From b6fc5bad000e7e7af992e7f29eeb2de9f716fcc4 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Tue, 23 Oct 2012 17:30:43 -0700 Subject: BulletSim: fix problem with avatars sinking into the ground. Change terrain activation state to DISABLE_SIMULATION for better performance. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 27 ++++++++++++++-------- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 3 +-- .../Physics/BulletSPlugin/BSShapeCollection.cs | 4 ++-- .../Physics/BulletSPlugin/BSTerrainManager.cs | 4 ++-- 4 files changed, 23 insertions(+), 15 deletions(-) (limited to 'OpenSim') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 07dd613..a041ba8 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -105,7 +105,7 @@ public class BSCharacter : BSPhysObject shapeData.Position = _position; shapeData.Rotation = _orientation; shapeData.Velocity = _velocity; - shapeData.Size = Scale; + shapeData.Size = Scale; // capsule is a native shape but scale is not just <1,1,1> shapeData.Scale = Scale; shapeData.Mass = _mass; shapeData.Buoyancy = _buoyancy; @@ -144,7 +144,9 @@ public class BSCharacter : BSPhysObject ForcePosition = _position; // Set the velocity and compute the proper friction ForceVelocity = _velocity; + BulletSimAPI.SetRestitution2(BSBody.ptr, PhysicsScene.Params.avatarRestitution); + BulletSimAPI.SetMargin2(BSShape.ptr, PhysicsScene.Params.collisionMargin); BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale); BulletSimAPI.SetContactProcessingThreshold2(BSBody.ptr, PhysicsScene.Params.contactProcessingThreshold); if (PhysicsScene.Params.ccdMotionThreshold > 0f) @@ -156,11 +158,15 @@ public class BSCharacter : BSPhysObject OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); + // Make so capsule does not fall over + BulletSimAPI.SetAngularFactorV2(BSBody.ptr, OMV.Vector3.Zero); + BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr); - BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); + // BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); + BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_DEACTIVATION); BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr); // Do this after the object has been added to the world @@ -175,11 +181,13 @@ public class BSCharacter : BSPhysObject } // No one calls this method so I don't know what it could possibly mean public override bool Stopped { get { return false; } } + public override OMV.Vector3 Size { get { // Avatar capsule size is kept in the scale parameter. - return _size; + // return _size; + return new OMV.Vector3(Scale.X * 2f, Scale.Y * 2f, Scale.Z); } set { @@ -199,7 +207,9 @@ public class BSCharacter : BSPhysObject } } + public override OMV.Vector3 Scale { get; set; } + public override PrimitiveBaseShape Shape { set { BaseShape = value; } @@ -264,7 +274,7 @@ public class BSCharacter : BSPhysObject // Check that the current position is sane and, if not, modify the position to make it so. - // Check for being below terrain and being out of bounds. + // Check for being below terrain or on water. // Returns 'true' of the position was made sane by some action. private bool PositionSanityCheck() { @@ -335,7 +345,7 @@ public class BSCharacter : BSPhysObject } // Avatars don't do vehicles - public override int VehicleType { get { return 0; } set { return; } } + public override int VehicleType { get { return (int)Vehicle.TYPE_NONE; } set { return; } } public override void VehicleFloatParam(int param, float value) { } public override void VehicleVectorParam(int param, OMV.Vector3 value) {} public override void VehicleRotationParam(int param, OMV.Quaternion rotation) { } @@ -588,9 +598,8 @@ public class BSCharacter : BSPhysObject newScale.X = PhysicsScene.Params.avatarCapsuleRadius; newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; - // From the total height, remote the capsule half spheres that are at each end - newScale.Z = (size.Z * 2f) - Math.Min(newScale.X, newScale.Y); - // newScale.Z = (size.Z * 2f); + // From the total height, remove the capsule half spheres that are at each end + newScale.Z = size.Z- (newScale.X + newScale.Y); Scale = newScale; } @@ -636,7 +645,7 @@ public class BSCharacter : BSPhysObject BulletSimAPI.SetLinearVelocity2(BSBody.ptr, avVel); } - // Tell the linkset about this + // Tell the linkset about value changes Linkset.UpdateProperties(this); // Avatars don't report their changes the usual way. Changes are checked for in the heartbeat loop. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index e686f2f..db0c99e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -692,7 +692,6 @@ public class BSScene : PhysicsScene, IPhysicsParameters { if (_taintedObjects.Count > 0) // save allocating new list if there is nothing to process { - // swizzle a new list into the list location so we can process what's there int taintCount = m_taintsToProcessPerStep; TaintCallbackEntry oneCallback = new TaintCallbackEntry(); while (_taintedObjects.Count > 0 && taintCount-- > 0) @@ -711,7 +710,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters { try { - DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident); // DEBUG DEBUG DEBUG + DetailLog("{0},BSScene.ProcessTaints,doTaint,id={1}", DetailLogZero, oneCallback.ident); oneCallback.callback(); } catch (Exception e) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index d9427e1..30fa50a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -443,7 +443,8 @@ public class BSShapeCollection : IDisposable if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { newShape = new BulletShape( - BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, nativeShapeData.Scale), shapeType); + BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1f, 1f, nativeShapeData.Scale) + , shapeType); DetailLog("{0},BSShapeCollection.BuiletPhysicalNativeShape,capsule,scale={1}", nativeShapeData.ID, nativeShapeData.Scale); } else @@ -790,7 +791,6 @@ public class BSShapeCollection : IDisposable // If the collisionObject is not the correct type for solidness, rebuild what's there mustRebuild = true; } - } if (mustRebuild || forceRebuild) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs index ae267e3..880859a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSTerrainManager.cs @@ -333,8 +333,8 @@ public class BSTerrainManager // Make sure the new shape is processed. // BulletSimAPI.Activate2(mapInfo.terrainBody.ptr, true); - BulletSimAPI.ForceActivationState2(mapInfo.terrainBody.ptr, ActivationState.ISLAND_SLEEPING); - // 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