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/BSCharacter.cs | 268 +++------------------ 1 file changed, 38 insertions(+), 230 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 25be416..09c9b16 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -46,9 +46,6 @@ public sealed class BSCharacter : BSPhysObject private OMV.Vector3 _position; private float _mass; private float _avatarVolume; - private OMV.Vector3 _force; - private OMV.Vector3 _velocity; - private OMV.Vector3 _torque; private float _collisionScore; private OMV.Vector3 _acceleration; private OMV.Quaternion _orientation; @@ -61,17 +58,13 @@ public sealed class BSCharacter : BSPhysObject private OMV.Vector3 _rotationalVelocity; private bool _kinematic; private float _buoyancy; - private bool _isStationaryStanding; // true is standing on a stationary object - private BSVMotor _velocityMotor; + private BSActorAvatarMove m_moveActor; + private const string AvatarMoveActorName = "BSCharacter.AvatarMove"; private OMV.Vector3 _PIDTarget; private bool _usePID; private float _PIDTau; - private bool _useHoverPID; - private float _PIDHoverHeight; - private PIDHoverType _PIDHoverType; - private float _PIDHoverTao; public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying) : base(parent_scene, localID, avName, "BSCharacter") @@ -81,11 +74,10 @@ public sealed class BSCharacter : BSPhysObject _flying = isFlying; _orientation = OMV.Quaternion.Identity; - _velocity = OMV.Vector3.Zero; + RawVelocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); Friction = BSParam.AvatarStandingFriction; Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor; - _isStationaryStanding = false; // Old versions of ScenePresence passed only the height. If width and/or depth are zero, // replace with the default values. @@ -99,7 +91,12 @@ public sealed class BSCharacter : BSPhysObject // set _avatarVolume and _mass based on capsule size, _density and Scale ComputeAvatarVolumeAndMass(); - SetupMovementMotor(); + // The avatar's movement is controlled by this motor that speeds up and slows down + // the avatar seeking to reach the motor's target speed. + // This motor runs as a prestep action for the avatar so it will keep the avatar + // standing as well as moving. Destruction of the avatar will destroy the pre-step action. + m_moveActor = new BSActorAvatarMove(PhysicsScene, this, AvatarMoveActorName); + PhysicalActors.Add(AvatarMoveActorName, m_moveActor); DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", LocalID, _size, Scale, Density, _avatarVolume, RawMass); @@ -139,10 +136,10 @@ public sealed class BSCharacter : BSPhysObject ForcePosition = _position; // Set the velocity - _velocityMotor.Reset(); - _velocityMotor.SetTarget(_velocity); - _velocityMotor.SetCurrent(_velocity); - ForceVelocity = _velocity; + if (m_moveActor != null) + m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false); + + ForceVelocity = RawVelocity; // This will enable or disable the flying buoyancy of the avatar. // Needs to be reset especially when an avatar is recreated after crossing a region boundry. @@ -176,162 +173,6 @@ public sealed class BSCharacter : BSPhysObject PhysBody.ApplyCollisionMask(PhysicsScene); } - // The avatar's movement is controlled by this motor that speeds up and slows down - // the avatar seeking to reach the motor's target speed. - // This motor runs as a prestep action for the avatar so it will keep the avatar - // standing as well as moving. Destruction of the avatar will destroy the pre-step action. - private void SetupMovementMotor() - { - // Infinite decay and timescale values so motor only changes current to target values. - _velocityMotor = new BSVMotor("BSCharacter.Velocity", - 0.2f, // time scale - BSMotor.Infinite, // decay time scale - BSMotor.InfiniteVector, // friction timescale - 1f // efficiency - ); - // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. - - RegisterPreStepAction("BSCharactor.Movement", LocalID, delegate(float timeStep) - { - // TODO: Decide if the step parameters should be changed depending on the avatar's - // state (flying, colliding, ...). There is code in ODE to do this. - - // COMMENTARY: when the user is making the avatar walk, except for falling, the velocity - // specified for the avatar is the one that should be used. For falling, if the avatar - // is not flying and is not colliding then it is presumed to be falling and the Z - // component is not fooled with (thus allowing gravity to do its thing). - // When the avatar is standing, though, the user has specified a velocity of zero and - // the avatar should be standing. But if the avatar is pushed by something in the world - // (raising elevator platform, moving vehicle, ...) the avatar should be allowed to - // move. Thus, the velocity cannot be forced to zero. The problem is that small velocity - // errors can creap in and the avatar will slowly float off in some direction. - // So, the problem is that, when an avatar is standing, we cannot tell creaping error - // from real pushing. - // The code below uses whether the collider is static or moving to decide whether to zero motion. - - _velocityMotor.Step(timeStep); - _isStationaryStanding = false; - - // If we're not supposed to be moving, make sure things are zero. - if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero) - { - // The avatar shouldn't be moving - _velocityMotor.Zero(); - - if (IsColliding) - { - // If we are colliding with a stationary object, presume we're standing and don't move around - if (!ColliderIsMoving) - { - DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID); - _isStationaryStanding = true; - ZeroMotion(true /* inTaintTime */); - } - - // Standing has more friction on the ground - if (Friction != BSParam.AvatarStandingFriction) - { - Friction = BSParam.AvatarStandingFriction; - PhysicsScene.PE.SetFriction(PhysBody, Friction); - } - } - else - { - if (Flying) - { - // Flying and not collising and velocity nearly zero. - ZeroMotion(true /* inTaintTime */); - } - } - - DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", LocalID, _velocityMotor.TargetValue, IsColliding); - } - else - { - // Supposed to be moving. - OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue; - - if (Friction != BSParam.AvatarFriction) - { - // Probably starting up walking. Set friction to moving friction. - Friction = BSParam.AvatarFriction; - PhysicsScene.PE.SetFriction(PhysBody, Friction); - } - - // If falling, we keep the world's downward vector no matter what the other axis specify. - // The check for _velocity.Z < 0 makes jumping work (temporary upward force). - if (!Flying && !IsColliding) - { - if (_velocity.Z < 0) - stepVelocity.Z = _velocity.Z; - // DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity); - } - - // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. - OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass; - - // Should we check for move force being small and forcing velocity to zero? - - // Add special movement force to allow avatars to walk up stepped surfaces. - moveForce += WalkUpStairs(); - - DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce); - PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce); - } - }); - } - - // Decide if the character is colliding with a low object and compute a force to pop the - // avatar up so it can walk up and over the low objects. - private OMV.Vector3 WalkUpStairs() - { - OMV.Vector3 ret = OMV.Vector3.Zero; - - // This test is done if moving forward, not flying and is colliding with something. - // DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4}", - // LocalID, IsColliding, Flying, TargetSpeed, CollisionsLastTick.Count); - if (IsColliding && !Flying && TargetVelocitySpeed > 0.1f /* && ForwardSpeed < 0.1f */) - { - // The range near the character's feet where we will consider stairs - float nearFeetHeightMin = RawPosition.Z - (Size.Z / 2f) + 0.05f; - float nearFeetHeightMax = nearFeetHeightMin + BSParam.AvatarStepHeight; - - // Look for a collision point that is near the character's feet and is oriented the same as the charactor is - foreach (KeyValuePair kvp in CollisionsLastTick.m_objCollisionList) - { - // Don't care about collisions with the terrain - if (kvp.Key > PhysicsScene.TerrainManager.HighestTerrainID) - { - OMV.Vector3 touchPosition = kvp.Value.Position; - // DetailLog("{0},BSCharacter.WalkUpStairs,min={1},max={2},touch={3}", - // LocalID, nearFeetHeightMin, nearFeetHeightMax, touchPosition); - if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax) - { - // This contact is within the 'near the feet' range. - // The normal should be our contact point to the object so it is pointing away - // thus the difference between our facing orientation and the normal should be small. - OMV.Vector3 directionFacing = OMV.Vector3.UnitX * RawOrientation; - OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal); - float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal)); - if (diff < BSParam.AvatarStepApproachFactor) - { - // Found the stairs contact point. Push up a little to raise the character. - float upForce = (touchPosition.Z - nearFeetHeightMin) * Mass * BSParam.AvatarStepForceFactor; - ret = new OMV.Vector3(0f, 0f, upForce); - - // Also move the avatar up for the new height - OMV.Vector3 displacement = new OMV.Vector3(0f, 0f, BSParam.AvatarStepHeight / 2f); - ForcePosition = RawPosition + displacement; - } - DetailLog("{0},BSCharacter.WalkUpStairs,touchPos={1},nearFeetMin={2},faceDir={3},norm={4},diff={5},ret={6}", - LocalID, touchPosition, nearFeetHeightMin, directionFacing, touchNormal, diff, ret); - } - } - } - } - - return ret; - } public override void RequestPhysicsterseUpdate() { @@ -403,7 +244,7 @@ public sealed class BSCharacter : BSPhysObject // Called at taint time! public override void ZeroMotion(bool inTaintTime) { - _velocity = OMV.Vector3.Zero; + RawVelocity = OMV.Vector3.Zero; _acceleration = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; @@ -542,15 +383,15 @@ public sealed class BSCharacter : BSPhysObject } public override OMV.Vector3 Force { - get { return _force; } + get { return RawForce; } set { - _force = value; + RawForce = value; // m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force); PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate() { - DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force); + DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, RawForce); if (PhysBody.HasPhysicalBody) - PhysicsScene.PE.SetObjectForce(PhysBody, _force); + PhysicsScene.PE.SetObjectForce(PhysBody, RawForce); }); } } @@ -573,7 +414,7 @@ public sealed class BSCharacter : BSPhysObject { get { - return m_targetVelocity; + return base.m_targetVelocity; } set { @@ -583,51 +424,39 @@ public sealed class BSCharacter : BSPhysObject if (_setAlwaysRun) targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 0f); - PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate() - { - _velocityMotor.Reset(); - _velocityMotor.SetTarget(targetVel); - _velocityMotor.SetCurrent(_velocity); - _velocityMotor.Enabled = true; - }); + if (m_moveActor != null) + m_moveActor.SetVelocityAndTarget(RawVelocity, targetVel, false /* inTaintTime */); } } - public override OMV.Vector3 RawVelocity - { - get { return _velocity; } - set { _velocity = value; } - } // Directly setting velocity means this is what the user really wants now. public override OMV.Vector3 Velocity { - get { return _velocity; } + get { return RawVelocity; } set { - _velocity = value; - // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity); + RawVelocity = value; + // m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, RawVelocity); PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate() { - _velocityMotor.Reset(); - _velocityMotor.SetCurrent(_velocity); - _velocityMotor.SetTarget(_velocity); - _velocityMotor.Enabled = false; + if (m_moveActor != null) + m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, true /* inTaintTime */); - DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity); - ForceVelocity = _velocity; + DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, RawVelocity); + ForceVelocity = RawVelocity; }); } } public override OMV.Vector3 ForceVelocity { - get { return _velocity; } + get { return RawVelocity; } set { PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity"); - _velocity = value; - PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity); + RawVelocity = value; + PhysicsScene.PE.SetLinearVelocity(PhysBody, RawVelocity); PhysicsScene.PE.Activate(PhysBody, true); } } public override OMV.Vector3 Torque { - get { return _torque; } - set { _torque = value; + get { return RawTorque; } + set { RawTorque = value; } } public override float CollisionScore { @@ -783,27 +612,6 @@ public sealed class BSCharacter : BSPhysObject set { _PIDTau = value; } } - // Used for llSetHoverHeight and maybe vehicle height - // Hover Height will override MoveTo target's Z - public override bool PIDHoverActive { - set { _useHoverPID = value; } - } - public override float PIDHoverHeight { - set { _PIDHoverHeight = value; } - } - public override PIDHoverType PIDHoverType { - set { _PIDHoverType = value; } - } - public override float PIDHoverTau { - set { _PIDHoverTao = value; } - } - - // For RotLookAt - public override OMV.Quaternion APIDTarget { set { return; } } - public override bool APIDActive { set { return; } } - public override float APIDStrength { set { return; } } - public override float APIDDamping { set { return; } } - public override void AddForce(OMV.Vector3 force, bool pushforce) { // Since this force is being applied in only one step, make this a force per second. @@ -833,7 +641,7 @@ public sealed class BSCharacter : BSPhysObject } } - public override void AddAngularForce(OMV.Vector3 force, bool pushforce) { + public override void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) { } public override void SetMomentum(OMV.Vector3 momentum) { } @@ -887,7 +695,7 @@ public sealed class BSCharacter : BSPhysObject public override void UpdateProperties(EntityProperties entprop) { // Don't change position if standing on a stationary object. - if (!_isStationaryStanding) + if (!IsStationary) _position = entprop.Position; _orientation = entprop.Rotation; @@ -896,8 +704,8 @@ public sealed class BSCharacter : BSPhysObject // and will send agent updates to the clients if velocity changes by more than // 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many // extra updates. - if (!entprop.Velocity.ApproxEquals(_velocity, 0.1f)) - _velocity = entprop.Velocity; + if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.1f)) + RawVelocity = entprop.Velocity; _acceleration = entprop.Acceleration; _rotationalVelocity = entprop.RotationalVelocity; @@ -920,7 +728,7 @@ 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, _velocity, _acceleration, _rotationalVelocity); + LocalID, _position, _orientation, RawVelocity, _acceleration, _rotationalVelocity); } } } -- 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/BSCharacter.cs | 3 +++ 1 file changed, 3 insertions(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 09c9b16..a0d58d3 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -160,6 +160,9 @@ public sealed class BSCharacter : BSPhysObject // Make so capsule does not fall over PhysicsScene.PE.SetAngularFactorV(PhysBody, OMV.Vector3.Zero); + // The avatar mover sets some parameters. + PhysicalActors.Refresh(); + PhysicsScene.PE.AddToCollisionFlags(PhysBody, CollisionFlags.CF_CHARACTER_OBJECT); PhysicsScene.PE.AddObjectToWorld(PhysicsScene.World, PhysBody); -- cgit v1.1