From a791620622dc0a67a6af2c4a9c011d9057360411 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 10 Oct 2012 08:02:37 -0700 Subject: BulletSim: cosmetic changes (comments and renaming). Give mass to terrain to improve interactions. --- OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 70aa429..2808603 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -201,10 +201,10 @@ public class BSTerrainManager // The 'doNow' boolean says whether to do all the unmanaged activities right now (like when // calling this routine from initialization or taint-time routines) or whether to delay // all the unmanaged activities to taint-time. - private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool atTaintTime) + private void UpdateOrCreateTerrain(uint id, float[] heightMap, Vector3 minCoords, Vector3 maxCoords, bool inTaintTime) { - DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},atTaintTime={3}", - BSScene.DetailLogZero, minCoords, maxCoords, atTaintTime); + DetailLog("{0},BSTerrainManager.UpdateOrCreateTerrain,call,minC={1},maxC={2},inTaintTime={3}", + BSScene.DetailLogZero, minCoords, maxCoords, inTaintTime); float minZ = float.MaxValue; float maxZ = float.MinValue; @@ -320,7 +320,9 @@ public class BSTerrainManager BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - BulletSimAPI.SetMassProps2(mapInfo.terrainBody.ptr, 0f, Vector3.Zero); + float terrainMass = 1000; + Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(mapInfo.terrainBody.ptr, terrainMass); + BulletSimAPI.SetMassProps2(mapInfo.terrainBody.ptr, terrainMass, localInertia); BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.ptr); // Return the new terrain to the world of physical objects @@ -342,7 +344,7 @@ public class BSTerrainManager // There is the option to do the changes now (we're already in 'taint time'), or // to do the Bullet operations later. - if (atTaintTime) + if (inTaintTime) rebuildOperation(); else PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:UpdateExisting", rebuildOperation); @@ -381,7 +383,7 @@ public class BSTerrainManager }; // If already in taint-time, just call Bullet. Otherwise queue the operations for the safe time. - if (atTaintTime) + if (inTaintTime) createOperation(); else PhysicsScene.TaintedObject("BSScene.UpdateOrCreateTerrain:NewTerrain", createOperation); -- cgit v1.1 From 919569f6ecd5fe84d0f5b0981a48b4808a44f7ad Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 10 Oct 2012 09:43:46 -0700 Subject: BulletSim: Change defaults for constraint CFM and ERP to make large linksets more rigid. Remove mass calculation for terrain (it should stay a static object). --- OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | 15 ++++++--------- 1 file changed, 6 insertions(+), 9 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 2808603..caf411e 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -114,6 +114,8 @@ public class BSTerrainManager BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity)); BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); + // Ground plane does not move + BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); // Everything collides with the ground plane. BulletSimAPI.SetCollisionFilterMask2(m_groundPlane.ptr, (uint)CollisionFilterGroups.GroundPlaneFilter, (uint)CollisionFilterGroups.GroundPlaneMask); @@ -296,16 +298,16 @@ public class BSTerrainManager mapInfo.Ptr = BulletSimAPI.CreateHeightMapInfo2(PhysicsScene.World.ptr, mapInfo.ID, mapInfo.minCoords, mapInfo.maxCoords, mapInfo.heightMap, TERRAIN_COLLISION_MARGIN); + // Create the terrain shape from the mapInfo + mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr), + ShapeData.PhysicsShapeType.SHAPE_TERRAIN); + // The terrain object initial position is at the center of the object Vector3 centerPos; centerPos.X = minCoords.X + (mapInfo.sizeX / 2f); centerPos.Y = minCoords.Y + (mapInfo.sizeY / 2f); centerPos.Z = minZ + ((maxZ - minZ) / 2f); - // Create the terrain shape from the mapInfo - mapInfo.terrainShape = new BulletShape(BulletSimAPI.CreateTerrainShape2(mapInfo.Ptr), - ShapeData.PhysicsShapeType.SHAPE_TERRAIN); - mapInfo.terrainBody = new BulletBody(mapInfo.ID, BulletSimAPI.CreateBodyWithDefaultMotionState2(mapInfo.terrainShape.ptr, id, centerPos, Quaternion.Identity)); @@ -320,11 +322,6 @@ public class BSTerrainManager BulletSimAPI.SetRestitution2(mapInfo.terrainBody.ptr, PhysicsScene.Params.terrainRestitution); BulletSimAPI.SetCollisionFlags2(mapInfo.terrainBody.ptr, CollisionFlags.CF_STATIC_OBJECT); - float terrainMass = 1000; - Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(mapInfo.terrainBody.ptr, terrainMass); - BulletSimAPI.SetMassProps2(mapInfo.terrainBody.ptr, terrainMass, localInertia); - BulletSimAPI.UpdateInertiaTensor2(mapInfo.terrainBody.ptr); - // Return the new terrain to the world of physical objects BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, mapInfo.terrainBody.ptr); -- cgit v1.1 From fc33afddd360843d05f030750b7075315a526ae1 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 15 Oct 2012 12:11:00 -0700 Subject: BulletSim: remove code in ShapeCollection that hinted at shape sharing. Add new function to ParameterDefn for calling BulletSimAPI to set values. Tweaking to BSCharacter parameter setting to try and have avatars stand. --- OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index caf411e..9743d94 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -334,7 +334,8 @@ public class BSTerrainManager // Make sure the new shape is processed. // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true); - BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); + BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING); + // BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.DISABLE_SIMULATION); m_terrainModified = true; }; -- cgit v1.1 From f422b9b388fe67c61e610c79efabd5e07512884b Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 19 Oct 2012 10:48:45 -0700 Subject: BulletSim: reorder avatar collision checking to eliminate double collision_end. Various tweekings to avatar shape/mass/inertia/etc. Remove change from avatar radius to diameter. But still the avatar sinks. Collision_end now happens immediately rather than at the next subscription time. --- OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs | 1 + 1 file changed, 1 insertion(+) (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index 9743d94..4106534 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -114,6 +114,7 @@ public class BSTerrainManager BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity)); BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); + BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr); // Ground plane does not move BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); // Everything collides with the ground plane. -- cgit v1.1