diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 8e1171a481..e7bff6e6ba 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -89,13 +89,15 @@ public class BSCharacter : BSPhysObject _appliedVelocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); _currentFriction = PhysicsScene.Params.avatarStandingFriction; + _avatarDensity = PhysicsScene.Params.avatarDensity; // The dimensions of the avatar capsule are kept in the scale. // Physics creates a unit capsule which is scaled by the physics engine. ComputeAvatarScale(_size); - _avatarDensity = PhysicsScene.Params.avatarDensity; // set _avatarVolume and _mass based on capsule size, _density and Scale ComputeAvatarVolumeAndMass(); + DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}", + LocalID, _size, Scale, _avatarDensity, _avatarVolume, MassRaw); ShapeData shapeData = new ShapeData(); shapeData.ID = LocalID; @@ -103,6 +105,7 @@ public class BSCharacter : BSPhysObject shapeData.Position = _position; shapeData.Rotation = _orientation; shapeData.Velocity = _velocity; + shapeData.Size = Scale; shapeData.Scale = Scale; shapeData.Mass = _mass; shapeData.Buoyancy = _buoyancy; @@ -114,8 +117,9 @@ public class BSCharacter : BSPhysObject PhysicsScene.TaintedObject("BSCharacter.create", delegate() { DetailLog("{0},BSCharacter.create,taint", LocalID); - PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null); - + // New body and shape into BSBody and BSShape + PhysicsScene.Shapes.GetBodyAndShape(true, PhysicsScene.World, this, shapeData, null, null, null); + SetPhysicalProperties(); }); return; @@ -138,7 +142,7 @@ public class BSCharacter : BSPhysObject ZeroMotion(); - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); + OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); ForcePosition = _position; @@ -151,13 +155,13 @@ public class BSCharacter : BSPhysObject { BulletSimAPI.SetCcdMotionThreshold2(BSBody.ptr, PhysicsScene.Params.ccdMotionThreshold); BulletSimAPI.SetCcdSweepSphereRadius2(BSBody.ptr, PhysicsScene.Params.ccdSweptSphereRadius); - } - + } + BulletSimAPI.AddToCollisionFlags2(BSBody.ptr, CollisionFlags.CF_CHARACTER_OBJECT); BulletSimAPI.AddObjectToWorld2(PhysicsScene.World.ptr, BSBody.ptr); - BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.DISABLE_DEACTIVATION); + BulletSimAPI.ForceActivationState2(BSBody.ptr, ActivationState.ACTIVE_TAG); BulletSimAPI.UpdateSingleAabb2(PhysicsScene.World.ptr, BSBody.ptr); // Do this after the object has been added to the world @@ -176,7 +180,7 @@ public class BSCharacter : BSPhysObject get { // Avatar capsule size is kept in the scale parameter. - return new OMV.Vector3(Scale.X * 2, Scale.Y * 2, Scale.Z); + return _size; } set { @@ -184,11 +188,13 @@ public class BSCharacter : BSPhysObject _size = value; ComputeAvatarScale(_size); ComputeAvatarVolumeAndMass(); + DetailLog("{0},BSCharacter.setSize,call,scale={1},density={2},volume={3},mass={4}", + LocalID, Scale, _avatarDensity, _avatarVolume, MassRaw); PhysicsScene.TaintedObject("BSCharacter.setSize", delegate() { BulletSimAPI.SetLocalScaling2(BSShape.ptr, Scale); - OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSBody.ptr, MassRaw); + OMV.Vector3 localInertia = BulletSimAPI.CalculateLocalInertia2(BSShape.ptr, MassRaw); BulletSimAPI.SetMassProps2(BSBody.ptr, MassRaw, localInertia); }); @@ -578,13 +584,13 @@ public class BSCharacter : BSPhysObject private void ComputeAvatarScale(OMV.Vector3 size) { OMV.Vector3 newScale = OMV.Vector3.Zero; - newScale.X = PhysicsScene.Params.avatarCapsuleRadius; - newScale.Y = PhysicsScene.Params.avatarCapsuleRadius; + // Scale wants the diameter so mult radius by two + newScale.X = PhysicsScene.Params.avatarCapsuleRadius * 2f; + newScale.Y = PhysicsScene.Params.avatarCapsuleRadius * 2f; - // The 1.15 came from ODE but it seems to cause the avatar to float off the ground - // Scale.Z = (_size.Z * 1.15f) - (Scale.X + Scale.Y); - // From the total height, remove the capsule half spheres that are at each end - newScale.Z = (size.Z) - (Math.Min(newScale.X, newScale.Y) * 2f); + // 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); Scale = newScale; } @@ -593,14 +599,14 @@ public class BSCharacter : BSPhysObject { _avatarVolume = (float)( Math.PI - * Scale.X - * Scale.Y // the area of capsule cylinder + * (Scale.X / 2f) + * (Scale.Y / 2f) // the area of capsule cylinder * Scale.Z // times height of capsule cylinder + 1.33333333f * Math.PI - * Scale.X - * Math.Min(Scale.X, Scale.Y) - * Scale.Y // plus the volume of the capsule end caps + * (Scale.X / 2f) + * (Math.Min(Scale.X, Scale.Y) / 2f) + * (Scale.Y / 2f) // 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 34dec26ab3..b8ef338b32 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -141,18 +141,15 @@ public abstract class BSPhysObject : PhysicsActor // if someone has subscribed for collision events.... if (SubscribedEvents()) { CollisionCollection.AddCollider(collidingWith, new ContactPoint(contactPoint, contactNormal, pentrationDepth)); - // DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", - // LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); + DetailLog("{0},{1}.Collison.AddCollider,call,with={2},point={3},normal={4},depth={5}", + LocalID, TypeName, collidingWith, contactPoint, contactNormal, pentrationDepth); ret = true; } return ret; } - // Routine to send the collected collisions into the simulator. - // Also handles removal of this from the collection of objects with collisions if - // there are no collisions from this object. Mechanism is create one last - // collision event to make collision_end work. + // Send the collected collisions into the simulator. // Called at taint time from within the Step() function thus no locking problems // with CollisionCollection and ObjectsWithNoMoreCollisions. // Return 'true' if there were some actual collisions passed up @@ -161,10 +158,9 @@ public abstract class BSPhysObject : PhysicsActor bool ret = true; // throttle the collisions to the number of milliseconds specified in the subscription - int nowTime = PhysicsScene.SimulationNowTime; - if (nowTime >= NextCollisionOkTime) + if (PhysicsScene.SimulationNowTime >= NextCollisionOkTime) { - NextCollisionOkTime = nowTime + SubscribedEventsMs; + NextCollisionOkTime = PhysicsScene.SimulationNowTime + SubscribedEventsMs; // We are called if we previously had collisions. If there are no collisions // this time, send up one last empty event so OpenSim can sense collision end. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index b9e1908778..8013e68ffe 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -48,10 +48,10 @@ public sealed class BSPrim : BSPhysObject private PrimitiveBaseShape _pbs; - // _size is what the user passed. _scale is what we pass to the physics engine with the mesh. - // Often _scale is unity because the meshmerizer will apply _size when creating the mesh. + // _size is what the user passed. Scale is what we pass to the physics engine with the mesh. + // Often Scale is unity because the meshmerizer will apply _size when creating the mesh. private OMV.Vector3 _size; // the multiplier for each mesh dimension as passed by the user - private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer + // private OMV.Vector3 _scale; // the multiplier for each mesh dimension for the mesh as created by the meshmerizer private bool _grabbed; private bool _isSelected; @@ -98,7 +98,7 @@ public sealed class BSPrim : BSPhysObject _physicsActorType = (int)ActorTypes.Prim; _position = pos; _size = size; - _scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type + Scale = new OMV.Vector3(1f, 1f, 1f); // the scale will be set by CreateGeom depending on object type _orientation = rotation; _buoyancy = 1f; _velocity = OMV.Vector3.Zero; @@ -166,7 +166,7 @@ public sealed class BSPrim : BSPhysObject // Since _size changed, the mesh needs to be rebuilt. If rebuilt, all the correct // scale and margins are set. CreateGeomAndObject(true); - // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, _scale, _mass, IsPhysical); + // DetailLog("{0},BSPrim.setSize,size={1},scale={2},mass={3},physical={4}", LocalID, _size, Scale, _mass, IsPhysical); }); } } @@ -1224,7 +1224,8 @@ public sealed class BSPrim : BSPhysObject shape.Position = _position; shape.Rotation = _orientation; shape.Velocity = _velocity; - shape.Scale = _scale; + shape.Size = _size; + shape.Scale = Scale; shape.Mass = _isPhysical ? _mass : 0f; shape.Buoyancy = _buoyancy; shape.HullKey = 0; @@ -1234,7 +1235,6 @@ public sealed class BSPrim : BSPhysObject shape.Collidable = (!IsPhantom) ? ShapeData.numericTrue : ShapeData.numericFalse; shape.Static = _isPhysical ? ShapeData.numericFalse : ShapeData.numericTrue; shape.Solid = IsSolid ? ShapeData.numericFalse : ShapeData.numericTrue; - shape.Size = _size; } // Rebuild the geometry and object. // This is called when the shape changes so we need to recreate the mesh/hull. diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index c6e8bc4da7..ab2835cd8a 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs @@ -533,7 +533,7 @@ 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 + // 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) @@ -577,9 +577,9 @@ public class BSScene : PhysicsScene, IPhysicsParameters // 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 45 to give a recognizable running rate (45 or less). - return numSubSteps * m_fixedTimeStep * 1000 * 45; - // return timeStep * 1000 * 45; + // We multiply by 55 to give a recognizable running rate (55 or less). + return numSubSteps * m_fixedTimeStep * 1000 * 55; + // return timeStep * 1000 * 55; } // Something has collided @@ -795,7 +795,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters delegate void ParamUser(BSScene scene, IConfig conf, string paramName, float val); delegate float ParamGet(BSScene scene); - delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); + delegate void ParamSet(BSScene scene, string paramName, uint localID, float val); delegate void SetOnObject(BSScene scene, BSPhysObject obj, float val); private struct ParameterDefn @@ -805,7 +805,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters public float defaultValue; // default value if not specified anywhere else public ParamUser userParam; // get the value from the configuration file public ParamGet getter; // return the current value stored for this parameter - public ParamSet setter; // set the current value for this parameter + public ParamSet setter; // set the current value for this parameter public SetOnObject onObject; // set the value on an object in the physical domain public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s) { @@ -814,7 +814,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters defaultValue = v; userParam = u; getter = g; - setter = s; + setter = s; onObject = null; } public ParameterDefn(string n, string d, float v, ParamUser u, ParamGet g, ParamSet s, SetOnObject o) @@ -824,7 +824,7 @@ public class BSScene : PhysicsScene, IPhysicsParameters defaultValue = v; userParam = u; getter = g; - setter = s; + setter = s; onObject = o; } } @@ -1266,13 +1266,13 @@ public class BSScene : PhysicsScene, IPhysicsParameters objectIDs.Add(TERRAIN_ID); TaintedUpdateParameter(parm, objectIDs, val); break; - case PhysParameterEntry.APPLY_TO_ALL: + case PhysParameterEntry.APPLY_TO_ALL: defaultLoc = val; // setting ALL also sets the default value - lock (PhysObjects) objectIDs = new List(PhysObjects.Keys); + lock (PhysObjects) objectIDs = new List(PhysObjects.Keys); TaintedUpdateParameter(parm, objectIDs, val); break; default: - // setting only one localID + // setting only one localID objectIDs.Add(localID); TaintedUpdateParameter(parm, objectIDs, val); break; @@ -1282,8 +1282,8 @@ public class BSScene : PhysicsScene, IPhysicsParameters // schedule the actual updating of the paramter to when the phys engine is not busy protected void TaintedUpdateParameter(string parm, List lIDs, float val) { - float xval = val; - List xlIDs = lIDs; + float xval = val; + List xlIDs = lIDs; string xparm = parm; TaintedObject("BSScene.UpdateParameterSet", delegate() { ParameterDefn thisParam; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs index bbfdac6e61..3d15eaae7f 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSShapeCollection.cs @@ -417,7 +417,10 @@ public class BSShapeCollection : IDisposable if (shapeType == ShapeData.PhysicsShapeType.SHAPE_AVATAR) { - newShape = new BulletShape(BulletSimAPI.BuildCapsuleShape2(PhysicsScene.World.ptr, shapeData), shapeType); + // 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); newShape.shapeKey = (System.UInt64)shapeKey; newShape.isNativeShape = true; } @@ -428,7 +431,7 @@ public class BSShapeCollection : IDisposable newShape.isNativeShape = true; } - // Don't need to do a 'ReferenceShape()' here because native shapes are not tracked. + // Don't need to do a 'ReferenceShape()' here because native shapes are not shared. // DetailLog("{0},BSShapeCollection.AddNativeShapeToPrim,create,newshape={1}", shapeData.ID, newShape); prim.BSShape = newShape; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs index 30754a7667..24d8db667c 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimAPI.cs @@ -608,7 +608,7 @@ public static extern IntPtr BuildNativeShape2(IntPtr world, ShapeData shapeData) public static extern bool IsNativeShape2(IntPtr shape); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] -public static extern IntPtr BuildCapsuleShape2(IntPtr world, ShapeData shapeData); +public static extern IntPtr BuildCapsuleShape2(IntPtr world, float radius, float height, Vector3 scale); [DllImport("BulletSim", CallingConvention = CallingConvention.Cdecl), SuppressUnmanagedCodeSecurity] public static extern IntPtr CreateCompoundShape2(IntPtr sim);