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add OSSL functions to override linksets total mass, center of mass and inertia. replacing the crude automatic estimation based on prims known to physics and density. Changed parameters are still not saved, and are lost on region crossings. only suported by UbODE. EXPERIMENTAL feature, only test it for now.. don't try to use in products.

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This commit is contained in:
UbitUmarov
2017-03-31 20:55:48 +01:00
parent b033a2559e
commit 6a35a965ff
6 changed files with 530 additions and 45 deletions
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36
OpenSim/Region/PhysicsModules/SharedBase/PhysicsActor.cs
View File

@@ -55,6 +55,28 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
Absolute
}
public class PhysicsInertiaData
{
public float TotalMass; // the total mass of a linkset
public Vector3 CenterOfMass; // the center of mass position relative to root part position
public Vector3 Inertia; // (Ixx, Iyy, Izz) moment of inertia relative to center of mass and principal axis in local coords
public Vector4 InertiaRotation; // if principal axis don't match local axis, the principal axis rotation
// or the upper triangle of the inertia tensor
// Ixy (= Iyx), Ixz (= Izx), Iyz (= Izy))
public PhysicsInertiaData()
{
}
public PhysicsInertiaData(PhysicsInertiaData source)
{
TotalMass = source.TotalMass;
CenterOfMass = source.CenterOfMass;
Inertia = source.Inertia;
InertiaRotation = source.InertiaRotation;
}
}
public struct CameraData
{
public Quaternion CameraRotation;
@@ -463,6 +485,20 @@ namespace OpenSim.Region.PhysicsModules.SharedBase
public virtual void AddCollisionEvent(uint CollidedWith, ContactPoint contact) { }
public virtual PhysicsInertiaData GetInertiaData()
{
PhysicsInertiaData data = new PhysicsInertiaData();
data.TotalMass = this.Mass;
data.CenterOfMass = CenterOfMass - Position;
data.Inertia = Vector3.Zero;
data.InertiaRotation = Vector4.Zero;
return data;
}
public virtual void SetInertiaData(PhysicsInertiaData inertia)
{
}
// Warning in a parent part it returns itself, not null
public virtual PhysicsActor ParentActor { get { return this; } }

251
OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
View File

@@ -182,14 +182,16 @@ namespace OpenSim.Region.PhysicsModule.ubOde
private float m_streamCost;
public d.Mass primdMass; // prim inertia information on it's own referencial
private PhysicsInertiaData m_InertiaOverride;
float primMass; // prim own mass
float primVolume; // prim own volume;
float _mass; // object mass acording to case
float m_mass; // object mass acording to case
public int givefakepos;
private Vector3 fakepos;
public int givefakeori;
private Quaternion fakeori;
private PhysicsInertiaData m_fakeInertiaOverride;
private int m_eventsubscription;
private int m_cureventsubscription;
@@ -465,10 +467,110 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
}
public override PhysicsInertiaData GetInertiaData()
{
PhysicsInertiaData inertia;
if(childPrim)
{
if(_parent != null)
return _parent.GetInertiaData();
else
{
inertia = new PhysicsInertiaData();
inertia.TotalMass = -1;
return inertia;
}
}
inertia = new PhysicsInertiaData();
// double buffering
if(m_fakeInertiaOverride != null)
{
d.Mass objdmass = new d.Mass();
objdmass.I.M00 = m_fakeInertiaOverride.Inertia.X;
objdmass.I.M11 = m_fakeInertiaOverride.Inertia.Y;
objdmass.I.M22 = m_fakeInertiaOverride.Inertia.Z;
objdmass.mass = m_fakeInertiaOverride.TotalMass;
if(Math.Abs(m_fakeInertiaOverride.InertiaRotation.W) < 0.999)
{
d.Matrix3 inertiarotmat = new d.Matrix3();
d.Quaternion inertiarot = new d.Quaternion();
inertiarot.X = m_fakeInertiaOverride.InertiaRotation.X;
inertiarot.Y = m_fakeInertiaOverride.InertiaRotation.Y;
inertiarot.Z = m_fakeInertiaOverride.InertiaRotation.Z;
inertiarot.W = m_fakeInertiaOverride.InertiaRotation.W;
d.RfromQ(out inertiarotmat, ref inertiarot);
d.MassRotate(ref objdmass, ref inertiarotmat);
}
inertia.TotalMass = m_fakeInertiaOverride.TotalMass;
inertia.CenterOfMass = m_fakeInertiaOverride.CenterOfMass;
inertia.Inertia.X = objdmass.I.M00;
inertia.Inertia.Y = objdmass.I.M11;
inertia.Inertia.Z = objdmass.I.M22;
inertia.InertiaRotation.X = objdmass.I.M01;
inertia.InertiaRotation.Y = objdmass.I.M02;
inertia.InertiaRotation.Z = objdmass.I.M12;
return inertia;
}
inertia.TotalMass = m_mass;
if(Body == IntPtr.Zero || prim_geom == IntPtr.Zero)
{
inertia.CenterOfMass = Vector3.Zero;
inertia.Inertia = Vector3.Zero;
inertia.InertiaRotation = Vector4.Zero;
return inertia;
}
d.Vector3 dtmp;
d.Mass m = new d.Mass();
lock(_parent_scene.OdeLock)
{
d.AllocateODEDataForThread(0);
dtmp = d.GeomGetOffsetPosition(prim_geom);
d.BodyGetMass(Body, out m);
}
Vector3 cm = new Vector3(-dtmp.X, -dtmp.Y, -dtmp.Z);
inertia.CenterOfMass = cm;
inertia.Inertia = new Vector3(m.I.M00, m.I.M11, m.I.M22);
inertia.InertiaRotation = new Vector4(m.I.M01, m.I.M02 , m.I.M12, 0);
return inertia;
}
public override void SetInertiaData(PhysicsInertiaData inertia)
{
if(childPrim)
{
if(_parent != null)
_parent.SetInertiaData(inertia);
return;
}
if(inertia.TotalMass > 0)
m_fakeInertiaOverride = new PhysicsInertiaData(inertia);
else
m_fakeInertiaOverride = null;
if (inertia.TotalMass > _parent_scene.maximumMassObject)
inertia.TotalMass = _parent_scene.maximumMassObject;
AddChange(changes.SetInertia,(object)m_fakeInertiaOverride);
}
public override Vector3 CenterOfMass
{
get
{
if(!childPrim && m_fakeInertiaOverride != null)
return m_fakeInertiaOverride.CenterOfMass;
lock (_parent_scene.OdeLock)
{
d.AllocateODEDataForThread(0);
@@ -922,8 +1024,8 @@ namespace OpenSim.Region.PhysicsModule.ubOde
{
float old = m_density;
m_density = value / 100f;
if(m_density != old)
UpdatePrimBodyData();
// if(m_density != old)
// UpdatePrimBodyData();
}
}
public override float GravModifier
@@ -1716,26 +1818,29 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_log.Warn("[PHYSICS]: MakeBody root geom already had a body");
}
bool noInertiaOverride = (m_InertiaOverride == null);
Body = d.BodyCreate(_parent_scene.world);
d.Matrix3 mymat = new d.Matrix3();
d.Quaternion myrot = new d.Quaternion();
d.Mass objdmass = new d.Mass { };
Body = d.BodyCreate(_parent_scene.world);
objdmass = primdMass;
// rotate inertia
myrot.X = _orientation.X;
myrot.Y = _orientation.Y;
myrot.Z = _orientation.Z;
myrot.W = _orientation.W;
d.RfromQ(out mymat, ref myrot);
d.MassRotate(ref objdmass, ref mymat);
// set the body rotation
d.BodySetRotation(Body, ref mymat);
if(noInertiaOverride)
{
objdmass = primdMass;
d.MassRotate(ref objdmass, ref mymat);
}
// recompute full object inertia if needed
if (childrenPrim.Count > 0)
{
@@ -1758,27 +1863,12 @@ namespace OpenSim.Region.PhysicsModule.ubOde
continue;
}
tmpdmass = prm.primdMass;
// apply prim current rotation to inertia
quat.X = prm._orientation.X;
quat.Y = prm._orientation.Y;
quat.Z = prm._orientation.Z;
quat.W = prm._orientation.W;
d.RfromQ(out mat, ref quat);
d.MassRotate(ref tmpdmass, ref mat);
Vector3 ppos = prm._position;
ppos.X -= rcm.X;
ppos.Y -= rcm.Y;
ppos.Z -= rcm.Z;
// refer inertia to root prim center of mass position
d.MassTranslate(ref tmpdmass,
ppos.X,
ppos.Y,
ppos.Z);
d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia
// fix prim colision cats
if (d.GeomGetBody(prm.prim_geom) != IntPtr.Zero)
@@ -1791,6 +1881,24 @@ namespace OpenSim.Region.PhysicsModule.ubOde
d.GeomSetBody(prm.prim_geom, Body);
prm.Body = Body;
d.GeomSetOffsetWorldRotation(prm.prim_geom, ref mat); // set relative rotation
if(noInertiaOverride)
{
tmpdmass = prm.primdMass;
d.MassRotate(ref tmpdmass, ref mat);
Vector3 ppos = prm._position;
ppos.X -= rcm.X;
ppos.Y -= rcm.Y;
ppos.Z -= rcm.Z;
// refer inertia to root prim center of mass position
d.MassTranslate(ref tmpdmass,
ppos.X,
ppos.Y,
ppos.Z);
d.MassAdd(ref objdmass, ref tmpdmass); // add to total object inertia
}
}
}
}
@@ -1799,19 +1907,60 @@ namespace OpenSim.Region.PhysicsModule.ubOde
// associate root geom with body
d.GeomSetBody(prim_geom, Body);
d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z);
if(noInertiaOverride)
d.BodySetPosition(Body, _position.X + objdmass.c.X, _position.Y + objdmass.c.Y, _position.Z + objdmass.c.Z);
else
{
Vector3 ncm = m_InertiaOverride.CenterOfMass * _orientation;
d.BodySetPosition(Body,
_position.X + ncm.X,
_position.Y + ncm.Y,
_position.Z + ncm.Z);
}
d.GeomSetOffsetWorldPosition(prim_geom, _position.X, _position.Y, _position.Z);
d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
myrot.X = -myrot.X;
myrot.Y = -myrot.Y;
myrot.Z = -myrot.Z;
if(noInertiaOverride)
{
d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
myrot.X = -myrot.X;
myrot.Y = -myrot.Y;
myrot.Z = -myrot.Z;
d.RfromQ(out mymat, ref myrot);
d.MassRotate(ref objdmass, ref mymat);
d.RfromQ(out mymat, ref myrot);
d.MassRotate(ref objdmass, ref mymat);
d.BodySetMass(Body, ref objdmass);
_mass = objdmass.mass;
d.BodySetMass(Body, ref objdmass);
m_mass = objdmass.mass;
}
else
{
objdmass.c.X = 0;
objdmass.c.Y = 0;
objdmass.c.Z = 0;
objdmass.I.M00 = m_InertiaOverride.Inertia.X;
objdmass.I.M11 = m_InertiaOverride.Inertia.Y;
objdmass.I.M22 = m_InertiaOverride.Inertia.Z;
objdmass.mass = m_InertiaOverride.TotalMass;
if(Math.Abs(m_InertiaOverride.InertiaRotation.W) < 0.999)
{
d.Matrix3 inertiarotmat = new d.Matrix3();
d.Quaternion inertiarot = new d.Quaternion();
inertiarot.X = m_InertiaOverride.InertiaRotation.X;
inertiarot.Y = m_InertiaOverride.InertiaRotation.Y;
inertiarot.Z = m_InertiaOverride.InertiaRotation.Z;
inertiarot.W = m_InertiaOverride.InertiaRotation.W;
d.RfromQ(out inertiarotmat, ref inertiarot);
d.MassRotate(ref objdmass, ref inertiarotmat);
}
d.BodySetMass(Body, ref objdmass);
m_mass = objdmass.mass;
}
// disconnect from world gravity so we can apply buoyancy
d.BodySetGravityMode(Body, false);
@@ -1990,7 +2139,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
SetInStaticSpace(prm);
}
prm.Body = IntPtr.Zero;
prm._mass = prm.primMass;
prm.m_mass = prm.primMass;
prm.m_collisionscore = 0;
}
}
@@ -2004,7 +2153,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
}
Body = IntPtr.Zero;
}
_mass = primMass;
m_mass = primMass;
m_collisionscore = 0;
}
@@ -2081,7 +2230,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
d.BodySetMass(Body, ref objdmass);
_mass = objdmass.mass;
m_mass = objdmass.mass;
}
private void FixInertia(Vector3 NewPos)
@@ -2145,7 +2294,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
d.BodySetMass(Body, ref objdmass);
_mass = objdmass.mass;
m_mass = objdmass.mass;
}
private void FixInertia(Quaternion newrot)
@@ -2211,7 +2360,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
d.BodySetPosition(Body, dobjpos.X + thispos.X, dobjpos.Y + thispos.Y, dobjpos.Z + thispos.Z);
d.MassTranslate(ref objdmass, -objdmass.c.X, -objdmass.c.Y, -objdmass.c.Z); // ode wants inertia at center of body
d.BodySetMass(Body, ref objdmass);
_mass = objdmass.mass;
m_mass = objdmass.mass;
}
@@ -2226,7 +2375,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
if (primMass > _parent_scene.maximumMassObject)
primMass = _parent_scene.maximumMassObject;
_mass = primMass; // just in case
m_mass = primMass; // just in case
d.MassSetBoxTotal(out primdMass, primMass, 2.0f * m_OBB.X, 2.0f * m_OBB.Y, 2.0f * m_OBB.Z);
@@ -3306,6 +3455,15 @@ namespace OpenSim.Region.PhysicsModule.ubOde
m_useHoverPID = active;
}
private void changeInertia(PhysicsInertiaData inertia)
{
m_InertiaOverride = inertia;
if (Body != IntPtr.Zero)
DestroyBody();
MakeBody();
}
#endregion
public void Move()
@@ -3346,7 +3504,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
float fy = 0;
float fz = 0;
float m_mass = _mass;
float mass = m_mass;
if (m_usePID && m_PIDTau > 0)
{
@@ -3453,9 +3611,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
fz = _parent_scene.gravityz * b;
}
fx *= m_mass;
fy *= m_mass;
fz *= m_mass;
fx *= mass;
fy *= mass;
fz *= mass;
// constant force
fx += m_force.X;
@@ -3941,6 +4099,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
changePIDHoverActive((bool)arg);
break;
case changes.SetInertia:
changeInertia((PhysicsInertiaData) arg);
break;
case changes.Null:
donullchange();
break;
@@ -3957,7 +4119,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
_parent_scene.AddChange((PhysicsActor) this, what, arg);
}
private struct strVehicleBoolParam
{
public int param;