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. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 33 +++++++++++----------- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 ++- OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 30 +++++++++++--------- .../Physics/BulletSPlugin/BSShapeCollection.cs | 8 +++--- .../Physics/BulletSPlugin/BSTerrainManager.cs | 1 + .../Region/Physics/BulletSPlugin/BulletSimAPI.cs | 2 +- 6 files changed, 43 insertions(+), 35 deletions(-) (limited to 'OpenSim') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index e7bff6e..fc4526b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -141,10 +141,6 @@ public class BSCharacter : BSPhysObject BulletSimAPI.RemoveObjectFromWorld2(PhysicsScene.World.ptr, BSBody.ptr); ZeroMotion(); - - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); - BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); - ForcePosition = _position; // Set the velocity and compute the proper friction ForceVelocity = _velocity; @@ -157,6 +153,9 @@ public class BSCharacter : BSPhysObject BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); } + OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); + BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); + BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr); @@ -583,14 +582,16 @@ public 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 = OMV.Vector3.Zero; - // Scale wants the diameter so mult radius by two - newScale.X = PhysicsScene.Params.avatarCapsuleRadius * 2f; - newScale.Y = PhysicsScene.Params.avatarCapsuleRadius * 2f; + newScale.X = PhysicsScene.Params.avatarCapsuleRadius; + newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; - // From the total height, add the capsule half spheres that are at each end - // newScale.Z = (size.Z) - Math.Min(newScale.X, newScale.Y); - newScale.Z = (size.Z * 2f); + // 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); Scale = newScale; } @@ -599,14 +600,14 @@ public class BSCharacter : BSPhysObject { _avatarVolume = (float)( Math.PI - * (Scale.X / 2f) - * (Scale.Y / 2f) // the area of capsule cylinder - * Scale.Z // times height of capsule cylinder + * Scale.X + * Scale.Y // the area of capsule cylinder + * Scale.Z // times height of capsule cylinder + 1.33333333f * Math.PI - * (Scale.X / 2f) - * (Math.Min(Scale.X, Scale.Y) / 2f) - * (Scale.Y / 2f) // plus the volume of the capsule end caps + * Scale.X + * Math.Min(Scale.X, Scale.Y) + * Scale.Y // plus the volume of the capsule end caps ); _mass = _avatarDensity * _avatarVolume; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index b8ef338..202052d 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -156,9 +156,11 @@ public abstract class BSPhysObject : PhysicsActor public virtual bool SendCollisions() { bool ret = true; + // If the 'no collision' call, force it to happen right now so quick collision_end + bool force = CollisionCollection.Count == 0; // throttle the collisions to the number of milliseconds specified in the subscription - if (PhysicsScene.SimulationNowTime >= NextCollisionOkTime) + if (force || (PhysicsScene.SimulationNowTime >= NextCollisionOkTime)) { NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index ab2835c..6621d39 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -532,26 +532,26 @@ public class BSScene : PhysicsScene, IPhysicsParameters } } - // This is a kludge to get avatar movement updates. - // The simulator expects collisions for avatars even if there are have been no collisions. This updates - // avatar animations and stuff. - // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. - foreach (BSPhysObject bsp in m_avatars) - bsp.SendCollisions(); - // The above SendCollision's batch up the collisions on the objects. // Now push the collisions into the simulator. if (ObjectsWithCollisions.Count > 0) { foreach (BSPhysObject bsp in ObjectsWithCollisions) - if (!m_avatars.Contains(bsp)) // don't call avatars twice - if (!bsp.SendCollisions()) - { - // If the object is done colliding, see that it's removed from the colliding list - ObjectsWithNoMoreCollisions.Add(bsp); - } + if (!bsp.SendCollisions()) + { + // If the object is done colliding, see that it's removed from the colliding list + ObjectsWithNoMoreCollisions.Add(bsp); + } } + // This is a kludge to get avatar movement updates. + // The simulator expects collisions for avatars even if there are have been no collisions. + // The event updates avatar animations and stuff. + // If you fix avatar animation updates, remove this overhead and let normal collision processing happen. + foreach (BSPhysObject bsp in m_avatars) + if (!ObjectsWithCollisions.Contains(bsp)) // don't call avatars twice + bsp.SendCollisions(); + // Objects that are done colliding are removed from the ObjectsWithCollisions list. // Not done above because it is inside an iteration of ObjectWithCollisions. if (ObjectsWithNoMoreCollisions.Count > 0) @@ -575,6 +575,10 @@ public class BSScene : PhysicsScene, IPhysicsParameters } } + // This 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 + // The physics engine returns the number of milliseconds it simulated this call. // These are summed and normalized to one second and divided by 1000 to give the reported physics FPS. // We multiply by 55 to give a recognizable running rate (55 or less). diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index 3d15eaa..861ffe7 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -417,10 +417,9 @@ public class BSShapeCollection : IDisposable if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { - // The radius is scaled by 1/2 because we scale by the diameter. newShape = new BulletShape( - BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 0.5f, 1.0f, shapeData.Scale), - shapeType); + BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, 1.0f, 1.0f, shapeData.Scale), + shapeType); newShape.shapeKey = (System.UInt64)shapeKey; newShape.isNativeShape = true; } @@ -432,7 +431,8 @@ public class BSShapeCollection : IDisposable } // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. - // DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape); + DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1},scale={2}", + shapeData.ID, newShape, shapeData.Scale); prim.BSShape = newShape; return true; 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. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 24d8db6..5ffd591 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -390,7 +390,7 @@ public enum CollisionFilterGroups : uint VolumeDetectMask = ~BSensorTrigger, TerrainFilter = BTerrainFilter, TerrainMask = BAllFilter & ~BStaticFilter, - GroundPlaneFilter = BAllFilter, + GroundPlaneFilter = BGroundPlaneFilter, GroundPlaneMask = BAllFilter }; -- cgit v1.1