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60 Commits

Author SHA1 Message Date
Robert Adams
5f97c6f8f0 BulletSim: non-functional updates. Comments and formatting. 
Update TODO list.
 2013-07-06 08:25:13 -07:00
Robert Adams
3cb65f0d31 BulletSim: when meshing or asset fetching fails, include position 
and region with the offending object's name in the error message.
 2013-06-11 17:58:08 -07:00
Robert Adams
795acaa6aa BulletSim: add failure flag for meshing failure vs asset fetch failure 
so error messages make more sense.
Change some BulletSim status log messages from WARN to INFO.
Update TODO list.
 2013-06-10 14:12:45 -07:00
Robert Adams
214bae1479 BulletSim: fix BulletSim crashing if there is no [BulletSim] section 
in any INI file. Update TODO list.
 2013-05-17 21:19:38 -07:00
Robert Adams
7cdb07b386 BulletSim: improvements to LinksetCompound and PrimDisplaced. Not all working yet. 2013-04-30 11:42:11 -07:00
Robert Adams
d322625f90 BulletSim: Add non-static BSShape.GetReference for getting another reference 
to an existing shape instance.
BSShapeNative rebuilds shape for all references.
BSShapeCompound returns another reference copy if the compound shape
already exists (for linksets).
 2013-04-29 17:30:54 -07:00
Robert Adams
890cb6a293 BulletSim: complete BSShape classes. 2013-04-29 07:38:35 -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
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
326634a0b3 BulletSim: more things into the TODO list. 2013-03-01 09:44:39 -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
dce9e323f4 BulletSim: remove degenerate triangles from meshes. This fixes the 
invisible barriers in sculptie doorways (Mantis 6529).
Bump up level-of-detail for physical meshes to 32 (the max). This
fixes the invisible barriers that showed up in prim cut arches.
NOTE: the default LOD values are removed from OpenSimDefaults.ini.
   If you don't change your OpenSimDefaults.ini, you will continue
   to see the arch problem.
 2013-02-05 16:56:33 -08:00
Robert Adams
13233da66c BulletSim: add debugging looking for doorway sculpty problems 2013-02-05 16:56:28 -08:00
Robert Adams
5bb85a14d4 BulletSim: fix problem where editting a physical linkset caused the 
child prim physical positions to get out of sync with the view.
More reliably compute the offset of children in a physical linkset.
 2013-02-01 11:52:27 -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
ddef8f16e5 BulletSim: first attempt at reporting top colliders 2013-01-27 12:50:05 -08:00
Robert Adams
dd08e1fba6 BulletSim: parameterize several vehicle debugging values: physical linear and angular force factors now default to less than 1 (0.2) vehicle friction and restitution now default to low values 2013-01-27 12:50:05 -08:00
Robert Adams
c1371ab786 BulletSim: working on COM 2013-01-23 14:25:06 -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
3f6698a595 BulletSim: remove unused MaxTaintsToProcessPerStep parameter 2013-01-21 09:19:09 -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
Robert Adams
75f710f1e7 BulletSim: Add one function that all actors who act on the physical 
can use to know if the object is currently active.
Code cleaning including use of Util.ClampV function.
 2013-01-17 14:47:35 -08:00
Robert Adams
8ee9daa121 BulletSim: add the editting children in linkset going phantom bug to TODO list. 2013-01-15 21:08:47 -08:00
Robert Adams
5d098d8f17 BulletSim: don't modify angular parameters when doing LIMIT_MOTOR_UP. 
It was a dumb idea to try and do a nose over feature for jumping cars anyway.
Add better logging of native shape creation/reuse so can  tell the difference.
 2013-01-15 21:08:46 -08:00
Robert Adams
61ff79587b BulletSim: add debugging messages to know when assets for physical 
objects have been fetched.
Update TODO list with more work.
 2013-01-15 21:08:46 -08:00
Robert Adams
459fcd81c9 BulletSim: move center of gravity of linkset to its geometric center. 
Necessitated allowing simulator and physical position of a body to
get out of sync since Bullet assumes that <0,0,0> is the center of mass.
Update DLLs and SOs for the UpdateChildTransform so positions of
  individual prim in a linkset can be implemented.
 2013-01-11 16:47:53 -08:00
Robert Adams
98168edc29 BulletSim: remove double application of buoyancy. Centralize computation of buoyancy. Add motor angular debugging controls. 2013-01-11 16:46:38 -08:00
Robert Adams
df1d7414ad BulletSim: Fix hover height (boats float at the correct level). 
Fix problem of vehicles going crazy when backing up.
 2013-01-08 16:37:49 -08:00
Robert Adams
8452c0a870 BulletSim: add function to push avatar up when hitting stairs. 
It looks like BulletSim and ODE rely on penetration correction to cause
the avatar to move up and thus allowing walking up stairs. Object
penetration was minimized for walking and flying (so one doesn't go
through walls) and this stopped stairs from working. This commit
introduces avatar movement code to check for collisions at the
feet while walking and attempts to raise the avatar for the steps.
Not yet perfect but movement is better.
 2013-01-07 16:05:02 -08:00
Robert Adams
9393403253 BulletSim: update DLLs and SOs with better debugging output. 
Add definition of hand crafted avatar mesh. Not used yet.
Comments and cleanup.
 2013-01-06 14:01:15 -08:00
Robert Adams
48cfc6d089 BulletSim: implement llMoveToTarget by adding PIDActive, etc. 
Implementation of non-vehicle hover but haven't tested it a lot.
Update TODO list.
 2013-01-04 17:06:51 -08:00
Robert Adams
3d0fc70864 BulletSim: complete movement of BulletSimAPI functions to BSAPITemplate. 
Update BulletSim DLLs and SOs with simplier step function interface.
 2012-12-31 19:57:24 -08:00
Robert Adams
48f718f39f BulletSim: first round of conversion from direct BulletSimAPI interfacing by BulletSim core to using the BulletSimAPITemplate. Physical object creation and destruction first. 2012-12-31 19:57:21 -08:00
Robert Adams
203588e3c0 BulletSim: change physical data structures to classes. Add default 
instantiations for PhysBody and PhysShape when BSPhysObject is created
to account for them being classes and not structures.
Update TODO list.
 2012-12-31 19:57:21 -08:00
Robert Adams
1f6aaad0b5 BulletSim: correct collision mask definition for linkset children. 
Remove unused code. Add comments and TODOs.
 2012-12-27 22:12:28 -08:00
Robert Adams
7a5f598399 BulletSim: move logic for IsColliding, CollidingGround and CollidingObj from individual sub-classes and up to parent BSPhysObject class. 2012-12-27 22:12:27 -08:00
Robert Adams
e57c0e6731 BulletSim: fix buoyancy so it's properly set by a script when an 
object is selected.
Update TODO list.
 2012-12-27 22:12:26 -08:00
Robert Adams
f3baed5827 BulletSim: add physical parameter min/max constants in BSParam. I just don't like raw numbers scattered around the code. 2012-12-27 22:12:25 -08:00
Robert Adams
225b564573 BulletSim: scale the force for external AddForce by the simulation 
step time so it will be applied completely the next step. The internal
AddForce routine does not scale the force.
 2012-12-26 10:25:50 -08:00
Robert Adams
d1ede1df3a BulletSim: make llBuoyancy work. For some reason, Bullet resets an 
object's individual gravity to the world gravity when the object
is added to the physical world.
 2012-12-25 23:55:25 -08:00
Robert Adams
bbc5a5089f BulletSim: Rename some of the interface structures (BulletWorld, ...) 
to get ready for...
Start creation of BulletAPITemplate. This defines the abstract interface
functions. Following commits will move over to the new interface.
This will enable switching between the managed and unmanaged version of
Bullet.
 2012-12-24 20:18:06 -08:00
Robert Adams
80cee1b85a BulletSim: Fix single physical prim reporting its mass as zero. 
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.
 2012-12-24 08:56:02 -08:00
Robert Adams
30807b81cc BulletSim: modify avatar motor code to make falling movement better. Clean up some usages. Disable motor when done. 2012-12-22 17:09:40 -08:00
Robert Adams
750492796d BulletSim: begin movement of parameters from pinned memory block to variables all in managed code. Add note to TODO list to remember to do the rest. Other updates to TODO list. 2012-12-21 09:55:20 -08:00
Robert Adams
e73dac4deb BulletSim: angularMotorUp working again (seems a little slow as it takes longer than timescale to correct, but getting better). Disabled angularDeflection (need to resolve interactions between angular corrections). Update TODO list. 2012-12-20 10:19:16 -08:00
Robert Adams
cf89e29ac3 BulletSim: comments and TODO list update 2012-12-18 19:25:51 -08:00
Robert Adams
11532a4390 BulletSim: fix vehicles going underground when unsat. Problem was that, when doing unsit, the order of operations on the prims and the vehicle is very chaotic and not in a good order so the root prim was being left physical and thus it fell for a bit. Also changed default of velocity scaling to be closer to the movement standard. 2012-12-17 13:22:04 -08:00
Robert Adams
3f2aaffd4d BulletSim: add even more to the TODO list. 2012-12-16 21:19:13 -08:00