From e1814aa827c2d0af21d087bd34e3c7f4f7cf25bd Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Wed, 12 Dec 2012 16:29:03 -0800 Subject: BulletSim: fix problem of avatar's floating off the ground after unsitting. Reworked size/scale logic so physical scale is kept in Bullet and physObject scale is the preferred size -- usually same as size but avatars are computed differently. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 18 +++++++++-------- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 2 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 8 ++------ .../Physics/BulletSPlugin/BSShapeCollection.cs | 23 +++++++++++++--------- 4 files changed, 27 insertions(+), 24 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 83c78f6..c8aad8d 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -105,12 +105,12 @@ public sealed class BSCharacter : BSPhysObject DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", LocalID, _size, Scale, _avatarDensity, _avatarVolume, RawMass); - // do actual create at taint time + // do actual creation in taint time PhysicsScene.TaintedObject("BSCharacter.create", delegate() { DetailLog("{0},BSCharacter.create,taint", LocalID); // New body and shape into PhysBody and PhysShape - PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, null, null); + PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this); SetPhysicalProperties(); }); @@ -189,6 +189,11 @@ public sealed class BSCharacter : BSPhysObject set { // When an avatar's size is set, only the height is changed. _size = value; + // Old versions of ScenePresence passed only the height. If width and/or depth are zero, + // replace with the default values. + if (_size.X == 0f) _size.X = PhysicsScene.Params.avatarCapsuleDepth; + if (_size.Y == 0f) _size.Y = PhysicsScene.Params.avatarCapsuleWidth; + ComputeAvatarScale(_size); ComputeAvatarVolumeAndMass(); DetailLog("{0},BSCharacter.setSize,call,size={1},scale={2},density={3},volume={4},mass={5}", @@ -196,18 +201,18 @@ public sealed class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { - if (PhysShape.HasPhysicalShape) + if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape) { BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); UpdatePhysicalMassProperties(RawMass); + // Make sure this change appears as a property update event + BulletSimAPI.PushUpdate2(PhysBody.ptr); } }); } } - public override OMV.Vector3 Scale { get; set; } - public override PrimitiveBaseShape Shape { set { BaseShape = value; } @@ -638,9 +643,6 @@ public sealed class BSCharacter : BSPhysObject private void ComputeAvatarScale(OMV.Vector3 size) { - // The 'size' given by the simulator is the mid-point of the avatar - // and X and Y are unspecified. - OMV.Vector3 newScale = size; // newScale.X = PhysicsScene.Params.avatarCapsuleWidth; // newScale.Y = PhysicsScene.Params.avatarCapsuleDepth; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index f3b6993..6539b43 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -109,7 +109,7 @@ public abstract class BSPhysObject : PhysicsActor public EntityProperties CurrentEntityProperties { get; set; } public EntityProperties LastEntityProperties { get; set; } - public abstract OMV.Vector3 Scale { get; set; } + public virtual OMV.Vector3 Scale { get; set; } public abstract bool IsSolid { get; } public abstract bool IsStatic { get; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 35d22c0..19c29cc 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -45,7 +45,6 @@ public sealed class BSPrim : BSPhysObject private static readonly string LogHeader = "[BULLETS PRIM]"; // _size is what the user passed. Scale is what we pass to the physics engine with the mesh. - // Often Scale is unity because the meshmerizer will apply _size when creating the mesh. private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user private bool _grabbed; @@ -93,7 +92,7 @@ public sealed class BSPrim : BSPhysObject _physicsActorType = (int)ActorTypes.Prim; _position = pos; _size = size; - Scale = size; // the scale will be set by CreateGeom depending on object type + Scale = size; // prims are the size the user wants them to be (different for BSCharactes). _orientation = rotation; _buoyancy = 1f; _velocity = OMV.Vector3.Zero; @@ -159,12 +158,10 @@ public sealed class BSPrim : BSPhysObject // We presume the scale and size are the same. If scale must be changed for // the physical shape, that is done when the geometry is built. _size = value; + Scale = _size; ForceBodyShapeRebuild(false); } } - // Scale is what we set in the physics engine. It is different than 'size' in that - // 'size' can be encorporated into the mesh. In that case, the scale is <1,1,1>. - public override OMV.Vector3 Scale { get; set; } public override PrimitiveBaseShape Shape { set { @@ -1369,7 +1366,6 @@ public sealed class BSPrim : BSPhysObject // Create the correct physical representation for this type of object. // Updates PhysBody and PhysShape with the new information. // Ignore 'forceRebuild'. This routine makes the right choices and changes of necessary. - // Returns 'true' if either the body or the shape was changed. PhysicsScene.Shapes.GetBodyAndShape(false, PhysicsScene.World, this, null, delegate(BulletBody dBody) { // Called if the current prim body is about to be destroyed. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 4ab9a99..ea996ae 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -126,6 +126,11 @@ public sealed class BSShapeCollection : IDisposable return ret; } + public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim) + { + return GetBodyAndShape(forceRebuild, sim, prim, null, null); + } + // Track another user of a body. // We presume the caller has allocated the body. // Bodies only have one user so the body is just put into the world if not already there. @@ -460,6 +465,11 @@ public sealed class BSShapeCollection : IDisposable && pbs.PathScaleX == 100 && pbs.PathScaleY == 100 && pbs.PathShearX == 0 && pbs.PathShearY == 0) ) ) { + // Get the scale of any existing shape so we can see if the new shape is same native type and same size. + OMV.Vector3 scaleOfExistingShape = OMV.Vector3.Zero; + if (prim.PhysShape.HasPhysicalShape) + scaleOfExistingShape = BulletSimAPI.GetLocalScaling2(prim.PhysShape.ptr); + if (DDetail) DetailLog("{0},BSShapeCollection.CreateGeom,maybeNative,force={1},primScale={2},primSize={3},primShape={4}", prim.LocalID, forceRebuild, prim.Scale, prim.Size, prim.PhysShape.type); @@ -469,7 +479,7 @@ public sealed class BSShapeCollection : IDisposable { haveShape = true; if (forceRebuild - || prim.Scale != prim.Size + || prim.Scale != scaleOfExistingShape || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_SPHERE ) { @@ -483,7 +493,7 @@ public sealed class BSShapeCollection : IDisposable { haveShape = true; if (forceRebuild - || prim.Scale != prim.Size + || prim.Scale != scaleOfExistingShape || prim.PhysShape.type != BSPhysicsShapeType.SHAPE_BOX ) { @@ -542,7 +552,6 @@ public sealed class BSShapeCollection : IDisposable prim.LocalID, newShape, prim.Scale); // native shapes are scaled by Bullet - prim.Scale = prim.Size; prim.PhysShape = newShape; return true; } @@ -555,8 +564,8 @@ public sealed class BSShapeCollection : IDisposable ShapeData nativeShapeData = new ShapeData(); nativeShapeData.Type = shapeType; nativeShapeData.ID = prim.LocalID; - nativeShapeData.Scale = prim.Size; - nativeShapeData.Size = prim.Size; // unneeded, I think. + nativeShapeData.Scale = prim.Scale; + nativeShapeData.Size = prim.Scale; // unneeded, I think. nativeShapeData.MeshKey = (ulong)shapeKey; nativeShapeData.HullKey = (ulong)shapeKey; @@ -611,8 +620,6 @@ public sealed class BSShapeCollection : IDisposable ReferenceShape(newShape); - // meshes are already scaled by the meshmerizer - prim.Scale = new OMV.Vector3(1f, 1f, 1f); prim.PhysShape = newShape; return true; // 'true' means a new shape has been added to this prim @@ -683,8 +690,6 @@ public sealed class BSShapeCollection : IDisposable ReferenceShape(newShape); - // hulls are already scaled by the meshmerizer - prim.Scale = new OMV.Vector3(1f, 1f, 1f); prim.PhysShape = newShape; return true; // 'true' means a new shape has been added to this prim } -- cgit v1.1