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BulletSim: Fix single physical prim reporting its mass as zero.

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Properly return root mass as mass of just the root prim rather
than the mass of the linkset. SOG has the logic to add the masses
together to get the linkset mass.
Update TODO list.
This commit is contained in:
Robert Adams
2012-12-24 08:56:02 -08:00
parent 9318870607
commit 80cee1b85a
7 changed files with 83 additions and 54 deletions
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9
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@@ -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);
}
@@ -390,7 +390,7 @@ 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);
@@ -772,8 +772,9 @@ 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)
{
stepVelocity = OMV.Vector3.Zero;
_velocityMotor.Enabled = false;
stepVelocity = OMV.Vector3.Zero;
ZeroMotion(true);
DetailLog("{0},BSCharacter.UpdateProperties,taint,disableVelocityMotor,m={1}", LocalID, _velocityMotor);
}