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BulletSim: fix density since the simulator/viewer track density in a

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funny unit that is 100 times real density (default 1000).
Fix avatar drifting slowly when stationary flying.
Fix for physical prims getting corrected for being under terrain when it was
just its geometric center that was below terrain.
Add PreUpdatePropertyAction allowing plugable modifiction of phys
parameters returned from Bullet.
Fix an exception setting GravityMultiplier on initialization.
Update DLLs and SOs for good measure (no functional change).
This commit is contained in:
Robert Adams
2013-02-12 15:45:44 -08:00
parent fb903ff490
commit 0194a3d890
11 changed files with 150 additions and 25 deletions
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55
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@@ -242,6 +242,45 @@ public class BSPrim : BSPhysObject
public override void LockAngularMotion(OMV.Vector3 axis)
{
DetailLog("{0},BSPrim.LockAngularMotion,call,axis={1}", LocalID, axis);
OMV.Vector3 locking = new OMV.Vector3(1f, 1f, 1f);
if (axis.X != 1) locking.X = 0f;
if (axis.Y != 1) locking.Y = 0f;
if (axis.Z != 1) locking.Z = 0f;
LockedAxis = locking;
/* Not implemented yet
if (LockedAxis != LockedAxisFree)
{
// Something is locked so start the thingy that keeps that axis from changing
RegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion", delegate(ref EntityProperties entprop)
{
if (LockedAxis != LockedAxisFree)
{
if (IsPhysicallyActive)
{
// Bullet can lock axis but it only works for global axis.
// Check if this prim is aligned on global axis and use Bullet's
// system if so.
ForceOrientation = entprop.Rotation;
ForceRotationalVelocity = entprop.RotationalVelocity;
}
}
else
{
UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion");
}
});
}
else
{
// Everything seems unlocked
UnRegisterPreUpdatePropertyAction("BSPrim.LockAngularMotion");
}
*/
return;
}
@@ -311,7 +350,8 @@ public class BSPrim : BSPhysObject
float terrainHeight = PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition);
OMV.Vector3 upForce = OMV.Vector3.Zero;
if (RawPosition.Z < terrainHeight)
float approxSize = Math.Max(Size.X, Math.Max(Size.Y, Size.Z));
if ((RawPosition.Z + approxSize / 2f) < terrainHeight)
{
DetailLog("{0},BSPrim.PositionAdjustUnderGround,call,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight);
float targetHeight = terrainHeight + (Size.Z / 2f);
@@ -576,6 +616,8 @@ public class BSPrim : BSPhysObject
}
}
}
// The simulator/viewer keep density as 100kg/m3.
// Remember to use BSParam.DensityScaleFactor to create the physical density.
public override float Density
{
get { return base.Density; }
@@ -1569,7 +1611,8 @@ public class BSPrim : BSPhysObject
profileEnd = 1.0f - (float)BaseShape.ProfileEnd * 2.0e-5f;
volume *= (profileEnd - profileBegin);
returnMass = Density * volume;
returnMass = Density * BSParam.DensityScaleFactor * volume;
DetailLog("{0},BSPrim.CalculateMass,den={1},vol={2},mass={3}", LocalID, Density, volume, returnMass);
returnMass = Util.Clamp(returnMass, BSParam.MinimumObjectMass, BSParam.MaximumObjectMass);
@@ -1607,6 +1650,8 @@ public class BSPrim : BSPhysObject
// the world that things have changed.
public override void UpdateProperties(EntityProperties entprop)
{
TriggerPreUpdatePropertyAction(ref entprop);
// A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
// TODO: handle physics introduced by Bullet with computed vehicle physics.
if (VehicleController.IsActive)
@@ -1619,7 +1664,11 @@ public class BSPrim : BSPhysObject
// Assign directly to the local variables so the normal set actions do not happen
_position = entprop.Position;
_orientation = entprop.Rotation;
_velocity = entprop.Velocity;
// _velocity = entprop.Velocity;
// DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be
// very sensitive to velocity changes.
if (!entprop.Velocity.ApproxEquals(_velocity, 0.1f))
_velocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;