From 29cdf0f3dd99605192f29fc83bbacdf8ecb0ea8d Mon Sep 17 00:00:00 2001 From: teravus Date: Tue, 18 Dec 2012 15:00:10 -0500 Subject: * Merges BulletSim Updates to BulletSimN(BulletSNPlugin) --- .../Region/Physics/BulletSNPlugin/BSCharacter.cs | 8 +- .../Region/Physics/BulletSNPlugin/BSConstraint.cs | 2 +- .../Physics/BulletSNPlugin/BSConstraint6Dof.cs | 4 +- .../BulletSNPlugin/BSConstraintCollection.cs | 4 +- .../Physics/BulletSNPlugin/BSConstraintHinge.cs | 2 +- .../Region/Physics/BulletSNPlugin/BSDynamics.cs | 3 + OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs | 20 ++--- .../Physics/BulletSNPlugin/BSLinksetCompound.cs | 11 +-- .../Physics/BulletSNPlugin/BSLinksetConstraints.cs | 6 +- .../Region/Physics/BulletSNPlugin/BSMaterials.cs | 16 ++-- OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs | 2 +- .../Region/Physics/BulletSNPlugin/BSPhysObject.cs | 3 +- OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs | 87 +++++++++++++++------- OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs | 11 ++- .../Physics/BulletSNPlugin/BSShapeCollection.cs | 6 +- .../Physics/BulletSNPlugin/BSTerrainHeightmap.cs | 2 +- .../Physics/BulletSNPlugin/BSTerrainManager.cs | 3 +- .../Region/Physics/BulletSNPlugin/BulletSimAPI.cs | 1 - .../Region/Physics/BulletSNPlugin/BulletSimData.cs | 4 +- 19 files changed, 116 insertions(+), 79 deletions(-) (limited to 'OpenSim') diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs index 4c4e950..d91c47f 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BSCharacter.cs @@ -174,7 +174,7 @@ public sealed class BSCharacter : BSPhysObject BulletSimAPI.SetCcdSweptSphereRadius2(PhysBody.ptr, BSParam.CcdSweptSphereRadius); } - UpdatePhysicalMassProperties(RawMass); + UpdatePhysicalMassProperties(RawMass, false); // Make so capsule does not fall over BulletSimAPI.SetAngularFactorV2(PhysBody.ptr, OMV.Vector3.Zero); @@ -224,7 +224,7 @@ public sealed class BSCharacter : BSPhysObject if (PhysBody.HasPhysicalBody && PhysShape.HasPhysicalShape) { BulletSimAPI.SetLocalScaling2(PhysShape.ptr, Scale); - UpdatePhysicalMassProperties(RawMass); + UpdatePhysicalMassProperties(RawMass, true); // Make sure this change appears as a property update event BulletSimAPI.PushUpdate2(PhysBody.ptr); } @@ -260,7 +260,6 @@ public sealed class BSCharacter : BSPhysObject public override void ZeroMotion(bool inTaintTime) { _velocity = OMV.Vector3.Zero; - _velocityMotor.Zero(); _acceleration = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; @@ -390,7 +389,7 @@ public sealed class BSCharacter : BSPhysObject public override float RawMass { get {return _mass; } } - public override void UpdatePhysicalMassProperties(float physMass) + public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) { OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, localInertia); @@ -787,6 +786,7 @@ public sealed class BSCharacter : BSPhysObject // the motor can be turned off. Set the velocity to zero so the zero motion is sent to the viewer. if (_velocityMotor.TargetValue.ApproxEquals(OMV.Vector3.Zero, 0.01f) && _velocityMotor.ErrorIsZero) { + ZeroMotion(true); stepVelocity = OMV.Vector3.Zero; _velocityMotor.Enabled = false; DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor); diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs index 426bdc2..f1bed39 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint.cs @@ -36,7 +36,7 @@ public abstract class BSConstraint : IDisposable { private static string LogHeader = "[BULLETSIM CONSTRAINT]"; - protected BulletSim m_world; + protected BulletWorld m_world; protected BulletBody m_body1; protected BulletBody m_body2; protected BulletConstraint m_constraint; diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs index 0181d9d..d1e3f55 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraint6Dof.cs @@ -39,7 +39,7 @@ public sealed class BSConstraint6Dof : BSConstraint public override ConstraintType Type { get { return ConstraintType.D6_CONSTRAINT_TYPE; } } // Create a btGeneric6DofConstraint - public BSConstraint6Dof(BulletSim world, BulletBody obj1, BulletBody obj2, + public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 frame1, Quaternion frame1rot, Vector3 frame2, Quaternion frame2rot, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) @@ -58,7 +58,7 @@ public sealed class BSConstraint6Dof : BSConstraint obj1.ID, obj1.ptr.ToString(), obj2.ID, obj2.ptr.ToString()); } - public BSConstraint6Dof(BulletSim world, BulletBody obj1, BulletBody obj2, + public BSConstraint6Dof(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 joinPoint, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) { diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs index 5c00b1a..87d1e44 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintCollection.cs @@ -41,9 +41,9 @@ public sealed class BSConstraintCollection : IDisposable delegate bool ConstraintAction(BSConstraint constrain); private List m_constraints; - private BulletSim m_world; + private BulletWorld m_world; - public BSConstraintCollection(BulletSim world) + public BSConstraintCollection(BulletWorld world) { m_world = world; m_constraints = new List(); diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs index 7951f06..fbd1bc0 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BSConstraintHinge.cs @@ -36,7 +36,7 @@ public sealed class BSConstraintHinge : BSConstraint { public override ConstraintType Type { get { return ConstraintType.HINGE_CONSTRAINT_TYPE; } } - public BSConstraintHinge(BulletSim world, BulletBody obj1, BulletBody obj2, + public BSConstraintHinge(BulletWorld world, BulletBody obj1, BulletBody obj2, Vector3 pivotInA, Vector3 pivotInB, Vector3 axisInA, Vector3 axisInB, bool useLinearReferenceFrameA, bool disableCollisionsBetweenLinkedBodies) diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs index 72afacc..415ad4f 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BSDynamics.cs @@ -573,6 +573,9 @@ namespace OpenSim.Region.Physics.BulletSNPlugin BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); + Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy); + BulletSimAPI.SetGravity2(Prim.PhysBody.ptr, grav); + VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}", Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping); } diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs index 253128b..845a113 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BSLinkset.cs @@ -97,14 +97,7 @@ public abstract class BSLinkset } // We keep the prim's mass in the linkset structure since it could be dependent on other prims - protected float m_mass; - public float LinksetMass - { - get - { - return m_mass; - } - } + public float LinksetMass { get; protected set; } public virtual bool LinksetIsColliding { get { return false; } } @@ -128,7 +121,7 @@ public abstract class BSLinkset PhysicsScene = scene; LinksetRoot = parent; m_children = new HashSet(); - m_mass = parent.RawMass; + LinksetMass = parent.RawMass; Rebuilding = false; } @@ -143,7 +136,7 @@ public abstract class BSLinkset // Don't add the root to its own linkset if (!IsRoot(child)) AddChildToLinkset(child); - m_mass = ComputeLinksetMass(); + LinksetMass = ComputeLinksetMass(); } return this; } @@ -162,7 +155,7 @@ public abstract class BSLinkset return this; } RemoveChildFromLinkset(child); - m_mass = ComputeLinksetMass(); + LinksetMass = ComputeLinksetMass(); } // The child is down to a linkset of just itself @@ -230,7 +223,10 @@ public abstract class BSLinkset // When physical properties are changed the linkset needs to recalculate // its internal properties. // May be called at runtime or taint-time. - public abstract void Refresh(BSPhysObject requestor); + public virtual void Refresh(BSPhysObject requestor) + { + LinksetMass = ComputeLinksetMass(); + } // Flag denoting the linkset is in the process of being rebuilt. // Used to know not the schedule a rebuild in the middle of a rebuild. diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs index 23a0b8b..9a977e6 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetCompound.cs @@ -89,6 +89,8 @@ public sealed class BSLinksetCompound : BSLinkset // its internal properties. public override void Refresh(BSPhysObject requestor) { + base.Refresh(requestor); + // Something changed so do the rebuilding thing // ScheduleRebuild(); } @@ -96,13 +98,13 @@ public sealed class BSLinksetCompound : BSLinkset // Schedule a refresh to happen after all the other taint processing. private void ScheduleRebuild(BSPhysObject requestor) { - DetailLog("{0},BSLinksetCompound.Refresh,schedulingRefresh,rebuilding={1}", + DetailLog("{0},BSLinksetCompound.ScheduleRebuild,,rebuilding={1}", requestor.LocalID, Rebuilding); // When rebuilding, it is possible to set properties that would normally require a rebuild. // If already rebuilding, don't request another rebuild. if (!Rebuilding) { - PhysicsScene.PostTaintObject("BSLinksetCompound.Refresh", LinksetRoot.LocalID, delegate() + PhysicsScene.PostTaintObject("BSLinksetCompound.ScheduleRebuild", LinksetRoot.LocalID, delegate() { if (HasAnyChildren) RecomputeLinksetCompound(); @@ -123,7 +125,6 @@ public sealed class BSLinksetCompound : BSLinkset if (IsRoot(child)) { // The root is going dynamic. Make sure mass is properly set. - m_mass = ComputeLinksetMass(); ScheduleRebuild(LinksetRoot); } else @@ -377,8 +378,8 @@ public sealed class BSLinksetCompound : BSLinkset }); // With all of the linkset packed into the root prim, it has the mass of everyone. - float linksetMass = LinksetMass; - LinksetRoot.UpdatePhysicalMassProperties(linksetMass); + LinksetMass = LinksetMass; + LinksetRoot.UpdatePhysicalMassProperties(LinksetMass, true); } finally { diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs index 5757e64..46ff99f 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BSLinksetConstraints.cs @@ -46,6 +46,8 @@ public sealed class BSLinksetConstraints : BSLinkset // refresh will happen once after all the other taints are applied. public override void Refresh(BSPhysObject requestor) { + base.Refresh(requestor); + // Queue to happen after all the other taint processing PhysicsScene.PostTaintObject("BSLinksetContraints.Refresh", requestor.LocalID, delegate() { @@ -279,7 +281,7 @@ public sealed class BSLinksetConstraints : BSLinkset private void RecomputeLinksetConstraints() { float linksetMass = LinksetMass; - LinksetRoot.UpdatePhysicalMassProperties(linksetMass); + LinksetRoot.UpdatePhysicalMassProperties(linksetMass, true); // DEBUG: see of inter-linkset collisions are causing problems // BulletSimAPI.SetCollisionFilterMask2(LinksetRoot.BSBody.ptr, @@ -292,7 +294,7 @@ public sealed class BSLinksetConstraints : BSLinkset // A child in the linkset physically shows the mass of the whole linkset. // This allows Bullet to apply enough force on the child to move the whole linkset. // (Also do the mass stuff before recomputing the constraint so mass is not zero.) - child.UpdatePhysicalMassProperties(linksetMass); + child.UpdatePhysicalMassProperties(linksetMass, true); BSConstraint constrain; if (!PhysicsScene.Constraints.TryGetConstraint(LinksetRoot.PhysBody, child.PhysBody, out constrain)) diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs index 732191f..d7941b6 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BSMaterials.cs @@ -119,26 +119,26 @@ public static class BSMaterials Attributes[(int)MaterialAttributes.Material.Light] = new MaterialAttributes("light",dDensity, dFriction, dRestitution); Attributes[(int)MaterialAttributes.Material.Avatar] = - new MaterialAttributes("avatar",60f, 0.2f, 0f); + new MaterialAttributes("avatar",3.5f, 0.2f, 0f); Attributes[(int)MaterialAttributes.Material.Stone + (int)MaterialAttributes.Material.NumberOfTypes] = new MaterialAttributes("stonePhysical",dDensity, 0.8f, 0.4f); Attributes[(int)MaterialAttributes.Material.Metal + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("metalPhysical",dDensity, 0.8f, 0.4f); + new MaterialAttributes("metalPhysical",dDensity, 0.3f, 0.4f); Attributes[(int)MaterialAttributes.Material.Glass + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("glassPhysical",dDensity, 0.8f, 0.7f); + new MaterialAttributes("glassPhysical",dDensity, 0.2f, 0.7f); Attributes[(int)MaterialAttributes.Material.Wood + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("woodPhysical",dDensity, 0.8f, 0.5f); + new MaterialAttributes("woodPhysical",dDensity, 0.6f, 0.5f); Attributes[(int)MaterialAttributes.Material.Flesh + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("fleshPhysical",dDensity, 0.8f, 0.3f); + new MaterialAttributes("fleshPhysical",dDensity, 0.9f, 0.3f); Attributes[(int)MaterialAttributes.Material.Plastic + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("plasticPhysical",dDensity, 0.8f, 0.7f); + new MaterialAttributes("plasticPhysical",dDensity, 0.4f, 0.7f); Attributes[(int)MaterialAttributes.Material.Rubber + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("rubberPhysical",dDensity, 0.8f, 0.9f); + new MaterialAttributes("rubberPhysical",dDensity, 0.9f, 0.9f); Attributes[(int)MaterialAttributes.Material.Light + (int)MaterialAttributes.Material.NumberOfTypes] = new MaterialAttributes("lightPhysical",dDensity, dFriction, dRestitution); Attributes[(int)MaterialAttributes.Material.Avatar + (int)MaterialAttributes.Material.NumberOfTypes] = - new MaterialAttributes("avatarPhysical",60f, 0.2f, 0f); + new MaterialAttributes("avatarPhysical",3.5f, 0.2f, 0f); } // Under the [BulletSim] section, one can change the individual material diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs index 20c0939..5e93a03 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BSParam.cs @@ -351,7 +351,7 @@ public static class BSParam (s) => { return AvatarStandingFriction; }, (s,p,l,v) => { AvatarStandingFriction = v; } ), new ParameterDefn("AvatarDensity", "Density of an avatar. Changed on avatar recreation.", - 60f, + 3.5f, (s,cf,p,v) => { AvatarDensity = cf.GetFloat(p, v); }, (s) => { return AvatarDensity; }, (s,p,l,v) => { s.UpdateParameterObject((x)=>{AvatarDensity=x;}, p, l, v); } ), diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs index 4096ef8..689da7f 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BSPhysObject.cs @@ -96,7 +96,8 @@ public abstract class BSPhysObject : PhysicsActor // Return the object mass without calculating it or having side effects public abstract float RawMass { get; } // Set the raw mass but also update physical mass properties (inertia, ...) - public abstract void UpdatePhysicalMassProperties(float mass); + // 'inWorld' true if the object has already been added to the dynamic world. + public abstract void UpdatePhysicalMassProperties(float mass, bool inWorld); // The last value calculated for the prim's inertia public OMV.Vector3 Inertia { get; set; } diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs index a889c24..9c4ba30 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BSPrim.cs @@ -115,6 +115,8 @@ public sealed class BSPrim : BSPhysObject PhysBody = new BulletBody(LocalID); PhysShape = new BulletShape(); + Linkset.Refresh(this); + DetailLog("{0},BSPrim.constructor,call", LocalID); // do the actual object creation at taint time PhysicsScene.TaintedObject("BSPrim.create", delegate() @@ -384,13 +386,13 @@ public sealed class BSPrim : BSPhysObject } // Return the effective mass of the object. - // If there are multiple items in the linkset, add them together for the root + // The definition of this call is to return the mass of the prim. + // If the simulator cares about the mass of the linkset, it will sum it itself. public override float Mass { get { - return Linkset.LinksetMass; - // return _mass; + return _mass; } } @@ -400,22 +402,45 @@ public sealed class BSPrim : BSPhysObject } // Set the physical mass to the passed mass. // Note that this does not change _mass! - public override void UpdatePhysicalMassProperties(float physMass) + public override void UpdatePhysicalMassProperties(float physMass, bool inWorld) { - if (IsStatic) + if (PhysBody.HasPhysicalBody) { - Inertia = OMV.Vector3.Zero; - BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia); - BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); - } - else - { - Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); - BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); - BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); - // center of mass is at the zero of the object - // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); - DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2}", LocalID, physMass, Inertia); + if (IsStatic) + { + Inertia = OMV.Vector3.Zero; + BulletSimAPI.SetMassProps2(PhysBody.ptr, 0f, Inertia); + BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); + } + else + { + if (inWorld) + { + // Changing interesting properties doesn't change proxy and collision cache + // information. The Bullet solution is to re-add the object to the world + // after parameters are changed. + BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, PhysBody.ptr); + } + + Inertia = BulletSimAPI.CalculateLocalInertia2(PhysShape.ptr, physMass); + BulletSimAPI.SetMassProps2(PhysBody.ptr, physMass, Inertia); + BulletSimAPI.UpdateInertiaTensor2(PhysBody.ptr); + + // center of mass is at the zero of the object + // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(PhysBody.ptr, ForcePosition, ForceOrientation); + DetailLog("{0},BSPrim.UpdateMassProperties,mass={1},localInertia={2},inWorld={3}", LocalID, physMass, Inertia, inWorld); + + if (inWorld) + { + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, PhysBody.ptr,_position,_orientation); + } + + // Must set gravity after it has been added to the world because, for unknown reasons, + // adding the object resets the object's gravity to world gravity + OMV.Vector3 grav = PhysicsScene.DefaultGravity * (1f - Buoyancy); + BulletSimAPI.SetGravity2(PhysBody.ptr, grav); + + } } } @@ -714,7 +739,7 @@ public sealed class BSPrim : BSPhysObject Linkset.Refresh(this); DetailLog("{0},BSPrim.UpdatePhysicalParameters,taintExit,static={1},solid={2},mass={3},collide={4},cf={5:X},body={6},shape={7}", - LocalID, IsStatic, IsSolid, _mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape); + LocalID, IsStatic, IsSolid, Mass, SubscribedEvents(), CurrentCollisionFlags, PhysBody, PhysShape); } // "Making dynamic" means changing to and from static. @@ -737,7 +762,7 @@ public sealed class BSPrim : BSPhysObject BulletSimAPI.SetRestitution2(PhysBody.ptr, matAttrib.restitution); // Mass is zero which disables a bunch of physics stuff in Bullet - UpdatePhysicalMassProperties(0f); + UpdatePhysicalMassProperties(0f, false); // Set collision detection parameters if (BSParam.CcdMotionThreshold > 0f) { @@ -777,7 +802,7 @@ public sealed class BSPrim : BSPhysObject // DEBUG DEBUG BulletSimAPI.SetCenterOfMassByPosRot2(Linkset.LinksetRoot.PhysBody.ptr, _position, _orientation); // A dynamic object has mass - UpdatePhysicalMassProperties(RawMass); + UpdatePhysicalMassProperties(RawMass, false); // Set collision detection parameters if (BSParam.CcdMotionThreshold > 0f) @@ -950,13 +975,9 @@ public sealed class BSPrim : BSPhysObject set { _buoyancy = value; // DetailLog("{0},BSPrim.setForceBuoyancy,taint,buoy={1}", LocalID, _buoyancy); - // Buoyancy is faked by changing the gravity applied to the object - if (PhysBody.HasPhysicalBody) - { - float grav = PhysicsScene.Params.gravity * (1f - _buoyancy); - BulletSimAPI.SetGravity2(PhysBody.ptr, new OMV.Vector3(0f, 0f, grav)); - ActivateIfPhysical(false); - } + // Force the recalculation of the various inertia,etc variables in the object + UpdatePhysicalMassProperties(_mass, true); + ActivateIfPhysical(false); } } @@ -993,7 +1014,9 @@ public sealed class BSPrim : BSPhysObject public override float APIDDamping { set { return; } } public override void AddForce(OMV.Vector3 force, bool pushforce) { - AddForce(force, pushforce, false); + // Since this force is being applied in only one step, make this a force per second. + OMV.Vector3 addForce = force / PhysicsScene.LastTimeStep; + AddForce(addForce, pushforce, false); } // Applying a force just adds this to the total force on the object. // This added force will only last the next simulation tick. @@ -1001,8 +1024,16 @@ public sealed class BSPrim : BSPhysObject // for an object, doesn't matter if force is a pushforce or not if (force.IsFinite()) { + float magnitude = force.Length(); + if (magnitude > 20000f) + { + // Force has a limit + force = force / magnitude * 20000f; + } + OMV.Vector3 addForce = force; DetailLog("{0},BSPrim.addForce,call,force={1}", LocalID, addForce); + PhysicsScene.TaintedObject(inTaintTime, "BSPrim.AddForce", delegate() { // Bullet adds this central force to the total force for this tick diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs index 6bcea3f..1a7c34b 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BSScene.cs @@ -74,7 +74,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters public IMesher mesher; public uint WorldID { get; private set; } - public BulletSim World { get; private set; } + public BulletWorld World { get; private set; } // All the constraints that have been allocated in this instance. public BSConstraintCollection Constraints { get; private set; } @@ -244,7 +244,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters // m_log.DebugFormat("{0}: Initialize: Calling BulletSimAPI.Initialize.", LogHeader); - World = new BulletSim(0, this, BulletSimAPI.Initialize2(worldExtent, UnmanagedParams, + World = new BulletWorld(0, this, BulletSimAPI.Initialize2(worldExtent, UnmanagedParams, m_maxCollisionsPerFrame, ref m_collisionArray, m_maxUpdatesPerFrame,ref m_updateArray, m_DebugLogCallbackHandle)); @@ -497,13 +497,16 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters InTaintTime = false; // Only used for debugging so locking is not necessary. + // The following causes the unmanaged code to output ALL the values found in ALL the objects in the world. + // Only enable this in a limited test world with few objects. + // BulletSimAPI.DumpAllInfo2(World.ptr); // DEBUG DEBUG DEBUG + // step the physical world one interval m_simulationStep++; int numSubSteps = 0; try { - //if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, @@ -833,7 +836,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters { DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom); m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom); - Util.PrintCallStack(); // Prints the stack into the DEBUG log file. + Util.PrintCallStack(DetailLog); } return InTaintTime; } diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs index 398ece0..47fb768 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BSShapeCollection.cs @@ -98,7 +98,7 @@ public sealed class BSShapeCollection : IDisposable // higher level dependencies on the shape or body. Mostly used for LinkSets to // remove the physical constraints before the body is destroyed. // Called at taint-time!! - public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim, + public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim, ShapeDestructionCallback shapeCallback, BodyDestructionCallback bodyCallback) { PhysicsScene.AssertInTaintTime("BSShapeCollection.GetBodyAndShape"); @@ -126,7 +126,7 @@ public sealed class BSShapeCollection : IDisposable return ret; } - public bool GetBodyAndShape(bool forceRebuild, BulletSim sim, BSPhysObject prim) + public bool GetBodyAndShape(bool forceRebuild, BulletWorld sim, BSPhysObject prim) { return GetBodyAndShape(forceRebuild, sim, prim, null, null); } @@ -918,7 +918,7 @@ public sealed class BSShapeCollection : IDisposable // Updates prim.BSBody with the information about the new body if one is created. // Returns 'true' if an object was actually created. // Called at taint-time. - private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletSim sim, BulletShape shape, + private bool CreateBody(bool forceRebuild, BSPhysObject prim, BulletWorld sim, BulletShape shape, BodyDestructionCallback bodyCallback) { bool ret = false; diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs index 252953b..ba17059 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainHeightmap.cs @@ -103,7 +103,7 @@ public sealed class BSTerrainHeightmap : BSTerrainPhys Vector3 centerPos; centerPos.X = m_mapInfo.minCoords.X + (m_mapInfo.sizeX / 2f); centerPos.Y = m_mapInfo.minCoords.Y + (m_mapInfo.sizeY / 2f); - centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f + 0.5f); + centerPos.Z = m_mapInfo.minZ + ((m_mapInfo.maxZ - m_mapInfo.minZ) / 2f - 0.5f); m_mapInfo.terrainBody = new BulletBody(m_mapInfo.ID, BulletSimAPI.CreateBodyWithDefaultMotionState2(m_mapInfo.terrainShape.ptr, diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs index dfad70e..66d62f0 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BSTerrainManager.cs @@ -140,7 +140,7 @@ public sealed class BSTerrainManager : IDisposable m_groundPlane = new BulletBody(BSScene.GROUNDPLANE_ID, BulletSimAPI.CreateBodyWithDefaultMotionState2(groundPlaneShape.ptr, BSScene.GROUNDPLANE_ID, Vector3.Zero, Quaternion.Identity)); - BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr); + BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, m_groundPlane.ptr, Vector3.Zero, Quaternion.Identity); BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, m_groundPlane.ptr); // Ground plane does not move BulletSimAPI.ForceActivationState2(m_groundPlane.ptr, ActivationState.DISABLE_SIMULATION); @@ -376,6 +376,7 @@ public sealed class BSTerrainManager : IDisposable DetailLog("{0},BSTerrainManager.GetTerrainHeightAtXYZ,terrainNotFound,pos={1},base={2}", BSScene.DetailLogZero, pos, terrainBaseXYZ); } + lastHeight = ret; return ret; } diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs index 6af59d6..93643c9 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimAPI.cs @@ -58,7 +58,6 @@ public enum ConstraintType : int MAX_CONSTRAINT_TYPE } - // =============================================================================== [StructLayout(LayoutKind.Sequential)] public struct ConvexHull diff --git a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs index a1ed8d8..f509dc4 100644 --- a/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs +++ b/OpenSim/Region/Physics/BulletSNPlugin/BulletSimData.cs @@ -35,9 +35,9 @@ namespace OpenSim.Region.Physics.BulletSNPlugin // These hold pointers to allocated objects in the unmanaged space. // The physics engine controller class created at initialization -public struct BulletSim +public struct BulletWorld { - public BulletSim(uint worldId, BSScene bss, object xx) + public BulletWorld(uint worldId, BSScene bss, object xx) { ptr = xx; worldID = worldId; -- cgit v1.1