement = OMV.Quaternion.Identity; + SetEffectiveCenterOfMassDisplacement(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). + // Called at taint time. public virtual void SetEffectiveCenterOfMassDisplacement(Vector3 centerOfMassDisplacement) { Vector3 comDisp; @@ -87,21 +87,17 @@ public class BSPrimDisplaced : BSPrim else comDisp = centerOfMassDisplacement; + if (comDisp.ApproxEquals(Vector3.Zero, 0.01f) ) + comDisp = Vector3.Zero; + DetailLog("{0},BSPrimDisplaced.SetEffectiveCenterOfMassDisplacement,userSet={1},comDisp={2}", LocalID, UserSetCenterOfMassDisplacement.HasValue, comDisp); - if (comDisp == Vector3.Zero) + if ( comDisp != PositionDisplacement ) { - // If there is no diplacement. Things get reset. - PositionDisplacement = OMV.Vector3.Zero; - OrientationDisplacement = OMV.Quaternion.Identity; - } - else - { - // Remember the displacement from root as well as the origional rotation of the - // new center-of-mass. + // Displacement setting is changing. + // The relationship between the physical object and simulated object must be aligned. PositionDisplacement = comDisp; - OrientationDisplacement = Quaternion.Normalize(RawOrientation); - OrientationDisplacementOrigInv = Quaternion.Inverse(OrientationDisplacement); + this.ForcePosition = RawPosition; } } @@ -112,7 +108,11 @@ public class BSPrimDisplaced : BSPrim { if (PositionDisplacement != OMV.Vector3.Zero) { - OMV.Vector3 displacedPos = value - (PositionDisplacement * (OrientationDisplacementOrigInv * RawOrientation)); + // 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; } @@ -123,26 +123,12 @@ public class BSPrimDisplaced : BSPrim } } - public override Quaternion ForceOrientation - { - get { return base.ForceOrientation; } - set - { - // Changing orientation also changes the position of the center-of-mass since - // the orientation passed is for a rotation around the root prim's center. - base.ForceOrientation = value; - } - } - - // TODO: decide if this is the right place for these variables. - // Somehow incorporate the optional settability by the user. - // Is this used? + // These are also overridden by BSPrimLinkable if the prim can be part of a linkset public override OMV.Vector3 CenterOfMass { get { return RawPosition; } } - // Is this used? public override OMV.Vector3 GeometricCenter { get { return RawPosition; } @@ -151,18 +137,17 @@ public class BSPrimDisplaced : BSPrim public override void UpdateProperties(EntityProperties entprop) { // Undo any center-of-mass displacement that might have been done. - if (PositionDisplacement != OMV.Vector3.Zero || OrientationDisplacement != OMV.Quaternion.Identity) + if (PositionDisplacement != OMV.Vector3.Zero) { - // The origional shape was offset from 'zero' by PositionDisplacement and rotated by OrientationDisplacement. - // These physical locations and rotation must be back converted to be centered around the displaced + // The origional shape was offset from 'zero' by PositionDisplacement. + // 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 * OrientationDisplacementOrigInv)); - - DetailLog("{0},BSPrimDisplaced.ForcePosition,physPos={1},disp={2},newPos={3}", LocalID, entprop.Position, PositionDisplacement, displacedPos); + OMV.Vector3 displacedPos = entprop.Position + (PositionDisplacement * entprop.Rotation); + DetailLog("{0},BSPrimDisplaced.UpdateProperties,physPos={1},disp={2},newPos={3}", + LocalID, entprop.Position, PositionDisplacement, displacedPos); entprop.Position = displacedPos; - // entprop.Rotation = something; } base.UpdateProperties(entprop); diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs index 6d7de35..7058646 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimLinkable.cs @@ -134,6 +134,16 @@ public class BSPrimLinkable : BSPrimDisplaced get { return Linkset.LinksetMass; } } + public override OMV.Vector3 CenterOfMass + { + get { return Linkset.CenterOfMass; } + } + + public override OMV.Vector3 GeometricCenter + { + get { return Linkset.GeometricCenter; } + } + // Refresh the linkset structure and parameters when the prim's physical parameters are changed. public override void UpdatePhysicalParameters() { diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 1645c98..e56a6f6 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -785,7 +785,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { // The simulation of the time interval took less than realtime. // Do a sleep for the rest of realtime. - DetailLog("{0},BulletSPluginPhysicsThread,sleeping={1}", BSScene.DetailLogZero, simulationTimeVsRealtimeDifferenceMS); Thread.Sleep(simulationTimeVsRealtimeDifferenceMS); } else -- cgit v1.1 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 From d838f15d97d5ae400af86aa52c9ea68f0ba299bb Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 6 Jul 2013 09:53:30 -0700 Subject: Add implementations for llSetVelocity and llSetAngularVelocity. --- .../Shared/Api/Implementation/LSL_Api.cs | 26 ++++++++++++++++++++++ .../ScriptEngine/Shared/Api/Interface/ILSL_Api.cs | 2 ++ .../ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs | 10 +++++++++ 3 files changed, 38 insertions(+) diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs index c0b8373..34e2b4d 100644 --- a/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs +++ b/OpenSim/Region/ScriptEngine/Shared/Api/Implementation/LSL_Api.cs @@ -2382,6 +2382,32 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api return force; } + public void llSetVelocity(LSL_Vector velocity, int local) + { + m_host.AddScriptLPS(1); + + if (!m_host.ParentGroup.IsDeleted) + { + if (local != 0) + velocity *= llGetRot(); + + m_host.ParentGroup.RootPart.Velocity = velocity; + } + } + + public void llSetAngularVelocity(LSL_Vector angularVelocity, int local) + { + m_host.AddScriptLPS(1); + + if (!m_host.ParentGroup.IsDeleted) + { + if (local != 0) + angularVelocity *= llGetRot(); + + m_host.ParentGroup.RootPart.AngularVelocity = angularVelocity; + } + } + public LSL_Integer llTarget(LSL_Vector position, double range) { m_host.AddScriptLPS(1); diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs index ff13ee6..340edb3 100644 --- a/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs +++ b/OpenSim/Region/ScriptEngine/Shared/Api/Interface/ILSL_Api.cs @@ -342,6 +342,8 @@ namespace OpenSim.Region.ScriptEngine.Shared.Api.Interfaces void llSetDamage(double damage); void llSetForce(LSL_Vector force, int local); void llSetForceAndTorque(LSL_Vector force, LSL_Vector torque, int local); + void llSetVelocity(LSL_Vector velocity, int local); + void llSetAngularVelocity(LSL_Vector angularVelocity, int local); void llSetHoverHeight(double height, int water, double tau); void llSetInventoryPermMask(string item, int mask, int value); void llSetLinkAlpha(int linknumber, double alpha, int face); diff --git a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs index 87cc342..7cd17e7 100644 --- a/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs +++ b/OpenSim/Region/ScriptEngine/Shared/Api/Runtime/LSL_Stub.cs @@ -1548,6 +1548,16 @@ namespace OpenSim.Region.ScriptEngine.Shared.ScriptBase m_LSL_Functions.llSetForceAndTorque(force, torque, local); } + public void llSetVelocity(LSL_Vector force, int local) + { + m_LSL_Functions.llSetVelocity(force, local); + } + + public void llSetAngularVelocity(LSL_Vector force, int local) + { + m_LSL_Functions.llSetAngularVelocity(force, local); + } + public void llSetHoverHeight(double height, int water, double tau) { m_LSL_Functions.llSetHoverHeight(height, water, tau); -- cgit v1.1 From b29a09ab8e4040cc09f8021f638d7604f2372bad Mon Sep 17 00:00:00 2001 From: Diva Canto Date: Sat, 6 Jul 2013 15:17:55 -0700 Subject: Simina activity detector was too eager. Disabled it in case simian is not being used. --- .../Services/Connectors/SimianGrid/SimianPresenceServiceConnector.cs | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/OpenSim/Services/Connectors/SimianGrid/SimianPresenceServiceConnector.cs b/OpenSim/Services/Connectors/SimianGrid/SimianPresenceServiceConnector.cs index 7bb06fb..0a39088 100644 --- a/OpenSim/Services/Connectors/SimianGrid/SimianPresenceServiceConnector.cs +++ b/OpenSim/Services/Connectors/SimianGrid/SimianPresenceServiceConnector.cs @@ -65,7 +65,7 @@ namespace OpenSim.Services.Connectors.SimianGrid public void PostInitialise() { } public void Close() { } - public SimianPresenceServiceConnector() { m_activityDetector = new SimianActivityDetector(this); } + public SimianPresenceServiceConnector() { } public string Name { get { return "SimianPresenceServiceConnector"; } } public void AddRegion(Scene scene) { @@ -121,6 +121,7 @@ namespace OpenSim.Services.Connectors.SimianGrid if (!serviceUrl.EndsWith("/") && !serviceUrl.EndsWith("=")) serviceUrl = serviceUrl + '/'; m_serverUrl = serviceUrl; + m_activityDetector = new SimianActivityDetector(this); m_Enabled = true; } } -- cgit v1.1 From 9b75d757241e87408c50b1f92996bf667960c348 Mon Sep 17 00:00:00 2001 From: Diva Canto Date: Sat, 6 Jul 2013 16:51:14 -0700 Subject: WARNING: BRUTE FORCE DEBUG AGAIN. AVOID USING THIS COMMIT --- .../CoreModules/Framework/UserManagement/UserManagementModule.cs | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs b/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs index a7cbc8f..11227ef 100644 --- a/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs +++ b/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs @@ -521,6 +521,8 @@ namespace OpenSim.Region.CoreModules.Framework.UserManagement lock (m_UserCache) m_UserCache.Remove(id); m_log.DebugFormat("[USER MANAGEMENT MODULE]: Re-adding user with id {0}, creatorData [{1}] and old HomeURL {2}", id, creatorData, oldUser.HomeURL); + Util.PrintCallStack(); + } else { @@ -555,7 +557,7 @@ namespace OpenSim.Region.CoreModules.Framework.UserManagement } catch (UriFormatException) { - m_log.DebugFormat("[SCENE]: Unable to parse Uri {0}", parts[0]); + m_log.DebugFormat("[SCENE]: Unable to parse Uri {0} from {1}", parts[0], creatorData); user.LastName = "@unknown"; } } -- cgit v1.1 From 1dd3a0bc576b04e8989e8ac16e96aff024c0d6cd Mon Sep 17 00:00:00 2001 From: Diva Canto Date: Sat, 6 Jul 2013 17:29:19 -0700 Subject: MORE DEBUG. DON"T USE THIS. --- .../Inventory/RemoteXInventoryServiceConnector.cs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Inventory/RemoteXInventoryServiceConnector.cs b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Inventory/RemoteXInventoryServiceConnector.cs index 70ba944..8f41355 100644 --- a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Inventory/RemoteXInventoryServiceConnector.cs +++ b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Inventory/RemoteXInventoryServiceConnector.cs @@ -201,12 +201,12 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Inventory List items = new List(invCol.Items); if (items != null && items.Count > 0) - Util.FireAndForget(delegate - { + //Util.FireAndForget(delegate + //{ foreach (InventoryItemBase item in items) if (!string.IsNullOrEmpty(item.CreatorData)) UserManager.AddUser(item.CreatorIdAsUuid, item.CreatorData); - }); + //}); } return invCol; -- cgit v1.1 From 391633c072792fc36a188d6fa88e994fa150807d Mon Sep 17 00:00:00 2001 From: Diva Canto Date: Sat, 6 Jul 2013 18:02:17 -0700 Subject: Some more fixes on strange behaviors of Unknown User, esp. related to large messy inventories and esp. related to kokua --- .../UserManagement/UserManagementModule.cs | 5 ++-- .../Inventory/RemoteXInventoryServiceConnector.cs | 27 +++++++++++----------- 2 files changed, 16 insertions(+), 16 deletions(-) diff --git a/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs b/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs index 11227ef..74608b3 100644 --- a/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs +++ b/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs @@ -514,9 +514,8 @@ namespace OpenSim.Region.CoreModules.Framework.UserManagement return; } - //try update unknown users - //and creator's home URL's - if ((oldUser.FirstName == "Unknown" && !creatorData.Contains("Unknown")) || (oldUser.HomeURL != null && !creatorData.StartsWith(oldUser.HomeURL))) + //try update unknown users, but don't update anyone else + if (oldUser.FirstName == "Unknown" && !creatorData.Contains("Unknown")) { lock (m_UserCache) m_UserCache.Remove(id); diff --git a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Inventory/RemoteXInventoryServiceConnector.cs b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Inventory/RemoteXInventoryServiceConnector.cs index 8f41355..7f78076 100644 --- a/OpenSim/Region/CoreModules/ServiceConnectorsOut/Inventory/RemoteXInventoryServiceConnector.cs +++ b/OpenSim/Region/CoreModules/ServiceConnectorsOut/Inventory/RemoteXInventoryServiceConnector.cs @@ -195,19 +195,20 @@ namespace OpenSim.Region.CoreModules.ServiceConnectorsOut.Inventory { InventoryCollection invCol = m_RemoteConnector.GetFolderContent(userID, folderID); - if (invCol != null && UserManager != null) - { - // Protect ourselves against the caller subsequently modifying the items list - List items = new List(invCol.Items); - - if (items != null && items.Count > 0) - //Util.FireAndForget(delegate - //{ - foreach (InventoryItemBase item in items) - if (!string.IsNullOrEmpty(item.CreatorData)) - UserManager.AddUser(item.CreatorIdAsUuid, item.CreatorData); - //}); - } + // Commenting this for now, because it's causing more grief than good + //if (invCol != null && UserManager != null) + //{ + // // Protect ourselves against the caller subsequently modifying the items list + // List items = new List(invCol.Items); + + // if (items != null && items.Count > 0) + // //Util.FireAndForget(delegate + // //{ + // foreach (InventoryItemBase item in items) + // if (!string.IsNullOrEmpty(item.CreatorData)) + // UserManager.AddUser(item.CreatorIdAsUuid, item.CreatorData); + // //}); + //} return invCol; } -- cgit v1.1 From 71e26555bd67b8636cf71f71951cfc2aad68a2ee Mon Sep 17 00:00:00 2001 From: Diva Canto Date: Sat, 6 Jul 2013 18:16:27 -0700 Subject: Revert "WARNING: BRUTE FORCE DEBUG AGAIN. AVOID USING THIS COMMIT" This reverts commit 9b75d757241e87408c50b1f92996bf667960c348. --- .../CoreModules/Framework/UserManagement/UserManagementModule.cs | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs b/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs index 74608b3..524d159 100644 --- a/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs +++ b/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs @@ -520,8 +520,6 @@ namespace OpenSim.Region.CoreModules.Framework.UserManagement lock (m_UserCache) m_UserCache.Remove(id); m_log.DebugFormat("[USER MANAGEMENT MODULE]: Re-adding user with id {0}, creatorData [{1}] and old HomeURL {2}", id, creatorData, oldUser.HomeURL); - Util.PrintCallStack(); - } else { @@ -556,7 +554,7 @@ namespace OpenSim.Region.CoreModules.Framework.UserManagement } catch (UriFormatException) { - m_log.DebugFormat("[SCENE]: Unable to parse Uri {0} from {1}", parts[0], creatorData); + m_log.DebugFormat("[SCENE]: Unable to parse Uri {0}", parts[0]); user.LastName = "@unknown"; } } -- cgit v1.1 From 803e5498b09c241a8bab8e8deeeff3a259766c2d Mon Sep 17 00:00:00 2001 From: Diva Canto Date: Sat, 6 Jul 2013 18:27:03 -0700 Subject: A little more debug --- OpenSim/Services/UserAccountService/GridUserService.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/OpenSim/Services/UserAccountService/GridUserService.cs b/OpenSim/Services/UserAccountService/GridUserService.cs index fa9a4a8..b1cdd45 100644 --- a/OpenSim/Services/UserAccountService/GridUserService.cs +++ b/OpenSim/Services/UserAccountService/GridUserService.cs @@ -156,7 +156,7 @@ namespace OpenSim.Services.UserAccountService public bool SetLastPosition(string userID, UUID sessionID, UUID regionID, Vector3 lastPosition, Vector3 lastLookAt) { - //m_log.DebugFormat("[Grid User Service]: SetLastPosition for {0}", userID); + m_log.DebugFormat("[GRID USER SERVICE]: SetLastPosition for {0}", userID); GridUserData d = m_Database.Get(userID); if (d == null) { -- cgit v1.1 From 128667735291234c4655216af0fdfc6f07355e20 Mon Sep 17 00:00:00 2001 From: Diva Canto Date: Sat, 6 Jul 2013 18:37:54 -0700 Subject: Try to normalize the creatorData of scene object parts with the trailing '/'. What a nightmare this '/' is! --- OpenSim/Region/Framework/Scenes/SceneObjectPart.cs | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs index 482d958..f287a34 100644 --- a/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs +++ b/OpenSim/Region/Framework/Scenes/SceneObjectPart.cs @@ -505,7 +505,11 @@ namespace OpenSim.Region.Framework.Scenes CreatorID = uuid; } if (parts.Length >= 2) + { CreatorData = parts[1]; + if (!CreatorData.EndsWith("/")) + CreatorData += "/"; + } if (parts.Length >= 3) name = parts[2]; -- cgit v1.1 From 70d24a654b8eb0257ca927327d51bd0e47f85259 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 7 Jul 2013 05:46:24 -0700 Subject: BulletSim: rename position and orientation variables to remove the inconsistant use of Raw* and _* conventions. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 78 +++++++++----------- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 84 ++++++++++------------ 3 files changed, 71 insertions(+), 95 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 5ef6992..c9e3ca0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -43,12 +43,10 @@ public sealed class BSCharacter : BSPhysObject private OMV.Vector3 _size; private bool _grabbed; private bool _selected; - private OMV.Vector3 _position; private float _mass; private float _avatarVolume; private float _collisionScore; private OMV.Vector3 _acceleration; - private OMV.Quaternion _orientation; private int _physicsActorType; private bool _isPhysical; private bool _flying; @@ -70,10 +68,10 @@ public sealed class BSCharacter : BSPhysObject : base(parent_scene, localID, avName, "BSCharacter") { _physicsActorType = (int)ActorTypes.Agent; - _position = pos; + RawPosition = pos; _flying = isFlying; - _orientation = OMV.Quaternion.Identity; + RawOrientation = OMV.Quaternion.Identity; RawVelocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); Friction = BSParam.AvatarStandingFriction; @@ -133,7 +131,7 @@ public sealed class BSCharacter : BSPhysObject PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody); ZeroMotion(true); - ForcePosition = _position; + ForcePosition = RawPosition; // Set the velocity if (m_moveActor != null) @@ -272,38 +270,33 @@ public sealed class BSCharacter : BSPhysObject public override void LockAngularMotion(OMV.Vector3 axis) { return; } - public override OMV.Vector3 RawPosition - { - get { return _position; } - set { _position = value; } - } public override OMV.Vector3 Position { get { // Don't refetch the position because this function is called a zillion times - // _position = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID); - return _position; + // RawPosition = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID); + return RawPosition; } set { - _position = value; + RawPosition = value; PhysScene.TaintedObject("BSCharacter.setPosition", delegate() { - DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); PositionSanityCheck(); - ForcePosition = _position; + ForcePosition = RawPosition; }); } } public override OMV.Vector3 ForcePosition { get { - _position = PhysScene.PE.GetPosition(PhysBody); - return _position; + RawPosition = PhysScene.PE.GetPosition(PhysBody); + return RawPosition; } set { - _position = value; + RawPosition = value; if (PhysBody.HasPhysicalBody) { - PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); } } } @@ -331,16 +324,16 @@ public sealed class BSCharacter : BSPhysObject float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); if (Position.Z < terrainHeight) { - DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, _position, terrainHeight); - _position.Z = terrainHeight + BSParam.AvatarBelowGroundUpCorrectionMeters; + DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight); + RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, terrainHeight + BSParam.AvatarBelowGroundUpCorrectionMeters); ret = true; } if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { - float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(_position); + float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition); if (Position.Z < waterHeight) { - _position.Z = waterHeight; + RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, waterHeight); ret = true; } } @@ -360,8 +353,8 @@ public sealed class BSCharacter : BSPhysObject // just assign to "Position" because of potential call loops. PhysScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() { - DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); - ForcePosition = _position; + DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); + ForcePosition = RawPosition; }); ret = true; } @@ -466,19 +459,14 @@ public sealed class BSCharacter : BSPhysObject get { return _acceleration; } set { _acceleration = value; } } - public override OMV.Quaternion RawOrientation - { - get { return _orientation; } - set { _orientation = value; } - } public override OMV.Quaternion Orientation { - get { return _orientation; } + get { return RawOrientation; } set { // Orientation is set zillions of times when an avatar is walking. It's like // the viewer doesn't trust us. - if (_orientation != value) + if (RawOrientation != value) { - _orientation = value; + RawOrientation = value; PhysScene.TaintedObject("BSCharacter.setOrientation", delegate() { // Bullet assumes we know what we are doing when forcing orientation @@ -486,10 +474,10 @@ public sealed class BSCharacter : BSPhysObject // This forces rotation to be only around the Z axis and doesn't change any of the other axis. // This keeps us from flipping the capsule over which the veiwer does not understand. float oRoll, oPitch, oYaw; - _orientation.GetEulerAngles(out oRoll, out oPitch, out oYaw); + RawOrientation.GetEulerAngles(out oRoll, out oPitch, out oYaw); OMV.Quaternion trimmedOrientation = OMV.Quaternion.CreateFromEulers(0f, 0f, oYaw); // DetailLog("{0},BSCharacter.setOrientation,taint,val={1},valDir={2},conv={3},convDir={4}", - // LocalID, _orientation, OMV.Vector3.UnitX * _orientation, + // LocalID, RawOrientation, OMV.Vector3.UnitX * RawOrientation, // trimmedOrientation, OMV.Vector3.UnitX * trimmedOrientation); ForceOrientation = trimmedOrientation; }); @@ -501,16 +489,16 @@ public sealed class BSCharacter : BSPhysObject { get { - _orientation = PhysScene.PE.GetOrientation(PhysBody); - return _orientation; + RawOrientation = PhysScene.PE.GetOrientation(PhysBody); + return RawOrientation; } set { - _orientation = value; + RawOrientation = value; if (PhysBody.HasPhysicalBody) { - // _position = PhysicsScene.PE.GetPosition(BSBody); - PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); + // RawPosition = PhysicsScene.PE.GetPosition(BSBody); + PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); } } } @@ -723,9 +711,9 @@ public sealed class BSCharacter : BSPhysObject { // Don't change position if standing on a stationary object. if (!IsStationary) - _position = entprop.Position; + RawPosition = entprop.Position; - _orientation = entprop.Rotation; + RawOrientation = entprop.Rotation; // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar // and will send agent updates to the clients if velocity changes by more than @@ -740,8 +728,8 @@ public sealed class BSCharacter : BSPhysObject // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. if (PositionSanityCheck(true)) { - DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, _position); - entprop.Position = _position; + DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, RawPosition); + entprop.Position = RawPosition; } // remember the current and last set values @@ -755,7 +743,7 @@ public sealed class BSCharacter : BSPhysObject // base.RequestPhysicsterseUpdate(); DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", - LocalID, _position, _orientation, RawVelocity, _acceleration, _rotationalVelocity); + LocalID, RawPosition, RawOrientation, RawVelocity, _acceleration, _rotationalVelocity); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 738e2d0..a41eaf8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -197,10 +197,10 @@ public abstract class BSPhysObject : PhysicsActor // Update the physical location and motion of the object. Called with data from Bullet. public abstract void UpdateProperties(EntityProperties entprop); - public abstract OMV.Vector3 RawPosition { get; set; } + public virtual OMV.Vector3 RawPosition { get; set; } public abstract OMV.Vector3 ForcePosition { get; set; } - public abstract OMV.Quaternion RawOrientation { get; set; } + public virtual OMV.Quaternion RawOrientation { get; set; } public abstract OMV.Quaternion ForceOrientation { get; set; } public OMV.Vector3 RawVelocity { get; set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index ce4c3da..d43448e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -51,12 +51,8 @@ public class BSPrim : BSPhysObject private bool _isSelected; private bool _isVolumeDetect; - // _position is what the simulator thinks the positions of the prim is. - private OMV.Vector3 _position; - private float _mass; // the mass of this object private OMV.Vector3 _acceleration; - private OMV.Quaternion _orientation; private int _physicsActorType; private bool _isPhysical; private bool _flying; @@ -88,10 +84,10 @@ public class BSPrim : BSPhysObject { // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); _physicsActorType = (int)ActorTypes.Prim; - _position = pos; + RawPosition = pos; _size = size; Scale = size; // prims are the size the user wants them to be (different for BSCharactes). - _orientation = rotation; + RawOrientation = rotation; _buoyancy = 0f; RawVelocity = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; @@ -270,46 +266,42 @@ public class BSPrim : BSPhysObject return; } - public override OMV.Vector3 RawPosition - { - get { return _position; } - set { _position = value; } - } public override OMV.Vector3 Position { get { // don't do the GetObjectPosition for root elements because this function is called a zillion times. - // _position = ForcePosition; - return _position; + // RawPosition = ForcePosition; + return RawPosition; } set { // If the position must be forced into the physics engine, use ForcePosition. // All positions are given in world positions. - if (_position == value) + if (RawPosition == value) { - DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); return; } - _position = value; + RawPosition = value; PositionSanityCheck(false); PhysScene.TaintedObject("BSPrim.setPosition", delegate() { - DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - ForcePosition = _position; + DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); + ForcePosition = RawPosition; }); } } + // NOTE: overloaded by BSPrimDisplaced to handle offset for center-of-gravity. public override OMV.Vector3 ForcePosition { get { - _position = PhysScene.PE.GetPosition(PhysBody); - return _position; + RawPosition = PhysScene.PE.GetPosition(PhysBody); + return RawPosition; } set { - _position = value; + RawPosition = value; if (PhysBody.HasPhysicalBody) { - PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); ActivateIfPhysical(false); } } @@ -343,10 +335,10 @@ public class BSPrim : BSPhysObject float targetHeight = terrainHeight + (Size.Z / 2f); // If the object is below ground it just has to be moved up because pushing will // not get it through the terrain - _position.Z = targetHeight; + RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, targetHeight); if (inTaintTime) { - ForcePosition = _position; + ForcePosition = RawPosition; } // If we are throwing the object around, zero its other forces ZeroMotion(inTaintTime); @@ -355,7 +347,7 @@ public class BSPrim : BSPhysObject if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { - float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(_position); + float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition); // TODO: a floating motor so object will bob in the water if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f) { @@ -364,7 +356,7 @@ public class BSPrim : BSPhysObject // Apply upforce and overcome gravity. OMV.Vector3 correctionForce = upForce - PhysScene.DefaultGravity; - DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce); + DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, RawPosition, upForce, correctionForce); AddForce(correctionForce, false, inTaintTime); ret = true; } @@ -383,11 +375,11 @@ public class BSPrim : BSPhysObject uint wayOutThere = Constants.RegionSize * Constants.RegionSize; // There have been instances of objects getting thrown way out of bounds and crashing // the border crossing code. - if ( _position.X < -Constants.RegionSize || _position.X > wayOutThere - || _position.Y < -Constants.RegionSize || _position.Y > wayOutThere - || _position.Z < -Constants.RegionSize || _position.Z > wayOutThere) + if ( RawPosition.X < -Constants.RegionSize || RawPosition.X > wayOutThere + || RawPosition.Y < -Constants.RegionSize || RawPosition.Y > wayOutThere + || RawPosition.Z < -Constants.RegionSize || RawPosition.Z > wayOutThere) { - _position = new OMV.Vector3(10, 10, 50); + RawPosition = new OMV.Vector3(10, 10, 50); ZeroMotion(inTaintTime); ret = true; } @@ -713,23 +705,19 @@ public class BSPrim : BSPhysObject get { return _acceleration; } set { _acceleration = value; } } - public override OMV.Quaternion RawOrientation - { - get { return _orientation; } - set { _orientation = value; } - } + public override OMV.Quaternion Orientation { get { - return _orientation; + return RawOrientation; } set { - if (_orientation == value) + if (RawOrientation == value) return; - _orientation = value; + RawOrientation = value; PhysScene.TaintedObject("BSPrim.setOrientation", delegate() { - ForceOrientation = _orientation; + ForceOrientation = RawOrientation; }); } } @@ -738,14 +726,14 @@ public class BSPrim : BSPhysObject { get { - _orientation = PhysScene.PE.GetOrientation(PhysBody); - return _orientation; + RawOrientation = PhysScene.PE.GetOrientation(PhysBody); + return RawOrientation; } set { - _orientation = value; + RawOrientation = value; if (PhysBody.HasPhysicalBody) - PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); } } public override int PhysicsActorType { @@ -889,7 +877,7 @@ public class BSPrim : BSPhysObject // PhysicsScene.PE.ClearAllForces(BSBody); // For good measure, make sure the transform is set through to the motion state - ForcePosition = _position; + ForcePosition = RawPosition; ForceVelocity = RawVelocity; ForceRotationalVelocity = _rotationalVelocity; @@ -1543,8 +1531,8 @@ public class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG // Assign directly to the local variables so the normal set actions do not happen - _position = entprop.Position; - _orientation = entprop.Rotation; + RawPosition = entprop.Position; + RawOrientation = entprop.Rotation; // DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be // very sensitive to velocity changes. if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(RawVelocity, BSParam.UpdateVelocityChangeThreshold)) @@ -1557,13 +1545,13 @@ public class BSPrim : BSPhysObject // The sanity check can change the velocity and/or position. if (PositionSanityCheck(true /* inTaintTime */ )) { - entprop.Position = _position; + entprop.Position = RawPosition; entprop.Velocity = RawVelocity; entprop.RotationalVelocity = _rotationalVelocity; entprop.Acceleration = _acceleration; } - OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG + OMV.Vector3 direction = OMV.Vector3.UnitX * RawOrientation; // DEBUG DEBUG DEBUG DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction); // remember the current and last set values -- cgit v1.1 From 6026759406f20cb89cbc62fcfc3af324c61c5ab0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 7 Jul 2013 05:47:41 -0700 Subject: BulletSim: fix jumping up and down of linksets when center-of-mass was enabled. Didn't effect the physical position but the viewer saw the linkset jumping between its simulator center and its physical center. --- OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs index 35d5a08..2eb1440 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs @@ -23,11 +23,6 @@ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial - * are Copyright (c) 2009 Linden Research, Inc and are used under their license - * of Creative Commons Attribution-Share Alike 3.0 - * (http://creativecommons.org/licenses/by-sa/3.0/). */ using System; @@ -115,7 +110,7 @@ public class BSPrimDisplaced : BSPrim public override Vector3 ForcePosition { get { - OMV.Vector3 physPosition = base.ForcePosition; + OMV.Vector3 physPosition = PhysScene.PE.GetPosition(PhysBody); if (PositionDisplacement != OMV.Vector3.Zero) { // If there is some displacement, return the physical position (center-of-mass) @@ -125,6 +120,7 @@ public class BSPrimDisplaced : BSPrim LocalID, physPosition, displacement, physPosition - displacement); physPosition -= displacement; } + RawPosition = physPosition; return physPosition; } set -- cgit v1.1 From bbc40fab620dd61e500d8f74fa1b0d64ecc7c3b6 Mon Sep 17 00:00:00 2001 From: Vegaslon Date: Sat, 6 Jul 2013 12:53:20 -0400 Subject: BulletSim: Different Implementation of Angular Deflection for vehicles, Activates it again and fixes problem with fighting with vertical attractor removing wobble of forward axis. Comments on testing welcome, May require adjustments of this force or other forces after this commit, exact tweaking to come after testing on other hardware. Signed-off-by: Robert Adams --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 31 +++++++++++----------- 1 file changed, 16 insertions(+), 15 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index c27d3f0..82fe267 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -144,7 +144,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin public void SetupVehicleDebugging() { enableAngularVerticalAttraction = true; - enableAngularDeflection = false; + enableAngularDeflection = true; enableAngularBanking = true; if (BSParam.VehicleDebuggingEnable) { @@ -173,7 +173,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin switch (pParam) { case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: - m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f); + m_angularDeflectionEfficiency = ClampInRange(0f, pValue, 1f); break; case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); @@ -1512,11 +1512,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // in that direction. // TODO: implement reference frame. public void ComputeAngularDeflection() - { - // Since angularMotorUp and angularDeflection are computed independently, they will calculate - // approximately the same X or Y correction. When added together (when contributions are combined) - // this creates an over-correction and then wabbling as the target is overshot. - // TODO: rethink how the different correction computations inter-relate. + { if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2) { @@ -1531,10 +1527,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin // The direction the vehicle is pointing Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; - pointingDirection.Normalize(); + //Predict where the Vehicle will be pointing after AngularVelocity change is applied. This will keep + // from overshooting and allow this correction to merge with the Vertical Attraction peacefully. + Vector3 predictedPointingDirection = pointingDirection * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f); + predictedPointingDirection.Normalize(); // The difference between what is and what should be. - Vector3 deflectionError = movingDirection - pointingDirection; + // Vector3 deflectionError = movingDirection - predictedPointingDirection; + Vector3 deflectionError = Vector3.Cross(movingDirection, predictedPointingDirection); // Don't try to correct very large errors (not our job) // if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = PIOverTwo * Math.Sign(deflectionError.X); @@ -1547,15 +1547,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError); // Scale the correction by recovery timescale and efficiency - deflectContributionV = (-deflectionError) * m_angularDeflectionEfficiency; - deflectContributionV /= m_angularDeflectionTimescale; - - VehicleRotationalVelocity += deflectContributionV * VehicleOrientation; + // Not modeling a spring so clamp the scale to no more then the arc + 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); - VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}", - ControllingPrim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale); + VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3},PredictedPointingDir={4}", + ControllingPrim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale, predictedPointingDirection); } } -- cgit v1.1 From bbb9af363de5cabf44dec2b5aba6fb386a1e7fad Mon Sep 17 00:00:00 2001 From: Diva Canto Date: Sun, 7 Jul 2013 20:43:42 -0700 Subject: Print out caller IP when unusual requests are received. --- OpenSim/Server/Handlers/Simulation/AgentHandlers.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/OpenSim/Server/Handlers/Simulation/AgentHandlers.cs b/OpenSim/Server/Handlers/Simulation/AgentHandlers.cs index 71a9e6f..b01de7a 100644 --- a/OpenSim/Server/Handlers/Simulation/AgentHandlers.cs +++ b/OpenSim/Server/Handlers/Simulation/AgentHandlers.cs @@ -107,7 +107,7 @@ namespace OpenSim.Server.Handlers.Simulation } else { - m_log.InfoFormat("[AGENT HANDLER]: method {0} not supported in agent message", method); + m_log.InfoFormat("[AGENT HANDLER]: method {0} not supported in agent message (caller is {1})", method, Util.GetCallerIP(request)); responsedata["int_response_code"] = HttpStatusCode.MethodNotAllowed; responsedata["str_response_string"] = "Method not allowed"; -- cgit v1.1 From c66a9a08e4fed5cc675aac8a7a2999549049d79c Mon Sep 17 00:00:00 2001 From: Diva Canto Date: Mon, 8 Jul 2013 08:41:18 -0700 Subject: Placed a throttle on UserManagementModule for name lookups. Singularity apparently is flooding the sims with name requests. --- .../UserManagement/HGUserManagementModule.cs | 2 +- .../UserManagement/UserManagementModule.cs | 66 ++++++++++++++++++---- 2 files changed, 57 insertions(+), 11 deletions(-) diff --git a/OpenSim/Region/CoreModules/Framework/UserManagement/HGUserManagementModule.cs b/OpenSim/Region/CoreModules/Framework/UserManagement/HGUserManagementModule.cs index ad3cf15..245c808 100644 --- a/OpenSim/Region/CoreModules/Framework/UserManagement/HGUserManagementModule.cs +++ b/OpenSim/Region/CoreModules/Framework/UserManagement/HGUserManagementModule.cs @@ -58,7 +58,7 @@ namespace OpenSim.Region.CoreModules.Framework.UserManagement if (umanmod == Name) { m_Enabled = true; - RegisterConsoleCmds(); + Init(); m_log.DebugFormat("[USER MANAGEMENT MODULE]: {0} is enabled", Name); } } diff --git a/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs b/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs index 524d159..a528093 100644 --- a/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs +++ b/OpenSim/Region/CoreModules/Framework/UserManagement/UserManagementModule.cs @@ -28,9 +28,11 @@ using System; using System.Collections.Generic; using System.IO; using System.Reflection; +using System.Threading; using OpenSim.Framework; using OpenSim.Framework.Console; +using OpenSim.Framework.Monitoring; using OpenSim.Region.ClientStack.LindenUDP; using OpenSim.Region.Framework; using OpenSim.Region.Framework.Interfaces; @@ -57,6 +59,10 @@ namespace OpenSim.Region.CoreModules.Framework.UserManagement // The cache protected Dictionary m_UserCache = new Dictionary(); + // Throttle the name requests + private OpenSim.Framework.BlockingQueue m_RequestQueue = new OpenSim.Framework.BlockingQueue(); + + #region ISharedRegionModule public void Initialise(IConfigSource config) @@ -65,7 +71,7 @@ namespace OpenSim.Region.CoreModules.Framework.UserManagement if (umanmod == Name) { m_Enabled = true; - RegisterConsoleCmds(); + Init(); m_log.DebugFormat("[USER MANAGEMENT MODULE]: {0} is enabled", Name); } } @@ -160,16 +166,9 @@ namespace OpenSim.Region.CoreModules.Framework.UserManagement } else { - string[] names; - bool foundRealName = TryGetUserNames(uuid, out names); + NameRequest request = new NameRequest(remote_client, uuid); + m_RequestQueue.Enqueue(request); - if (names.Length == 2) - { - if (!foundRealName) - m_log.DebugFormat("[USER MANAGEMENT MODULE]: Sending {0} {1} for {2} to {3} since no bound name found", names[0], names[1], uuid, remote_client.Name); - - remote_client.SendNameReply(uuid, names[0], names[1]); - } } } @@ -596,6 +595,18 @@ namespace OpenSim.Region.CoreModules.Framework.UserManagement #endregion IUserManagement + protected void Init() + { + RegisterConsoleCmds(); + Watchdog.StartThread( + ProcessQueue, + "NameRequestThread", + ThreadPriority.BelowNormal, + true, + false); + + } + protected void RegisterConsoleCmds() { MainConsole.Instance.Commands.AddCommand("Users", true, @@ -662,5 +673,40 @@ namespace OpenSim.Region.CoreModules.Framework.UserManagement MainConsole.Instance.Output(cdt.ToString()); } + + private void ProcessQueue() + { + while (true) + { + Watchdog.UpdateThread(); + + NameRequest request = m_RequestQueue.Dequeue(); + string[] names; + bool foundRealName = TryGetUserNames(request.uuid, out names); + + if (names.Length == 2) + { + if (!foundRealName) + m_log.DebugFormat("[USER MANAGEMENT MODULE]: Sending {0} {1} for {2} to {3} since no bound name found", names[0], names[1], request.uuid, request.client.Name); + + request.client.SendNameReply(request.uuid, names[0], names[1]); + } + + } + } + + } + + class NameRequest + { + public IClientAPI client; + public UUID uuid; + + public NameRequest(IClientAPI c, UUID n) + { + client = c; + uuid = n; + } } + } \ No newline at end of file -- cgit v1.1