From 459fcd81c9d6e7c92738b40f1b4b4fe746699379 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 11 Jan 2013 16:36:34 -0800 Subject: BulletSim: move center of gravity of linkset to its geometric center. Necessitated allowing simulator and physical position of a body to get out of sync since Bullet assumes that <0,0,0> is the center of mass. Update DLLs and SOs for the UpdateChildTransform so positions of individual prim in a linkset can be implemented. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 55 +++++++++++++++++----- 1 file changed, 42 insertions(+), 13 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index bd03d31..ad8024c 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -40,23 +40,33 @@ namespace OpenSim.Region.Physics.BulletSPlugin // removed from the linkset. sealed class BSLinksetCompoundInfo : BSLinksetInfo { - public OMV.Vector3 OffsetPos; + public int Index; + public OMV.Vector3 OffsetFromRoot; + public OMV.Vector3 OffsetFromCenterOfMass; public OMV.Quaternion OffsetRot; - public BSLinksetCompoundInfo(OMV.Vector3 p, OMV.Quaternion r) + public BSLinksetCompoundInfo(int indx, OMV.Vector3 p, OMV.Quaternion r) { - OffsetPos = p; + Index = indx; + OffsetFromRoot = p; + OffsetFromCenterOfMass = p; OffsetRot = r; } public override void Clear() { - OffsetPos = OMV.Vector3.Zero; + Index = 0; + OffsetFromRoot = OMV.Vector3.Zero; + OffsetFromCenterOfMass = OMV.Vector3.Zero; OffsetRot = OMV.Quaternion.Identity; } public override string ToString() { StringBuilder buff = new StringBuilder(); - buff.Append(""); @@ -170,6 +180,8 @@ public sealed class BSLinksetCompound : BSLinkset return ret; } + // 'physicalUpdate' is true if these changes came directly from the physics engine. Don't need to rebuild then. + // Called at taint-time. public override void UpdateProperties(BSPhysObject updated, bool physicalUpdate) { // The user moving a child around requires the rebuilding of the linkset compound shape @@ -182,6 +194,7 @@ public sealed class BSLinksetCompound : BSLinkset && !physicalUpdate && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) { + // TODO: replace this with are calculation of the child prim's orientation and pos. updated.LinksetInfo = null; ScheduleRebuild(updated); } @@ -230,7 +243,7 @@ public sealed class BSLinksetCompound : BSLinkset if (inTaintTime) { OMV.Vector3 oldPos = child.RawPosition; - child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetPos; + child.ForcePosition = LinksetRoot.RawPosition + lci.OffsetFromRoot; child.ForceOrientation = LinksetRoot.RawOrientation * lci.OffsetRot; DetailLog("{0},BSLinksetCompound.RecomputeChildWorldPosition,oldPos={1},lci={2},newPos={3}", child.LocalID, oldPos, lci, child.RawPosition); @@ -238,7 +251,7 @@ public sealed class BSLinksetCompound : BSLinkset else { // TaintedObject is not used here so the raw position is set now and not at taint-time. - child.Position = LinksetRoot.RawPosition + lci.OffsetPos; + child.Position = LinksetRoot.RawPosition + lci.OffsetFromRoot; child.Orientation = LinksetRoot.RawOrientation * lci.OffsetRot; } } @@ -316,10 +329,23 @@ public sealed class BSLinksetCompound : BSLinkset // Cause the root shape to be rebuilt as a compound object with just the root in it LinksetRoot.ForceBodyShapeRebuild(true); + // The center of mass for the linkset is the geometric center of the group. + // Compute a displacement for each component so it is relative to the center-of-mass. + OMV.Vector3 centerOfMass = ComputeLinksetGeometricCenter(); + OMV.Vector3 centerDisplacement = centerOfMass - LinksetRoot.RawPosition; + + // Since we're displacing the center of the shape, we need to move the body in the world + LinksetRoot.PositionDisplacement = centerDisplacement * LinksetRoot.RawOrientation; + + PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0, -centerDisplacement, OMV.Quaternion.Identity, false); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}", + LinksetRoot.LocalID, centerOfMass, LinksetRoot.RawPosition, centerDisplacement); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}", LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren); // Add a shape for each of the other children in the linkset + int memberIndex = 1; ForEachMember(delegate(BSPhysObject cPrim) { if (!IsRoot(cPrim)) @@ -337,13 +363,14 @@ public sealed class BSLinksetCompound : BSLinkset OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; // Save relative position for recomputing child's world position after moving linkset. - lci = new BSLinksetCompoundInfo(displacementPos, displacementRot); + lci = new BSLinksetCompoundInfo(memberIndex, displacementPos, displacementRot); + lci.OffsetFromCenterOfMass = displacementPos - centerDisplacement; cPrim.LinksetInfo = lci; DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); } - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},dispPos={3},dispRot={4}", - LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,addMemberToShape,mID={1},mShape={2},lci={3}", + LinksetRoot.LocalID, cPrim.LocalID, cPrim.PhysShape, lci); if (cPrim.PhysShape.isNativeShape) { @@ -359,7 +386,7 @@ public sealed class BSLinksetCompound : BSLinkset PhysicsScene.Shapes.CreateGeomMeshOrHull(cPrim, null); BulletShape newShape = cPrim.PhysShape; cPrim.PhysShape = saveShape; - PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, lci.OffsetPos, lci.OffsetRot); + PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, newShape, lci.OffsetFromCenterOfMass, lci.OffsetRot); } else { @@ -371,8 +398,10 @@ public sealed class BSLinksetCompound : BSLinkset PhysicsScene.Logger.ErrorFormat("{0} Rebuilt sharable shape when building linkset! Region={1}, primID={2}, shape={3}", LogHeader, PhysicsScene.RegionName, cPrim.LocalID, cPrim.PhysShape); } - PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, lci.OffsetPos, lci.OffsetRot); + PhysicsScene.PE.AddChildShapeToCompoundShape(LinksetRoot.PhysShape, cPrim.PhysShape, lci.OffsetFromCenterOfMass, lci.OffsetRot); } + lci.Index = memberIndex; + memberIndex++; } return false; // 'false' says to move onto the next child in the list }); -- cgit v1.1 From 8bf0a9f85dda4b1831630b65620d5c6868196c11 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 13 Jan 2013 22:32:31 -0800 Subject: BulletSim: disable center-of-mass computation for linksets until debugged. Move physical prim above ground if it is underground. Previously tried to correct by applying and up force but the prim would never go through the ground. --- .../Physics/BulletSPlugin/BSLinksetCompound.cs | 35 +++++++++++++++------- 1 file changed, 24 insertions(+), 11 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index ad8024c..5a1b5c7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -319,6 +319,7 @@ public sealed class BSLinksetCompound : BSLinkset // Constraint linksets are rebuilt every time. // Note that this works for rebuilding just the root after a linkset is taken apart. // Called at taint time!! + private bool disableCOM = true; // disable until we get this debugged private void RecomputeLinksetCompound() { try @@ -331,15 +332,26 @@ public sealed class BSLinksetCompound : BSLinkset // The center of mass for the linkset is the geometric center of the group. // Compute a displacement for each component so it is relative to the center-of-mass. - OMV.Vector3 centerOfMass = ComputeLinksetGeometricCenter(); - OMV.Vector3 centerDisplacement = centerOfMass - LinksetRoot.RawPosition; + // Bullet presumes an object's origin (relative <0,0,0>) is its center-of-mass + OMV.Vector3 centerOfMass; + OMV.Vector3 centerDisplacement = OMV.Vector3.Zero; + if (disableCOM) // DEBUG DEBUG + { // DEBUG DEBUG + centerOfMass = LinksetRoot.RawPosition; // DEBUG DEBUG + LinksetRoot.PositionDisplacement = OMV.Vector3.Zero; + } // DEBUG DEBUG + else + { + centerOfMass = ComputeLinksetGeometricCenter(); + centerDisplacement = centerOfMass - LinksetRoot.RawPosition; - // Since we're displacing the center of the shape, we need to move the body in the world - LinksetRoot.PositionDisplacement = centerDisplacement * LinksetRoot.RawOrientation; + // Since we're displacing the center of the shape, we need to move the body in the world + LinksetRoot.PositionDisplacement = centerDisplacement; - PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0, -centerDisplacement, OMV.Quaternion.Identity, false); - DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}", - LinksetRoot.LocalID, centerOfMass, LinksetRoot.RawPosition, centerDisplacement); + PhysicsScene.PE.UpdateChildTransform(LinksetRoot.PhysShape, 0, -centerDisplacement, OMV.Quaternion.Identity, false); + DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,COM,com={1},rootPos={2},centerDisp={3}", + LinksetRoot.LocalID, centerOfMass, LinksetRoot.RawPosition, centerDisplacement); + } DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,start,rBody={1},rShape={2},numChildren={3}", LinksetRoot.LocalID, LinksetRoot.PhysBody, LinksetRoot.PhysShape, NumberOfChildren); @@ -357,14 +369,15 @@ public sealed class BSLinksetCompound : BSLinkset BSLinksetCompoundInfo lci = cPrim.LinksetInfo as BSLinksetCompoundInfo; if (lci == null) { - // Each child position and rotation is given relative to the root. + // Each child position and rotation is given relative to the center-of-mass. OMV.Quaternion invRootOrientation = OMV.Quaternion.Inverse(LinksetRoot.RawOrientation); - OMV.Vector3 displacementPos = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; + OMV.Vector3 displacementFromRoot = (cPrim.RawPosition - LinksetRoot.RawPosition) * invRootOrientation; + OMV.Vector3 displacementFromCOM = displacementFromRoot - centerDisplacement; OMV.Quaternion displacementRot = cPrim.RawOrientation * invRootOrientation; // Save relative position for recomputing child's world position after moving linkset. - lci = new BSLinksetCompoundInfo(memberIndex, displacementPos, displacementRot); - lci.OffsetFromCenterOfMass = displacementPos - centerDisplacement; + lci = new BSLinksetCompoundInfo(memberIndex, displacementFromCOM, displacementRot); + lci.OffsetFromRoot = displacementFromRoot; cPrim.LinksetInfo = lci; DetailLog("{0},BSLinksetCompound.RecomputeLinksetCompound,creatingRelPos,lci={1}", cPrim.LocalID, lci); } -- cgit v1.1 From 181d4c6fcbf1560fcf100b5a6ec98d15ad2fe5cc Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 15 Jan 2013 02:58:14 -0800 Subject: BulletSim: temporarily disable banking and direction deflection because the computations are wrong. Add VehicleTorqueImpulse routines. --- OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs index 5a1b5c7..2dc89b5 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs @@ -195,8 +195,11 @@ public sealed class BSLinksetCompound : BSLinkset && PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition)) { // TODO: replace this with are calculation of the child prim's orientation and pos. - updated.LinksetInfo = null; - ScheduleRebuild(updated); + // TODO: for the moment, don't rebuild the compound shape. + // This is often just the car turning its wheels. When we can just reorient the one + // member shape of the compound shape, the overhead of rebuilding won't be a problem. + // updated.LinksetInfo = null; + // ScheduleRebuild(updated); } } -- cgit v1.1