From fe16dc09da3f2736fad5a9e792f5f81098b5f9a1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 7 Apr 2013 08:27:49 -0700 Subject: BulletSim: complete movement of physical object action code out of the physical object and into actors for setForce, setTorque, hover, lock axis and avatar move. --- .../Region/Physics/BulletSPlugin/BSActorHover.cs | 176 +++++++++++++++++++++ 1 file changed, 176 insertions(+) create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs new file mode 100755 index 0000000..8dd3700 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs @@ -0,0 +1,176 @@ +/* + * Copyright (c) Contributors, http://opensimulator.org/ + * See CONTRIBUTORS.TXT for a full list of copyright holders. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyrightD + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the OpenSimulator Project nor the + * names of its contributors may be used to endorse or promote products + * derived from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY + * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE + * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY + * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES + * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND + * 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. + */ + +using System; +using System.Collections.Generic; +using System.Linq; +using System.Text; + +using OpenSim.Region.Physics.Manager; + +using OMV = OpenMetaverse; + +namespace OpenSim.Region.Physics.BulletSPlugin +{ +public class BSActorHover : BSActor +{ + private BSFMotor m_hoverMotor; + + public BSActorHover(BSScene physicsScene, BSPhysObject pObj, string actorName) + : base(physicsScene, pObj, actorName) + { + m_hoverMotor = null; + m_physicsScene.DetailLog("{0},BSActorHover,constructor", m_controllingPrim.LocalID); + } + + // BSActor.isActive + public override bool isActive + { + get { return Enabled && m_controllingPrim.IsPhysicallyActive; } + } + + // Release any connections and resources used by the actor. + // BSActor.Dispose() + public override void Dispose() + { + Enabled = false; + } + + // Called when physical parameters (properties set in Bullet) need to be re-applied. + // Called at taint-time. + // BSActor.Refresh() + public override void Refresh() + { + m_physicsScene.DetailLog("{0},BSActorHover,refresh", m_controllingPrim.LocalID); + + // If not active any more, get rid of me (shouldn't ever happen, but just to be safe) + if (!m_controllingPrim.HoverActive) + { + m_physicsScene.DetailLog("{0},BSActorHover,refresh,notHovering,removing={1}", m_controllingPrim.LocalID, ActorName); + m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName); + return; + } + + // If the object is physically active, add the hoverer prestep action + if (isActive) + { + ActivateHover(); + } + else + { + DeactivateHover(); + } + } + + // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). + // Register a prestep action to restore physical requirements before the next simulation step. + // Called at taint-time. + // BSActor.RemoveBodyDependencies() + public override void RemoveBodyDependencies() + { + // Nothing to do for the hoverer since it is all software at pre-step action time. + } + + // If a hover motor has not been created, create one and start the hovering. + private void ActivateHover() + { + if (m_hoverMotor == null) + { + // Turning the target on + m_hoverMotor = new BSFMotor("BSActorHover", + m_controllingPrim.HoverTau, // timeScale + BSMotor.Infinite, // decay time scale + BSMotor.Infinite, // friction timescale + 1f // efficiency + ); + m_hoverMotor.SetTarget(ComputeCurrentHoverHeight()); + m_hoverMotor.SetCurrent(m_controllingPrim.RawPosition.Z); + m_hoverMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages. + + m_physicsScene.BeforeStep += Hoverer; + } + } + + private void DeactivateHover() + { + if (m_hoverMotor != null) + { + m_physicsScene.BeforeStep -= Hoverer; + m_hoverMotor = null; + } + } + + // Called just before the simulation step. Update the vertical position for hoverness. + private void Hoverer(float timeStep) + { + // Don't do hovering while the object is selected. + if (!isActive) + return; + + m_hoverMotor.SetCurrent(m_controllingPrim.RawPosition.Z); + m_hoverMotor.SetTarget(ComputeCurrentHoverHeight()); + float targetHeight = m_hoverMotor.Step(timeStep); + + // 'targetHeight' is where we'd like the Z of the prim to be at this moment. + // Compute the amount of force to push us there. + float moveForce = (targetHeight - m_controllingPrim.RawPosition.Z) * m_controllingPrim.RawMass; + // Undo anything the object thinks it's doing at the moment + moveForce = -m_controllingPrim.RawVelocity.Z * m_controllingPrim.Mass; + + m_physicsScene.PE.ApplyCentralImpulse(m_controllingPrim.PhysBody, new OMV.Vector3(0f, 0f, moveForce)); + m_physicsScene.DetailLog("{0},BSPrim.Hover,move,targHt={1},moveForce={2},mass={3}", + m_controllingPrim.LocalID, targetHeight, moveForce, m_controllingPrim.RawMass); + } + + // Based on current position, determine what we should be hovering at now. + // Must recompute often. What if we walked offa cliff> + private float ComputeCurrentHoverHeight() + { + float ret = m_controllingPrim.HoverHeight; + float groundHeight = m_physicsScene.TerrainManager.GetTerrainHeightAtXYZ(m_controllingPrim.RawPosition); + + switch (m_controllingPrim.HoverType) + { + case PIDHoverType.Ground: + ret = groundHeight + m_controllingPrim.HoverHeight; + break; + case PIDHoverType.GroundAndWater: + float waterHeight = m_physicsScene.TerrainManager.GetWaterLevelAtXYZ(m_controllingPrim.RawPosition); + if (groundHeight > waterHeight) + { + ret = groundHeight + m_controllingPrim.HoverHeight; + } + else + { + ret = waterHeight + m_controllingPrim.HoverHeight; + } + break; + } + return ret; + } +} +} -- cgit v1.1 From a7a1b8b7e9269b446e3396a35153b00942c1e35b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 7 Apr 2013 14:05:35 -0700 Subject: BulletSim: clean up actor code so routines use the same coding pattern. Fix a few enabling problems. --- OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs index 8dd3700..e8310df 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs @@ -67,12 +67,10 @@ public class BSActorHover : BSActor { m_physicsScene.DetailLog("{0},BSActorHover,refresh", m_controllingPrim.LocalID); - // If not active any more, get rid of me (shouldn't ever happen, but just to be safe) + // If not active any more, turn me off if (!m_controllingPrim.HoverActive) { - m_physicsScene.DetailLog("{0},BSActorHover,refresh,notHovering,removing={1}", m_controllingPrim.LocalID, ActorName); - m_controllingPrim.PhysicalActors.RemoveAndRelease(ActorName); - return; + SetEnabled(false); } // If the object is physically active, add the hoverer prestep action -- cgit v1.1 From 5f2cbfc0fd27198f8f05f4a9a4e2908d8b11752e Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 9 Apr 2013 17:53:18 -0700 Subject: BulletSim: fixing problems with llMoveToTarget. Not all fixed yet. --- OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs index e8310df..92ace66 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs @@ -50,7 +50,7 @@ public class BSActorHover : BSActor // BSActor.isActive public override bool isActive { - get { return Enabled && m_controllingPrim.IsPhysicallyActive; } + get { return Enabled; } } // Release any connections and resources used by the actor. -- cgit v1.1 From e5582939fd8d78b61c6f1eeda6de45d94f4b4926 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 28 Apr 2013 14:44:21 -0700 Subject: BulletSim: massive refactor of shape classes. Removed shape specific code from BSShapeCollection. Using BSShape* classes to hold references to shape. Simplified shape dependency callbacks. Remove 'PreferredShape' methods and have each class specify shape type. Disable compound shape linkset for a later commit that will simplify linkset implementation. --- OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs index 92ace66..3630ca8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs @@ -87,8 +87,8 @@ public class BSActorHover : BSActor // The object's physical representation is being rebuilt so pick up any physical dependencies (constraints, ...). // Register a prestep action to restore physical requirements before the next simulation step. // Called at taint-time. - // BSActor.RemoveBodyDependencies() - public override void RemoveBodyDependencies() + // BSActor.RemoveDependencies() + public override void RemoveDependencies() { // Nothing to do for the hoverer since it is all software at pre-step action time. } -- cgit v1.1 From 045aaa838ac0a6e129ff1d8ec65053508df1d51a Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 6 May 2013 13:29:19 -0700 Subject: BulletSim: remove friction calcuation from BSMotor and move linear and angular friction computation into linear and angular movement code. The friction wasn't being applied properly. This will make it so vehicles don't drift as much and the drift is tunable by changing the friction timescales. --- OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs | 1 - 1 file changed, 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs index 3630ca8..8a79809 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs @@ -102,7 +102,6 @@ public class BSActorHover : BSActor m_hoverMotor = new BSFMotor("BSActorHover", m_controllingPrim.HoverTau, // timeScale BSMotor.Infinite, // decay time scale - BSMotor.Infinite, // friction timescale 1f // efficiency ); m_hoverMotor.SetTarget(ComputeCurrentHoverHeight()); -- cgit v1.1