From e20bad12cc0584c6368e46e0f326e6b616133e8f Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 29 Oct 2012 11:30:47 -0700 Subject: BulletSim: centralize mass/inertia computation with UpdatePhysicalMassProperties() function. Didn't add setMassRaw because assignment with side effect is dirty. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 15 ++++++--- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 2 ++ OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 39 ++++++++++++++-------- 3 files changed, 38 insertions(+), 18 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 8bb4b21..b9013ab 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -155,8 +155,7 @@ public sealed class BSCharacter : BSPhysObject BulletSimAPI.SetCcdSweptSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); } - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); - BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); + UpdatePhysicalMassProperties(MassRaw); // Make so capsule does not fall over BulletSimAPI.SetAngularFactorV2(BSBody.ptr, OMV.Vector3.Zero); @@ -201,8 +200,7 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale); - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); - BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); + UpdatePhysicalMassProperties(MassRaw); }); } @@ -329,7 +327,14 @@ public sealed class BSCharacter : BSPhysObject public override float Mass { get { return _mass; } } // used when we only want this prim's mass and not the linkset thing - public override float MassRaw { get {return _mass; } } + public override float MassRaw { + get {return _mass; } + } + public override void UpdatePhysicalMassProperties(float physMass) + { + OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass); + BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia); + } public override OMV.Vector3 Force { get { return _force; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 538f905..be8d64b 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -64,6 +64,8 @@ public abstract class BSPhysObject : PhysicsActor // Return the object mass without calculating it or having side effects public abstract float MassRaw { get; } + // Set the raw mass but also update physical mass properties (inertia, ...) + public abstract void UpdatePhysicalMassProperties(float mass); // Reference to the physical body (btCollisionObject) of this object public BulletBody BSBody; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 44937df..ad09a61 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -356,13 +356,32 @@ public sealed class BSPrim : BSPhysObject { get { - // return Linkset.LinksetMass; - return _mass; + return Linkset.LinksetMass; + // return _mass; } } // used when we only want this prim's mass and not the linkset thing - public override float MassRaw { get { return _mass; } } + public override float MassRaw { + get { return _mass; } + } + // Set the physical mass to the passed mass. + // Note that this does not change _mass! + public override void UpdatePhysicalMassProperties(float physMass) + { + if (IsStatic) + { + BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero); + BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); + } + else + { + OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, physMass); + BulletSimAPI.SetMassProps2(BSBody.ptr, physMass, localInertia); + BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); + DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, localInertia); + } + } // Is this used? public override OMV.Vector3 CenterOfMass @@ -613,7 +632,7 @@ public sealed class BSPrim : BSPhysObject // Recompute any linkset parameters. // When going from non-physical to physical, this re-enables the constraints that // had been automatically disabled when the mass was set to zero. - Linkset.Refresh(this, true); + Linkset.Refresh(this); DetailLog("{0},BSPrim.UpdatePhysicalParameters,exit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, BSBody, BSShape); @@ -635,9 +654,7 @@ public sealed class BSPrim : BSPhysObject // Center of mass is at the center of the object BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.BSBody.ptr, _position, _orientation); // Mass is zero which disables a bunch of physics stuff in Bullet - BulletSimAPI.SetMassProps2(BSBody.ptr, 0f, OMV.Vector3.Zero); - // There is no inertia in a static object - BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); + UpdatePhysicalMassProperties(0f); // Set collision detection parameters if (PhysicsScene.Params.ccdMotionThreshold > 0f) { @@ -671,9 +688,7 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.SetTranslation2(BSBody.ptr, _position, _orientation); // A dynamic object has mass - OMV.Vector3 inertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, Mass); - BulletSimAPI.SetMassProps2(BSBody.ptr, _mass, inertia); - BulletSimAPI.UpdateInertiaTensor2(BSBody.ptr); + UpdatePhysicalMassProperties(MassRaw); // Set collision detection parameters if (PhysicsScene.Params.ccdMotionThreshold > 0f) @@ -1247,9 +1262,7 @@ public sealed class BSPrim : BSPhysObject returnMass = _density * volume; - /* - * This change means each object keeps its own mass and the Mass property - * will return the sum if we're part of a linkset. + /* Comment out code that computes the mass of the linkset. That is done in the Linkset class. if (IsRootOfLinkset) { foreach (BSPrim prim in _childrenPrims) -- cgit v1.1