From ebb63b55aab98da6d44e82fc0ecfd5d22f245172 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Thu, 7 Feb 2013 11:53:49 -0800
Subject: BulletSim: add user setting of friction, density and restitution.
---
.../Region/Physics/BulletSPlugin/BSCharacter.cs | 5 +-
.../Region/Physics/BulletSPlugin/BSPhysObject.cs | 17 ++--
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 99 +++++++++++++++++-----
3 files changed, 94 insertions(+), 27 deletions(-)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 192bcb5..d694a6a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -749,9 +749,10 @@ public sealed class BSCharacter : BSPhysObject
_buoyancy = value;
DetailLog("{0},BSCharacter.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy);
// Buoyancy is faked by changing the gravity applied to the object
- float grav = PhysicsScene.Params.gravity * (1f - _buoyancy);
+ float grav = BSParam.Gravity * (1f - _buoyancy);
+ Gravity = new OMV.Vector3(0f, 0f, grav);
if (PhysBody.HasPhysicalBody)
- PhysicsScene.PE.SetGravity(PhysBody, new OMV.Vector3(0f, 0f, grav));
+ PhysicsScene.PE.SetGravity(PhysBody, Gravity);
}
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
index ec25aa9..0b35f3a 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs
@@ -78,6 +78,10 @@ public abstract class BSPhysObject : PhysicsActor
Name = name; // PhysicsActor also has the name of the object. Someday consolidate.
TypeName = typeName;
+ // Initialize variables kept in base.
+ GravityModifier = 1.0f;
+ Gravity = new OMV.Vector3(0f, 0f, BSParam.Gravity);
+
// We don't have any physical representation yet.
PhysBody = new BulletBody(localID);
PhysShape = new BulletShape();
@@ -88,8 +92,8 @@ public abstract class BSPhysObject : PhysicsActor
LastAssetBuildFailed = false;
- // Default material type
- Material = MaterialAttributes.Material.Wood;
+ // Default material type. Also sets Friction, Restitution and Density.
+ SetMaterial((int)MaterialAttributes.Material.Wood);
CollisionCollection = new CollisionEventUpdate();
CollisionsLastTick = CollisionCollection;
@@ -122,6 +126,8 @@ public abstract class BSPhysObject : PhysicsActor
// 'inWorld' true if the object has already been added to the dynamic world.
public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld);
+ // The gravity being applied to the object. A function of default grav, GravityModifier and Buoyancy.
+ public virtual OMV.Vector3 Gravity { get; set; }
// The last value calculated for the prim's inertia
public OMV.Vector3 Inertia { get; set; }
@@ -164,15 +170,16 @@ public abstract class BSPhysObject : PhysicsActor
public override void SetMaterial(int material)
{
Material = (MaterialAttributes.Material)material;
+ MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
+ Friction = matAttrib.friction;
+ Restitution = matAttrib.restitution;
+ Density = matAttrib.density;
}
// Stop all physical motion.
public abstract void ZeroMotion(bool inTaintTime);
public abstract void ZeroAngularMotion(bool inTaintTime);
- // Step the vehicle simulation for this object. A NOOP if the vehicle was not configured.
- public virtual void StepVehicle(float timeStep) { }
-
// Update the physical location and motion of the object. Called with data from Bullet.
public abstract void UpdateProperties(EntityProperties entprop);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index 54bf063..a86932a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -55,7 +55,6 @@ public sealed class BSPrim : BSPhysObject
private OMV.Vector3 _position;
private float _mass; // the mass of this object
- private float _density;
private OMV.Vector3 _force;
private OMV.Vector3 _velocity;
private OMV.Vector3 _torque;
@@ -64,8 +63,6 @@ public sealed class BSPrim : BSPhysObject
private int _physicsActorType;
private bool _isPhysical;
private bool _flying;
- private float _friction;
- private float _restitution;
private bool _setAlwaysRun;
private bool _throttleUpdates;
private bool _floatOnWater;
@@ -101,12 +98,6 @@ public sealed class BSPrim : BSPhysObject
_isPhysical = pisPhysical;
_isVolumeDetect = false;
- // Someday set default attributes based on the material but, for now, we don't know the prim material yet.
- // MaterialAttributes primMat = BSMaterials.GetAttributes(Material, pisPhysical);
- _density = PhysicsScene.Params.defaultDensity;
- _friction = PhysicsScene.Params.defaultFriction;
- _restitution = PhysicsScene.Params.defaultRestitution;
-
VehicleController = new BSDynamics(PhysicsScene, this); // add vehicleness
_mass = CalculateMass();
@@ -457,11 +448,6 @@ public sealed class BSPrim : BSPhysObject
{
AddObjectToPhysicalWorld();
}
-
- // Must set gravity after it has been added to the world because, for unknown reasons,
- // adding the object resets the object's gravity to world gravity
- PhysicsScene.PE.SetGravity(PhysBody, grav);
-
}
}
}
@@ -469,7 +455,7 @@ public sealed class BSPrim : BSPhysObject
// Return what gravity should be set to this very moment
public OMV.Vector3 ComputeGravity(float buoyancy)
{
- OMV.Vector3 ret = PhysicsScene.DefaultGravity;
+ OMV.Vector3 ret = PhysicsScene.DefaultGravity * GravityModifier;
if (!IsStatic)
ret *= (1f - buoyancy);
@@ -596,6 +582,74 @@ public sealed class BSPrim : BSPhysObject
}
return;
}
+ public override void SetMaterial(int material)
+ {
+ base.SetMaterial(material);
+ PhysicsScene.TaintedObject("BSPrim.SetMaterial", delegate()
+ {
+ UpdatePhysicalParameters();
+ });
+ }
+ public override float Friction
+ {
+ get { return base.Friction; }
+ set
+ {
+ if (base.Friction != value)
+ {
+ base.Friction = value;
+ PhysicsScene.TaintedObject("BSPrim.setFriction", delegate()
+ {
+ UpdatePhysicalParameters();
+ });
+ }
+ }
+ }
+ public override float Restitution
+ {
+ get { return base.Restitution; }
+ set
+ {
+ if (base.Restitution != value)
+ {
+ base.Restitution = value;
+ PhysicsScene.TaintedObject("BSPrim.setRestitution", delegate()
+ {
+ UpdatePhysicalParameters();
+ });
+ }
+ }
+ }
+ public override float Density
+ {
+ get { return base.Density; }
+ set
+ {
+ if (base.Density != value)
+ {
+ base.Density = value;
+ PhysicsScene.TaintedObject("BSPrim.setDensity", delegate()
+ {
+ UpdatePhysicalParameters();
+ });
+ }
+ }
+ }
+ public override float GravityModifier
+ {
+ get { return base.GravityModifier; }
+ set
+ {
+ if (base.GravityModifier != value)
+ {
+ base.GravityModifier = value;
+ PhysicsScene.TaintedObject("BSPrim.setGravityModifier", delegate()
+ {
+ UpdatePhysicalParameters();
+ });
+ }
+ }
+ }
public override OMV.Vector3 RawVelocity
{
get { return _velocity; }
@@ -810,8 +864,8 @@ public sealed class BSPrim : BSPhysObject
// Set various physical properties so other object interact properly
MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, false);
- PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
- PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
+ PhysicsScene.PE.SetFriction(PhysBody, Friction);
+ PhysicsScene.PE.SetRestitution(PhysBody, Restitution);
// Mass is zero which disables a bunch of physics stuff in Bullet
UpdatePhysicalMassProperties(0f, false);
@@ -840,8 +894,8 @@ public sealed class BSPrim : BSPhysObject
// Set various physical properties so other object interact properly
MaterialAttributes matAttrib = BSMaterials.GetAttributes(Material, true);
- PhysicsScene.PE.SetFriction(PhysBody, matAttrib.friction);
- PhysicsScene.PE.SetRestitution(PhysBody, matAttrib.restitution);
+ PhysicsScene.PE.SetFriction(PhysBody, Friction);
+ PhysicsScene.PE.SetRestitution(PhysBody, Restitution);
// per http://www.bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=3382
// Since this can be called multiple times, only zero forces when becoming physical
@@ -940,6 +994,11 @@ public sealed class BSPrim : BSPhysObject
if (PhysBody.HasPhysicalBody)
{
PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody);
+
+ // Must set gravity after it has been added to the world because, for unknown reasons,
+ // adding the object resets the object's gravity to world gravity
+ OMV.Vector3 grav = ComputeGravity(Buoyancy);
+ PhysicsScene.PE.SetGravity(PhysBody, grav);
}
else
{
@@ -1581,7 +1640,7 @@ public sealed class BSPrim : BSPhysObject
profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
volume *= (profileEnd - profileBegin);
- returnMass = _density * volume;
+ returnMass = Density * volume;
/* Comment out code that computes the mass of the linkset. That is done in the Linkset class.
if (IsRootOfLinkset)
--
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