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BulletSim: tweaking so avatar can be pushed. In particular, llPushObject,

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which called BSCharacter.AddForce, can now move a character.
This commit is contained in:
Robert Adams
2016-01-02 17:36:42 -08:00
parent 151001c70b
commit d4e88f8883
5 changed files with 57 additions and 18 deletions
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18
OpenSim/Region/PhysicsModules/BulletS/BSCharacter.cs
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@@ -652,13 +652,16 @@ public sealed class BSCharacter : BSPhysObject
public override void AddForce(OMV.Vector3 force, bool pushforce)
{
// Since this force is being applied in only one step, make this a force per second.
OMV.Vector3 addForce = force / PhysScene.LastTimeStep;
OMV.Vector3 addForce = force;
// compensate for density variation
// with a adicional parameter to sync with old ode
if(pushforce)
addForce = addForce * Density * BSParam.DensityScaleFactor * 0.08f;;
// The interaction of this force with the simulator rate and collision occurance is tricky.
// ODE multiplies the force by 100
// ubODE multiplies the force by 5.3
// BulletSim, after much in-world testing, thinks it gets a similar effect by multiplying mass*0.315f
// This number could be a feature of friction or timing, but it seems to move avatars the same as ubODE
addForce *= Mass * BSParam.AvatarAddForcePushFactor;
DetailLog("{0},BSCharacter.addForce,call,force={1},addForce={2},push={3},mass={4}", LocalID, force, addForce, pushforce, Mass);
AddForce(addForce, pushforce, false);
}
@@ -666,7 +669,7 @@ public sealed class BSCharacter : BSPhysObject
if (force.IsFinite())
{
OMV.Vector3 addForce = Util.ClampV(force, BSParam.MaxAddForceMagnitude);
// DetailLog("{0},BSCharacter.addForce,call,force={1}", LocalID, addForce);
// DetailLog("{0},BSCharacter.addForce,call,force={1},push={2},inTaint={3}", LocalID, addForce, pushforce, inTaintTime);
PhysScene.TaintedObject(inTaintTime, LocalID, "BSCharacter.AddForce", delegate()
{
@@ -674,6 +677,9 @@ public sealed class BSCharacter : BSPhysObject
// DetailLog("{0},BSCharacter.addForce,taint,force={1}", LocalID, addForce);
if (PhysBody.HasPhysicalBody)
{
// Bullet adds this central force to the total force for this tick.
// Deep down in Bullet:
// linearVelocity += totalForce / mass * timeStep;
PhysScene.PE.ApplyCentralForce(PhysBody, addForce);
PhysScene.PE.Activate(PhysBody, true);
}