From 10f5615573cf087c20ae5eb967e5698d5b23d5da Mon Sep 17 00:00:00 2001 From: Teravus Ovares Date: Fri, 10 Apr 2009 06:01:29 +0000 Subject: * Tweak the character controller some more * Add cursory integration with script engine. * LLMoveToTarget, LLSetBouyancy, LLSetStatus (Physical only), LLApplyImpulse, LLApplyTorque, LLPushObject.. etc. * Still missing linked physical active and LLSetStatus with an axis lock. --- .../BulletDotNETPlugin/BulletDotNETCharacter.cs | 2 +- .../Physics/BulletDotNETPlugin/BulletDotNETPrim.cs | 537 +++++++++++++-------- 2 files changed, 348 insertions(+), 191 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs index c584cd6..c0a016e 100644 --- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs +++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETCharacter.cs @@ -963,7 +963,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin if (m_flying) { // Slight PID correction - vec.Z += (((-1 * m_parent_scene.gravityz) * m_mass) * 0.035f); + vec.Z += (((-1 * m_parent_scene.gravityz) * m_mass) * 0.06f); //auto fly height. Kitto Flora diff --git a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs index 061a620..bf44a0f 100644 --- a/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs +++ b/OpenSim/Region/Physics/BulletDotNETPlugin/BulletDotNETPrim.cs @@ -43,6 +43,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin private static readonly ILog m_log = LogManager.GetLogger(MethodBase.GetCurrentMethod().DeclaringType); private PhysicsVector _position; + private PhysicsVector m_zeroPosition; private PhysicsVector _velocity; private PhysicsVector _torque = new PhysicsVector(0, 0, 0); private PhysicsVector m_lastVelocity = new PhysicsVector(0.0f, 0.0f, 0.0f); @@ -168,6 +169,7 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin private btVector3 tempAngularVelocity2; private btVector3 tempInertia1; private btVector3 tempInertia2; + private btVector3 tempAddForce; private btQuaternion tempOrientation1; private btQuaternion tempOrientation2; private btMotionState tempMotionState1; @@ -870,16 +872,59 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin { m_log.Debug("[PHYSICS]: _________ChangeMove"); - tempTransform2 = Body.getWorldTransform(); - btQuaternion quat = tempTransform2.getRotation(); - tempPosition2.setValue(_position.X, _position.Y, _position.Z); - tempTransform2.Dispose(); - tempTransform2 = new btTransform(quat, tempPosition2); - Body.setWorldTransform(tempTransform2); + if (!m_isphysical) + { + tempTransform2 = Body.getWorldTransform(); + btQuaternion quat = tempTransform2.getRotation(); + tempPosition2.setValue(_position.X, _position.Y, _position.Z); + tempTransform2.Dispose(); + tempTransform2 = new btTransform(quat, tempPosition2); + Body.setWorldTransform(tempTransform2); - changeSelectedStatus(timestep); + changeSelectedStatus(timestep); - resetCollisionAccounting(); + resetCollisionAccounting(); + } + else + { + if (Body != null) + { + if (Body.Handle != IntPtr.Zero) + { + _parent_scene.removeFromWorld(this, Body); + //Body.Dispose(); + } + //Body = null; + // TODO: dispose parts that make up body + } + /* + if (_parent_scene.needsMeshing(_pbs)) + { + // Don't need to re-enable body.. it's done in SetMesh + float meshlod = _parent_scene.meshSculptLOD; + + if (IsPhysical) + meshlod = _parent_scene.MeshSculptphysicalLOD; + + IMesh mesh = _parent_scene.mesher.CreateMesh(SOPName, _pbs, _size, meshlod, IsPhysical); + // createmesh returns null when it doesn't mesh. + CreateGeom(IntPtr.Zero, mesh); + } + else + { + _mesh = null; + CreateGeom(IntPtr.Zero, null); + } + SetCollisionShape(prim_geom); + */ + if (m_isphysical) + SetBody(Mass); + else + SetBody(0); + changeSelectedStatus(timestep); + + resetCollisionAccounting(); + } m_taintposition = _position; } @@ -1090,17 +1135,88 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin private void changeAddForce(float timestep) { - // TODO: throw new NotImplementedException(); + if (!m_isSelected) + { + lock (m_forcelist) + { + //m_log.Info("[PHYSICS]: dequeing forcelist"); + if (IsPhysical) + { + PhysicsVector iforce = new PhysicsVector(); + for (int i = 0; i < m_forcelist.Count; i++) + { + iforce = iforce + m_forcelist[i]; + } + + if (Body != null && Body.Handle != IntPtr.Zero) + { + if (tempAddForce != null && tempAddForce.Handle != IntPtr.Zero) + tempAddForce.Dispose(); + enableBodySoft(); + tempAddForce = new btVector3(iforce.X, iforce.Y, iforce.Z); + Body.applyCentralImpulse(tempAddForce); + } + } + m_forcelist.Clear(); + } + + m_collisionscore = 0; + m_interpenetrationcount = 0; + } + + m_taintforce = false; + } private void changeAddAngularForce(float timestep) { - // TODO: throw new NotImplementedException(); + if (!m_isSelected) + { + lock (m_angularforcelist) + { + //m_log.Info("[PHYSICS]: dequeing forcelist"); + if (IsPhysical) + { + PhysicsVector iforce = new PhysicsVector(); + for (int i = 0; i < m_angularforcelist.Count; i++) + { + iforce = iforce + m_angularforcelist[i]; + } + + if (Body != null && Body.Handle != IntPtr.Zero) + { + if (tempAddForce != null && tempAddForce.Handle != IntPtr.Zero) + tempAddForce.Dispose(); + enableBodySoft(); + tempAddForce = new btVector3(iforce.X, iforce.Y, iforce.Z); + Body.applyTorqueImpulse(tempAddForce); + } + + } + m_angularforcelist.Clear(); + } + + m_collisionscore = 0; + m_interpenetrationcount = 0; + } + + m_taintaddangularforce = false; } private void changeSetTorque(float timestep) { - // TODO: throw new NotImplementedException(); + if (!m_isSelected) + { + if (IsPhysical) + { + if (Body != null && Body.Handle != IntPtr.Zero) + { + tempAngularVelocity2.setValue(m_taintTorque.X, m_taintTorque.Y, m_taintTorque.Z); + Body.applyTorque(tempAngularVelocity2); + } + } + } + m_taintTorque = new PhysicsVector(0, 0, 0); } private void changedisable(float timestep) @@ -1113,10 +1229,13 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin // TODO: throw new NotImplementedException(); if (m_taintselected) { + Body.setCollisionFlags((int)ContactFlags.CF_NO_CONTACT_RESPONSE); disableBodySoft(); + } else { + Body.setCollisionFlags(0); enableBodySoft(); } m_isSelected = m_taintselected; @@ -1125,7 +1244,20 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin private void changevelocity(float timestep) { - // TODO: throw new NotImplementedException(); + if (!m_isSelected) + { + if (IsPhysical) + { + if (Body != null && Body.Handle != IntPtr.Zero) + { + tempLinearVelocity2.setValue(m_taintVelocity.X, m_taintVelocity.Y, m_taintVelocity.Z); + Body.setLinearVelocity(tempLinearVelocity2); + } + } + + //resetCollisionAccounting(); + } + m_taintVelocity = PhysicsVector.Zero; } private void changelink(float timestep) @@ -1165,23 +1297,25 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin { if (m_buoyancy > 0) { - fz = (((-1 * _parent_scene.gravityz) * m_buoyancy) * m_mass); + fz = (((-1 * _parent_scene.gravityz) * m_buoyancy) * m_mass) * 0.035f; //d.Vector3 l_velocity = d.BodyGetLinearVel(Body); //m_log.Info("Using Buoyancy: " + buoyancy + " G: " + (_parent_scene.gravityz * m_buoyancy) + "mass:" + m_mass + " Pos: " + Position.ToString()); } else { - fz = (-1 * (((-1 * _parent_scene.gravityz) * (-1 * m_buoyancy)) * m_mass)); + fz = (-1 * (((-1 * _parent_scene.gravityz) * (-1 * m_buoyancy)) * m_mass) * 0.035f); } } if (m_usePID) { + PID_D = 61f; + PID_G = 65f; //if (!d.BodyIsEnabled(Body)) //d.BodySetForce(Body, 0f, 0f, 0f); // If we're using the PID controller, then we have no gravity - fz = (-1 * _parent_scene.gravityz) * m_mass; + fz = ((-1 * _parent_scene.gravityz) * m_mass) * 1.025f; // no lock; for now it's only called from within Simulate() @@ -1202,8 +1336,8 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin // TODO: NEED btVector3 for Linear Velocity // NEED btVector3 for Position - PhysicsVector pos = new PhysicsVector(0, 0, 0); //TODO: Insert values gotten from bullet - PhysicsVector vel = new PhysicsVector(0, 0, 0); + PhysicsVector pos = new PhysicsVector(_position.X, _position.Y, _position.Z); //TODO: Insert values gotten from bullet + PhysicsVector vel = new PhysicsVector(_velocity.X, _velocity.Y, _velocity.Z); _target_velocity = new PhysicsVector( @@ -1301,6 +1435,11 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin d.BodySetLinearVel(Body, vel.X, vel.Y, 0); d.BodyAddForce(Body, 0, 0, fz); */ + if (Body != null && Body.Handle != IntPtr.Zero) + { + Body.setLinearVelocity(_parent_scene.VectorZero); + Body.clearForces(); + } return; } else @@ -1349,11 +1488,22 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin // TODO: Do Bullet Equiv // d.BodyAddForce(Body, fx, fy, fz); + if (Body != null && Body.Handle != IntPtr.Zero) + { + Body.activate(true); + if (tempAddForce != null && tempAddForce.Handle != IntPtr.Zero) + tempAddForce.Dispose(); + + tempAddForce = new btVector3(fx * 0.01f, fy * 0.01f, fz * 0.01f); + Body.applyCentralImpulse(tempAddForce); + } } } else { - // _zeroPosition = d.BodyGetPosition(Body); + if (m_zeroPosition == null) + m_zeroPosition = new PhysicsVector(0, 0, 0); + m_zeroPosition.setValues(_position.X,_position.Y,_position.Z); return; } } @@ -2066,212 +2216,219 @@ namespace OpenSim.Region.Physics.BulletDotNETPlugin public void UpdatePositionAndVelocity() { - if (_parent == null) + if (!m_isSelected) { - PhysicsVector pv = new PhysicsVector(0, 0, 0); - bool lastZeroFlag = _zeroFlag; - if (tempPosition3 != null && tempPosition3.Handle != IntPtr.Zero) - tempPosition3.Dispose(); - if (tempTransform3 != null && tempTransform3.Handle != IntPtr.Zero) - tempTransform3.Dispose(); - - if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero) - tempOrientation2.Dispose(); - - if (tempAngularVelocity1 != null && tempAngularVelocity1.Handle != IntPtr.Zero) - tempAngularVelocity1.Dispose(); - - if (tempLinearVelocity1 != null && tempLinearVelocity1.Handle != IntPtr.Zero) - tempLinearVelocity1.Dispose(); + if (_parent == null) + { + PhysicsVector pv = new PhysicsVector(0, 0, 0); + bool lastZeroFlag = _zeroFlag; + if (tempPosition3 != null && tempPosition3.Handle != IntPtr.Zero) + tempPosition3.Dispose(); + if (tempTransform3 != null && tempTransform3.Handle != IntPtr.Zero) + tempTransform3.Dispose(); + + if (tempOrientation2 != null && tempOrientation2.Handle != IntPtr.Zero) + tempOrientation2.Dispose(); + + if (tempAngularVelocity1 != null && tempAngularVelocity1.Handle != IntPtr.Zero) + tempAngularVelocity1.Dispose(); + + if (tempLinearVelocity1 != null && tempLinearVelocity1.Handle != IntPtr.Zero) + tempLinearVelocity1.Dispose(); + + + + tempTransform3 = Body.getInterpolationWorldTransform(); + tempPosition3 = tempTransform3.getOrigin(); // vec + tempOrientation2 = tempTransform3.getRotation(); // ori + tempAngularVelocity1 = Body.getInterpolationAngularVelocity(); //rotvel + tempLinearVelocity1 = Body.getInterpolationLinearVelocity(); // vel + + _torque.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(), + tempAngularVelocity1.getZ()); + PhysicsVector l_position = new PhysicsVector(); + Quaternion l_orientation = new Quaternion(); + m_lastposition = _position; + m_lastorientation = _orientation; + + l_position.X = tempPosition3.getX(); + l_position.Y = tempPosition3.getY(); + l_position.Z = tempPosition3.getZ(); + l_orientation.X = tempOrientation2.getX(); + l_orientation.Y = tempOrientation2.getY(); + l_orientation.Z = tempOrientation2.getZ(); + l_orientation.W = tempOrientation2.getW(); + + if (l_position.X > 255.95f || l_position.X < 0f || l_position.Y > 255.95f || l_position.Y < 0f) + { + //base.RaiseOutOfBounds(l_position); + if (m_crossingfailures < _parent_scene.geomCrossingFailuresBeforeOutofbounds) + { + _position = l_position; + //_parent_scene.remActivePrim(this); + if (_parent == null) + base.RequestPhysicsterseUpdate(); + return; + } + else + { + if (_parent == null) + base.RaiseOutOfBounds(l_position); + return; + } + } + if (l_position.Z < -200000f) + { + // This is so prim that get lost underground don't fall forever and suck up + // + // Sim resources and memory. + // Disables the prim's movement physics.... + // It's a hack and will generate a console message if it fails. + + //IsPhysical = false; + //if (_parent == null) + //base.RaiseOutOfBounds(_position); - tempTransform3 = Body.getInterpolationWorldTransform(); - tempPosition3 = tempTransform3.getOrigin(); // vec - tempOrientation2 = tempTransform3.getRotation(); // ori - tempAngularVelocity1 = Body.getInterpolationAngularVelocity(); //rotvel - tempLinearVelocity1 = Body.getInterpolationLinearVelocity(); // vel + _acceleration.X = 0; + _acceleration.Y = 0; + _acceleration.Z = 0; - _torque.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getX(), tempAngularVelocity1.getZ()); - PhysicsVector l_position = new PhysicsVector(); - Quaternion l_orientation = new Quaternion(); - m_lastposition = _position; - m_lastorientation = _orientation; + _velocity.X = 0; + _velocity.Y = 0; + _velocity.Z = 0; + m_rotationalVelocity.X = 0; + m_rotationalVelocity.Y = 0; + m_rotationalVelocity.Z = 0; - l_position.X = tempPosition3.getX(); - l_position.Y = tempPosition3.getY(); - l_position.Z = tempPosition3.getZ(); - l_orientation.X = tempOrientation2.getX(); - l_orientation.Y = tempOrientation2.getY(); - l_orientation.Z = tempOrientation2.getZ(); - l_orientation.W = tempOrientation2.getW(); + if (_parent == null) + base.RequestPhysicsterseUpdate(); - if (l_position.X > 255.95f || l_position.X < 0f || l_position.Y > 255.95f || l_position.Y < 0f) - { - //base.RaiseOutOfBounds(l_position); + m_throttleUpdates = false; + throttleCounter = 0; + _zeroFlag = true; + //outofBounds = true; + } - if (m_crossingfailures < _parent_scene.geomCrossingFailuresBeforeOutofbounds) + if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02) + && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02) + && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) + && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01)) { - _position = l_position; - //_parent_scene.remActivePrim(this); - if (_parent == null) - base.RequestPhysicsterseUpdate(); - return; + _zeroFlag = true; + m_throttleUpdates = false; } else { - if (_parent == null) - base.RaiseOutOfBounds(l_position); - return; + //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString()); + _zeroFlag = false; } - } - if (l_position.Z < -200000f) - { - // This is so prim that get lost underground don't fall forever and suck up - // - // Sim resources and memory. - // Disables the prim's movement physics.... - // It's a hack and will generate a console message if it fails. - - //IsPhysical = false; - //if (_parent == null) - //base.RaiseOutOfBounds(_position); + if (_zeroFlag) + { + _velocity.X = 0.0f; + _velocity.Y = 0.0f; + _velocity.Z = 0.0f; + + _acceleration.X = 0; + _acceleration.Y = 0; + _acceleration.Z = 0; + + //_orientation.w = 0f; + //_orientation.X = 0f; + //_orientation.Y = 0f; + //_orientation.Z = 0f; + m_rotationalVelocity.X = 0; + m_rotationalVelocity.Y = 0; + m_rotationalVelocity.Z = 0; + if (!m_lastUpdateSent) + { + m_throttleUpdates = false; + throttleCounter = 0; + m_rotationalVelocity = pv; - _acceleration.X = 0; - _acceleration.Y = 0; - _acceleration.Z = 0; + if (_parent == null) + base.RequestPhysicsterseUpdate(); - _velocity.X = 0; - _velocity.Y = 0; - _velocity.Z = 0; - m_rotationalVelocity.X = 0; - m_rotationalVelocity.Y = 0; - m_rotationalVelocity.Z = 0; + m_lastUpdateSent = true; + } + } + else + { + if (lastZeroFlag != _zeroFlag) + { + if (_parent == null) + base.RequestPhysicsterseUpdate(); + } - if (_parent == null) - base.RequestPhysicsterseUpdate(); + m_lastVelocity = _velocity; - m_throttleUpdates = false; - throttleCounter = 0; - _zeroFlag = true; - //outofBounds = true; - } + _position = l_position; - if ((Math.Abs(m_lastposition.X - l_position.X) < 0.02) - && (Math.Abs(m_lastposition.Y - l_position.Y) < 0.02) - && (Math.Abs(m_lastposition.Z - l_position.Z) < 0.02) - && (1.0 - Math.Abs(Quaternion.Dot(m_lastorientation, l_orientation)) < 0.01 )) - { - _zeroFlag = true; - m_throttleUpdates = false; - } - else - { - //m_log.Debug(Math.Abs(m_lastposition.X - l_position.X).ToString()); - _zeroFlag = false; - } + _velocity.X = tempLinearVelocity1.getX(); + _velocity.Y = tempLinearVelocity1.getY(); + _velocity.Z = tempLinearVelocity1.getZ(); - if (_zeroFlag) - { - _velocity.X = 0.0f; - _velocity.Y = 0.0f; - _velocity.Z = 0.0f; + _acceleration = ((_velocity - m_lastVelocity)/0.1f); + _acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X/0.1f, + _velocity.Y - m_lastVelocity.Y/0.1f, + _velocity.Z - m_lastVelocity.Z/0.1f); + //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString()); - _acceleration.X = 0; - _acceleration.Y = 0; - _acceleration.Z = 0; + if (_velocity.IsIdentical(pv, 0.5f)) + { + m_rotationalVelocity = pv; + } + else + { - //_orientation.w = 0f; - //_orientation.X = 0f; - //_orientation.Y = 0f; - //_orientation.Z = 0f; - m_rotationalVelocity.X = 0; - m_rotationalVelocity.Y = 0; - m_rotationalVelocity.Z = 0; - if (!m_lastUpdateSent) - { - m_throttleUpdates = false; - throttleCounter = 0; - m_rotationalVelocity = pv; + m_rotationalVelocity.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(), + tempAngularVelocity1.getZ()); + } - if (_parent == null) - base.RequestPhysicsterseUpdate(); + //m_log.Debug("ODE: " + m_rotationalVelocity.ToString()); - m_lastUpdateSent = true; - } - } - else - { - if (lastZeroFlag != _zeroFlag) - { + _orientation.X = l_orientation.X; + _orientation.Y = l_orientation.Y; + _orientation.Z = l_orientation.Z; + _orientation.W = l_orientation.W; + m_lastUpdateSent = false; + + //if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate) + //{ if (_parent == null) base.RequestPhysicsterseUpdate(); - } - - m_lastVelocity = _velocity; + // } + // else + // { + // throttleCounter++; + //} - _position = l_position; - - _velocity.X = tempLinearVelocity1.getX(); - _velocity.Y = tempLinearVelocity1.getY(); - _velocity.Z = tempLinearVelocity1.getZ(); - - _acceleration = ((_velocity - m_lastVelocity) / 0.1f); - _acceleration = new PhysicsVector(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f); - //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString()); - - if (_velocity.IsIdentical(pv, 0.5f)) - { - m_rotationalVelocity = pv; } - else + m_lastposition = l_position; + if (forceenable) { - - m_rotationalVelocity.setValues(tempAngularVelocity1.getX(), tempAngularVelocity1.getY(), tempAngularVelocity1.getZ()); + Body.forceActivationState(1); + forceenable = false; } - - //m_log.Debug("ODE: " + m_rotationalVelocity.ToString()); - - _orientation.X = l_orientation.X; - _orientation.Y = l_orientation.Y; - _orientation.Z = l_orientation.Z; - _orientation.W = l_orientation.W; - m_lastUpdateSent = false; - - //if (!m_throttleUpdates || throttleCounter > _parent_scene.geomUpdatesPerThrottledUpdate) - //{ - if (_parent == null) - base.RequestPhysicsterseUpdate(); - // } - // else - // { - // throttleCounter++; - //} - } - m_lastposition = l_position; - if (forceenable) + else { - Body.forceActivationState(1); - forceenable = false; - } - } - else - { - // Not a body.. so Make sure the client isn't interpolating - _velocity.X = 0; - _velocity.Y = 0; - _velocity.Z = 0; + // Not a body.. so Make sure the client isn't interpolating + _velocity.X = 0; + _velocity.Y = 0; + _velocity.Z = 0; - _acceleration.X = 0; - _acceleration.Y = 0; - _acceleration.Z = 0; + _acceleration.X = 0; + _acceleration.Y = 0; + _acceleration.Z = 0; - m_rotationalVelocity.X = 0; - m_rotationalVelocity.Y = 0; - m_rotationalVelocity.Z = 0; - _zeroFlag = true; + m_rotationalVelocity.X = 0; + m_rotationalVelocity.Y = 0; + m_rotationalVelocity.Z = 0; + _zeroFlag = true; + } } } -- cgit v1.1