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BulletSim: complete movement of physical object action code out of the

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physical object and into actors for setForce, setTorque, hover, lock
axis and avatar move.
This commit is contained in:
Robert Adams
2013-04-07 08:27:49 -07:00
parent c7cd077e55
commit fe16dc09da
11 changed files with 1078 additions and 636 deletions
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268
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@@ -46,9 +46,6 @@ public sealed class BSCharacter : BSPhysObject
private OMV.Vector3 _position;
private float _mass;
private float _avatarVolume;
private OMV.Vector3 _force;
private OMV.Vector3 _velocity;
private OMV.Vector3 _torque;
private float _collisionScore;
private OMV.Vector3 _acceleration;
private OMV.Quaternion _orientation;
@@ -61,17 +58,13 @@ public sealed class BSCharacter : BSPhysObject
private OMV.Vector3 _rotationalVelocity;
private bool _kinematic;
private float _buoyancy;
private bool _isStationaryStanding; // true is standing on a stationary object
private BSVMotor _velocityMotor;
private BSActorAvatarMove m_moveActor;
private const string AvatarMoveActorName = "BSCharacter.AvatarMove";
private OMV.Vector3 _PIDTarget;
private bool _usePID;
private float _PIDTau;
private bool _useHoverPID;
private float _PIDHoverHeight;
private PIDHoverType _PIDHoverType;
private float _PIDHoverTao;
public BSCharacter(uint localID, String avName, BSScene parent_scene, OMV.Vector3 pos, OMV.Vector3 size, bool isFlying)
: base(parent_scene, localID, avName, "BSCharacter")
@@ -81,11 +74,10 @@ public sealed class BSCharacter : BSPhysObject
_flying = isFlying;
_orientation = OMV.Quaternion.Identity;
_velocity = OMV.Vector3.Zero;
RawVelocity = OMV.Vector3.Zero;
_buoyancy = ComputeBuoyancyFromFlying(isFlying);
Friction = BSParam.AvatarStandingFriction;
Density = BSParam.AvatarDensity / BSParam.DensityScaleFactor;
_isStationaryStanding = false;
// Old versions of ScenePresence passed only the height. If width and/or depth are zero,
// replace with the default values.
@@ -99,7 +91,12 @@ public sealed class BSCharacter : BSPhysObject
// set _avatarVolume and _mass based on capsule size, _density and Scale
ComputeAvatarVolumeAndMass();
SetupMovementMotor();
// The avatar's movement is controlled by this motor that speeds up and slows down
// the avatar seeking to reach the motor's target speed.
// This motor runs as a prestep action for the avatar so it will keep the avatar
// standing as well as moving. Destruction of the avatar will destroy the pre-step action.
m_moveActor = new BSActorAvatarMove(PhysicsScene, this, AvatarMoveActorName);
PhysicalActors.Add(AvatarMoveActorName, m_moveActor);
DetailLog("{0},BSCharacter.create,call,size={1},scale={2},density={3},volume={4},mass={5}",
LocalID, _size, Scale, Density, _avatarVolume, RawMass);
@@ -139,10 +136,10 @@ public sealed class BSCharacter : BSPhysObject
ForcePosition = _position;
// Set the velocity
_velocityMotor.Reset();
_velocityMotor.SetTarget(_velocity);
_velocityMotor.SetCurrent(_velocity);
ForceVelocity = _velocity;
if (m_moveActor != null)
m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, false);
ForceVelocity = RawVelocity;
// This will enable or disable the flying buoyancy of the avatar.
// Needs to be reset especially when an avatar is recreated after crossing a region boundry.
@@ -176,162 +173,6 @@ public sealed class BSCharacter : BSPhysObject
PhysBody.ApplyCollisionMask(PhysicsScene);
}
// The avatar's movement is controlled by this motor that speeds up and slows down
// the avatar seeking to reach the motor's target speed.
// This motor runs as a prestep action for the avatar so it will keep the avatar
// standing as well as moving. Destruction of the avatar will destroy the pre-step action.
private void SetupMovementMotor()
{
// Infinite decay and timescale values so motor only changes current to target values.
_velocityMotor = new BSVMotor("BSCharacter.Velocity",
0.2f, // time scale
BSMotor.Infinite, // decay time scale
BSMotor.InfiniteVector, // friction timescale
1f // efficiency
);
// _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
RegisterPreStepAction("BSCharactor.Movement", LocalID, delegate(float timeStep)
{
// TODO: Decide if the step parameters should be changed depending on the avatar's
// state (flying, colliding, ...). There is code in ODE to do this.
// COMMENTARY: when the user is making the avatar walk, except for falling, the velocity
// specified for the avatar is the one that should be used. For falling, if the avatar
// is not flying and is not colliding then it is presumed to be falling and the Z
// component is not fooled with (thus allowing gravity to do its thing).
// When the avatar is standing, though, the user has specified a velocity of zero and
// the avatar should be standing. But if the avatar is pushed by something in the world
// (raising elevator platform, moving vehicle, ...) the avatar should be allowed to
// move. Thus, the velocity cannot be forced to zero. The problem is that small velocity
// errors can creap in and the avatar will slowly float off in some direction.
// So, the problem is that, when an avatar is standing, we cannot tell creaping error
// from real pushing.
// The code below uses whether the collider is static or moving to decide whether to zero motion.
_velocityMotor.Step(timeStep);
_isStationaryStanding = false;
// If we're not supposed to be moving, make sure things are zero.
if (_velocityMotor.ErrorIsZero() && _velocityMotor.TargetValue == OMV.Vector3.Zero)
{
// The avatar shouldn't be moving
_velocityMotor.Zero();
if (IsColliding)
{
// If we are colliding with a stationary object, presume we're standing and don't move around
if (!ColliderIsMoving)
{
DetailLog("{0},BSCharacter.MoveMotor,collidingWithStationary,zeroingMotion", LocalID);
_isStationaryStanding = true;
ZeroMotion(true /* inTaintTime */);
}
// Standing has more friction on the ground
if (Friction != BSParam.AvatarStandingFriction)
{
Friction = BSParam.AvatarStandingFriction;
PhysicsScene.PE.SetFriction(PhysBody, Friction);
}
}
else
{
if (Flying)
{
// Flying and not collising and velocity nearly zero.
ZeroMotion(true /* inTaintTime */);
}
}
DetailLog("{0},BSCharacter.MoveMotor,taint,stopping,target={1},colliding={2}", LocalID, _velocityMotor.TargetValue, IsColliding);
}
else
{
// Supposed to be moving.
OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue;
if (Friction != BSParam.AvatarFriction)
{
// Probably starting up walking. Set friction to moving friction.
Friction = BSParam.AvatarFriction;
PhysicsScene.PE.SetFriction(PhysBody, Friction);
}
// If falling, we keep the world's downward vector no matter what the other axis specify.
// The check for _velocity.Z < 0 makes jumping work (temporary upward force).
if (!Flying && !IsColliding)
{
if (_velocity.Z < 0)
stepVelocity.Z = _velocity.Z;
// DetailLog("{0},BSCharacter.MoveMotor,taint,overrideStepZWithWorldZ,stepVel={1}", LocalID, stepVelocity);
}
// 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force.
OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass;
// Should we check for move force being small and forcing velocity to zero?
// Add special movement force to allow avatars to walk up stepped surfaces.
moveForce += WalkUpStairs();
DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}", LocalID, stepVelocity, _velocity, Mass, moveForce);
PhysicsScene.PE.ApplyCentralImpulse(PhysBody, moveForce);
}
});
}
// Decide if the character is colliding with a low object and compute a force to pop the
// avatar up so it can walk up and over the low objects.
private OMV.Vector3 WalkUpStairs()
{
OMV.Vector3 ret = OMV.Vector3.Zero;
// This test is done if moving forward, not flying and is colliding with something.
// DetailLog("{0},BSCharacter.WalkUpStairs,IsColliding={1},flying={2},targSpeed={3},collisions={4}",
// LocalID, IsColliding, Flying, TargetSpeed, CollisionsLastTick.Count);
if (IsColliding && !Flying && TargetVelocitySpeed > 0.1f /* && ForwardSpeed < 0.1f */)
{
// The range near the character's feet where we will consider stairs
float nearFeetHeightMin = RawPosition.Z - (Size.Z / 2f) + 0.05f;
float nearFeetHeightMax = nearFeetHeightMin + BSParam.AvatarStepHeight;
// Look for a collision point that is near the character's feet and is oriented the same as the charactor is
foreach (KeyValuePair<uint, ContactPoint> kvp in CollisionsLastTick.m_objCollisionList)
{
// Don't care about collisions with the terrain
if (kvp.Key > PhysicsScene.TerrainManager.HighestTerrainID)
{
OMV.Vector3 touchPosition = kvp.Value.Position;
// DetailLog("{0},BSCharacter.WalkUpStairs,min={1},max={2},touch={3}",
// LocalID, nearFeetHeightMin, nearFeetHeightMax, touchPosition);
if (touchPosition.Z >= nearFeetHeightMin && touchPosition.Z <= nearFeetHeightMax)
{
// This contact is within the 'near the feet' range.
// The normal should be our contact point to the object so it is pointing away
// thus the difference between our facing orientation and the normal should be small.
OMV.Vector3 directionFacing = OMV.Vector3.UnitX * RawOrientation;
OMV.Vector3 touchNormal = OMV.Vector3.Normalize(kvp.Value.SurfaceNormal);
float diff = Math.Abs(OMV.Vector3.Distance(directionFacing, touchNormal));
if (diff < BSParam.AvatarStepApproachFactor)
{
// Found the stairs contact point. Push up a little to raise the character.
float upForce = (touchPosition.Z - nearFeetHeightMin) * Mass * BSParam.AvatarStepForceFactor;
ret = new OMV.Vector3(0f, 0f, upForce);
// Also move the avatar up for the new height
OMV.Vector3 displacement = new OMV.Vector3(0f, 0f, BSParam.AvatarStepHeight / 2f);
ForcePosition = RawPosition + displacement;
}
DetailLog("{0},BSCharacter.WalkUpStairs,touchPos={1},nearFeetMin={2},faceDir={3},norm={4},diff={5},ret={6}",
LocalID, touchPosition, nearFeetHeightMin, directionFacing, touchNormal, diff, ret);
}
}
}
}
return ret;
}
public override void RequestPhysicsterseUpdate()
{
@@ -403,7 +244,7 @@ public sealed class BSCharacter : BSPhysObject
// Called at taint time!
public override void ZeroMotion(bool inTaintTime)
{
_velocity = OMV.Vector3.Zero;
RawVelocity = OMV.Vector3.Zero;
_acceleration = OMV.Vector3.Zero;
_rotationalVelocity = OMV.Vector3.Zero;
@@ -542,15 +383,15 @@ public sealed class BSCharacter : BSPhysObject
}
public override OMV.Vector3 Force {
get { return _force; }
get { return RawForce; }
set {
_force = value;
RawForce = value;
// m_log.DebugFormat("{0}: Force = {1}", LogHeader, _force);
PhysicsScene.TaintedObject("BSCharacter.SetForce", delegate()
{
DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, _force);
DetailLog("{0},BSCharacter.setForce,taint,force={1}", LocalID, RawForce);
if (PhysBody.HasPhysicalBody)
PhysicsScene.PE.SetObjectForce(PhysBody, _force);
PhysicsScene.PE.SetObjectForce(PhysBody, RawForce);
});
}
}
@@ -573,7 +414,7 @@ public sealed class BSCharacter : BSPhysObject
{
get
{
return m_targetVelocity;
return base.m_targetVelocity;
}
set
{
@@ -583,51 +424,39 @@ public sealed class BSCharacter : BSPhysObject
if (_setAlwaysRun)
targetVel *= new OMV.Vector3(BSParam.AvatarAlwaysRunFactor, BSParam.AvatarAlwaysRunFactor, 0f);
PhysicsScene.TaintedObject("BSCharacter.setTargetVelocity", delegate()
{
_velocityMotor.Reset();
_velocityMotor.SetTarget(targetVel);
_velocityMotor.SetCurrent(_velocity);
_velocityMotor.Enabled = true;
});
if (m_moveActor != null)
m_moveActor.SetVelocityAndTarget(RawVelocity, targetVel, false /* inTaintTime */);
}
}
public override OMV.Vector3 RawVelocity
{
get { return _velocity; }
set { _velocity = value; }
}
// Directly setting velocity means this is what the user really wants now.
public override OMV.Vector3 Velocity {
get { return _velocity; }
get { return RawVelocity; }
set {
_velocity = value;
// m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, _velocity);
RawVelocity = value;
// m_log.DebugFormat("{0}: set velocity = {1}", LogHeader, RawVelocity);
PhysicsScene.TaintedObject("BSCharacter.setVelocity", delegate()
{
_velocityMotor.Reset();
_velocityMotor.SetCurrent(_velocity);
_velocityMotor.SetTarget(_velocity);
_velocityMotor.Enabled = false;
if (m_moveActor != null)
m_moveActor.SetVelocityAndTarget(RawVelocity, RawVelocity, true /* inTaintTime */);
DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, _velocity);
ForceVelocity = _velocity;
DetailLog("{0},BSCharacter.setVelocity,taint,vel={1}", LocalID, RawVelocity);
ForceVelocity = RawVelocity;
});
}
}
public override OMV.Vector3 ForceVelocity {
get { return _velocity; }
get { return RawVelocity; }
set {
PhysicsScene.AssertInTaintTime("BSCharacter.ForceVelocity");
_velocity = value;
PhysicsScene.PE.SetLinearVelocity(PhysBody, _velocity);
RawVelocity = value;
PhysicsScene.PE.SetLinearVelocity(PhysBody, RawVelocity);
PhysicsScene.PE.Activate(PhysBody, true);
}
}
public override OMV.Vector3 Torque {
get { return _torque; }
set { _torque = value;
get { return RawTorque; }
set { RawTorque = value;
}
}
public override float CollisionScore {
@@ -783,27 +612,6 @@ public sealed class BSCharacter : BSPhysObject
set { _PIDTau = value; }
}
// Used for llSetHoverHeight and maybe vehicle height
// Hover Height will override MoveTo target's Z
public override bool PIDHoverActive {
set { _useHoverPID = value; }
}
public override float PIDHoverHeight {
set { _PIDHoverHeight = value; }
}
public override PIDHoverType PIDHoverType {
set { _PIDHoverType = value; }
}
public override float PIDHoverTau {
set { _PIDHoverTao = value; }
}
// For RotLookAt
public override OMV.Quaternion APIDTarget { set { return; } }
public override bool APIDActive { set { return; } }
public override float APIDStrength { set { return; } }
public override float APIDDamping { set { return; } }
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.
@@ -833,7 +641,7 @@ public sealed class BSCharacter : BSPhysObject
}
}
public override void AddAngularForce(OMV.Vector3 force, bool pushforce) {
public override void AddAngularForce(OMV.Vector3 force, bool pushforce, bool inTaintTime) {
}
public override void SetMomentum(OMV.Vector3 momentum) {
}
@@ -887,7 +695,7 @@ public sealed class BSCharacter : BSPhysObject
public override void UpdateProperties(EntityProperties entprop)
{
// Don't change position if standing on a stationary object.
if (!_isStationaryStanding)
if (!IsStationary)
_position = entprop.Position;
_orientation = entprop.Rotation;
@@ -896,8 +704,8 @@ public sealed class BSCharacter : BSPhysObject
// and will send agent updates to the clients if velocity changes by more than
// 0.001m/s. Bullet introduces a lot of jitter in the velocity which causes many
// extra updates.
if (!entprop.Velocity.ApproxEquals(_velocity, 0.1f))
_velocity = entprop.Velocity;
if (!entprop.Velocity.ApproxEquals(RawVelocity, 0.1f))
RawVelocity = entprop.Velocity;
_acceleration = entprop.Acceleration;
_rotationalVelocity = entprop.RotationalVelocity;
@@ -920,7 +728,7 @@ public sealed class BSCharacter : BSPhysObject
// base.RequestPhysicsterseUpdate();
DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}",
LocalID, _position, _orientation, _velocity, _acceleration, _rotationalVelocity);
LocalID, _position, _orientation, RawVelocity, _acceleration, _rotationalVelocity);
}
}
}