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)
--
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