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202 Commits

Author SHA1 Message Date
Robert Adams
70d24a654b BulletSim: rename position and orientation variables to remove the 
inconsistant use of Raw* and _* conventions.
 2013-07-07 05:46:24 -07:00
Robert Adams
a65cec3986 BulletSim: implementation of linkset center-of-mass. 
Default off, for the moment, until more testing.
Add separate thread and center-of-mass flags to OpenSimDefaults.ini.
Clean up comments in OpenSimDefaults.ini.
 2013-07-06 08:25:15 -07:00
Robert Adams
5f97c6f8f0 BulletSim: non-functional updates. Comments and formatting. 
Update TODO list.
 2013-07-06 08:25:13 -07:00
Robert Adams
9d5ae75950 BulletSim: remove the handle to the vehicle actor and cause routines 
that need it to look it up.
 2013-06-30 17:07:51 -07:00
Robert Adams
23516717e4 BulletSim: a better version of llMoveToTarget that doesn't go crazy. 
There is still some overshoot but mostly fixes Mantis 6693.
Fix bug where moveToTarget was active for non-physical objects
and while selected.
Fix bug where move target was not getting changed if the script
changed the target during a move.
 2013-06-30 17:07:49 -07:00
Robert Adams
07058b044b BulletSim: experimental movement of physics execution off of heartbeat 
thread. Off by default until more testing.

Setting "[BulletSim]UseSeparatePhysicsThread=true" causes the physics
engine to be called on its own thread and the heartbeat thread only
handles the reporting of property updates and collisions. Physics frame
rate is about right but physics execution time goes to zero as accounted
by the heartbeat loop.
 2013-06-01 14:52:44 -07:00
Robert Adams
ae0d6ab28a BulletSim: don't zero motion when changing vehicle type. 
Some vehicle scripts change type on the fly as an easy way of setting
all the parameters (like a plane changing to a car when on the ground).
 2013-05-28 09:19:08 -07:00
Robert Adams
f9fb1484aa BulletSim: extend BSActorLockAxis to allow locking linear movement in 
addition to angular movement. Not enabled by anything yet.
 2013-05-06 13:32:22 -07:00
Robert Adams
5d25bb3084 BulletSim: zero vehicle motion when changing vehicle type. 
Rebuild compound linkset of any child in the linkset changes shape.
Comments and better detailed logging messages.
 2013-05-03 14:23:53 -07:00
Robert Adams
d9c3947824 BulletSim: Rebuild physical body if physical shape changes for mesh and hull. 
Properly rebuilds collision caches.
Release asset data fetched when building mesh or hulls.
 2013-05-02 10:06:12 -07:00
Robert Adams
92ee288d66 BulletSim: remove trailing white space to make git happier. No functional changes. 2013-04-29 07:54:50 -07:00
Robert Adams
ad1787770e BulletSim: rename variable 'PhysicsScene' to be either 'PhysScene' or 'm_physicsScene' to match coding conventions and reduce confusion. 2013-04-29 07:38:55 -07:00
Robert Adams
e5582939fd BulletSim: massive refactor of shape classes. Removed shape specific code from BSShapeCollection. Using BSShape* classes to hold references to shape. Simplified shape dependency callbacks. Remove 'PreferredShape' methods and have each class specify shape type. Disable compound shape linkset for a later commit that will simplify linkset implementation. 2013-04-29 07:38:40 -07:00
Robert Adams
522ab85045 BulletSim: improve avatar stair walking up. Add more parameters to control force 
of both position change and up force that move avatars over barrier.
Default parameters are for steps up to 0.5m in height.
 2013-04-23 18:31:12 -07:00
Robert Adams
99f39836a1 BulletSim: moving comments around. No functional change. 2013-04-08 06:27:45 -07:00
Robert Adams
a7a1b8b7e9 BulletSim: clean up actor code so routines use the same coding pattern. 
Fix a few enabling problems.
 2013-04-08 06:27:44 -07:00
Robert Adams
fe16dc09da BulletSim: complete movement of physical object action code out of the 
physical object and into actors for setForce, setTorque, hover, lock
axis and avatar move.
 2013-04-08 06:27:43 -07:00
Robert Adams
933ac60746 BulletSim: not quite functional axis lock code. 2013-03-31 22:19:43 -07:00
Robert Adams
747ece59d2 BulletSim: convert BSDynamic to a BSActor and change BSPrim to set 
up the vehicle actor.
 2013-03-31 22:19:41 -07:00
Robert Adams
2c581cae2a BulletSim: Add physical 'actors' that operate on the physical object. 
Add first 'actor' for locked axis.
 2013-03-31 22:19:41 -07:00
Robert Adams
953090fd62 BulletSim: fix possible race condition where an prim's asset can be requested quicker than the asset fetcher returns and thus falsely reporting that an asset was not fetched and defaulting the assset to a bounding box. 2013-03-25 15:40:43 -07:00
Robert Adams
8510f57ad4 BulletSim: add terrain contact processing threshold parameter. Initialize contact processing threshold for static object as well as mesh terrain. 2013-03-19 00:00:02 -07:00
Robert Adams
1c740798b4 BulletSim: add parameters, code cleanup around checking and enforcing 
maximum velocity and angular velocity values for prims.
 2013-03-01 09:44:37 -08:00
Robert Adams
bf9132e1c7 BulletSim: fix crash around race condition when a mesh asset cannot 
be fetched.
Update TODO list.
 2013-02-26 11:32:01 -08:00
Robert Adams
efb5da0aa6 BulletSim: add OutOfBounds logic and some position sanity checking 
to eliminate some of the "cannot find terrain height" warning messages.
 2013-02-21 08:52:11 -08:00
Robert Adams
26421294f6 BulletSim: experimental lock axis code using constraints. Not enabled 
by default. Like more debugging is needed.
 2013-02-17 20:13:50 -08:00
Robert Adams
e549c2922a BulletSim: fix physical object appearing to slowly float off when 
they stop moving.
 2013-02-16 19:28:38 -08:00
Robert Adams
0194a3d890 BulletSim: fix density since the simulator/viewer track density in a 
funny unit that is 100 times real density (default 1000).
Fix avatar drifting slowly when stationary flying.
Fix for physical prims getting corrected for being under terrain when it was
just its geometric center that was below terrain.
Add PreUpdatePropertyAction allowing plugable modifiction of phys
parameters returned from Bullet.
Fix an exception setting GravityMultiplier on initialization.
Update DLLs and SOs for good measure (no functional change).
 2013-02-12 15:52:10 -08:00
Robert Adams
fb903ff490 BulletSim: More work on center-of-mass. Remove linksetinfo and rely on simulator to update info. 2013-02-12 15:52:08 -08:00
Robert Adams
1b203601f4 BulletSim: include the linkage to the layered prim implementation. Separate layers for physical (vs simulator) location displacement and linksets. 2013-02-08 16:29:29 -08:00
Robert Adams
913965256f BulletSim: Adapt BulletSim to the newer physical properties. Viewer 
dialog setting of friction, restitution, ... working.
 2013-02-07 17:13:28 -08:00
Robert Adams
b545e13184 BulletSim: fix exceptions caused by setting physical properties before the prim body is initialized. 2013-02-07 17:13:27 -08:00
Robert Adams
ebb63b55aa BulletSim: add user setting of friction, density and restitution. 2013-02-07 17:13:27 -08:00
Robert Adams
75a05c16c5 BulletSim: fix crash caused when linksets were rebuilt. A problem added 
when individual child pos/rot changes were implementated a week or so ago.
Remove some passing of inTaintTime flag when it was never false.
 2013-01-31 15:56:10 -08:00
Robert Adams
ed71c939fc BulletSim: make sure vehicle physical properties are set when going 
physical by delaying setting until pre-step time. Change vehicle.Refresh()
to schedule the pre-step setting.
Comments and updating of TODO list.
 2013-01-31 15:56:02 -08:00
Robert Adams
a61ecee227 BulletSim: fix physics repositioning when under ground to only happen 
for physical objects. Non-physical objects can go anywhere they want.
 2013-01-29 17:04:28 -08:00
Robert Adams
531d0429d1 BulletSim: first unit test: vehicle angular attraction 2013-01-28 17:08:34 -08:00
Robert Adams
26d4596080 BulletSim: reinstate the supression of rotational velocity for vehicles 2013-01-27 12:50:07 -08:00
Robert Adams
ddef8f16e5 BulletSim: first attempt at reporting top colliders 2013-01-27 12:50:05 -08:00
Robert Adams
c44a8e9f92 BulletSim: finish the post step event for physical object actions. Modify vehicle to use post step event for logging. 2013-01-27 12:50:04 -08:00
Robert Adams
2cf29c87bc BulletSim: zero motion on an object that we pop up because it is 
below terrain. If the position is being corrected because it is out
of bounds, all other movement rules are out the window.
 2013-01-24 14:35:23 -08:00
Robert Adams
a7b810ddee BulletSim: remove setting of vehicle InterpolationRotationalVelocity. 
This doesn't seem to help the vehicle stability.
Rename vehicle internal variables adding a "V" or "W" so it is clear
when coordinates are vehicle or world relative.
 2013-01-23 14:25:42 -08:00
Robert Adams
13182904da BulletSim: small change to center-of-mass computation left out last commit 2013-01-23 14:25:30 -08:00
Robert Adams
a5e9c665f0 BulletSim: center-of-gravity linkset changes. Not working yet. 
Conflicts:

	OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
 2013-01-23 14:25:18 -08:00
Robert Adams
c1371ab786 BulletSim: working on COM 2013-01-23 14:25:06 -08:00
Robert Adams
a0d460e6bf BulletSim: remove the unused RestoreBodyDependencies used by linksets 
and vehicles and clean up code by removing their kludgyness.
 2013-01-23 14:24:42 -08:00
Robert Adams
80b1e32bfa BulletSim: Tweeks to vehicle motion. 
Pass through old angular velocity making for smoother transitions.
Remove some old kludges for angular motion (damping and rotvel suppression).
 2013-01-21 23:43:24 -08:00
Robert Adams
471c477863 BulletSim: allow changing position and rotation of a child of a linkset 
without rebuilding the whole compound shape. Should make vehicles move
smoother.
 2013-01-21 15:58:22 -08:00
Robert Adams
52b341e2e2 BulletSim: More aggressive as setting character velocity to zero 
when should be standing.
Modify angular force routines to be the same pattern as linear force routines.
BulletSim vehicle turning is scaled like SL and is DIFFERENT THAN ODE!!
Fix some bugs in BSMotor dealing with the motor going to zero.
Add a bunch of parameters:  MaxLinearVelocity, MaxAngularVelocity,
MaxAddForceMagnitude, VehicleMaxLinearVelocity, VehicleMaxAngularVelocity,
and most of the values are defaulted to values that are larger
than in SL.
Use the new parameters in BSPrim, BSCharacter and BSDynamic.
 2013-01-20 23:09:54 -08:00
Robert Adams
3b0df52d10 BulletSim: modify motors to return correction rather than current value 
to better use them for incremental updates.
Modify prim and character to use the new motors.
Simplify the vehicle linear movement code to just update the velocity
directly or the basic movement.
 2013-01-20 23:09:53 -08:00