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527 Commits

Author SHA1 Message Date
Robert Adams
d0c7f7f050 BulletSim: add some features to the PID motor to make it more flexible. 2013-01-04 17:06:51 -08:00
Robert Adams
613f516007 BulletSim: convert avatar movement from a force to an impulse. Shouldn't 
change functionality but removes an oddity in computing the force.
 2013-01-04 17:06:50 -08:00
Robert Adams
2c6b269b6e BulletSim: add initial implementation of llMoveToTarget and hover height. 
Not all there yet.
 2013-01-04 17:06:50 -08:00
Robert Adams
5432180027 BulletSim: reorganize motor code a little to pull together common functions. 
Add BSFMotor.
 2013-01-04 17:06:50 -08:00
Robert Adams
44492b3a49 BulletSim: add comments to force and impulse setting functions 
so it is clear what Bullet is actually doing with the set values.
 2013-01-04 17:06:49 -08:00
Robert Adams
92a6958b6d BulletSim: fix problem where pre-step actions would not replaced 
by new registrations thus causing multiple instances of an action.
 2013-01-04 17:06:49 -08:00
Robert Adams
2eda385f5e BulletSim: add ResetBroadphasePool and ResetConstraintSolver diagnostic 
functions. If values set from console, the functions are called. Looking
for why the collision pools fill up with unnecessary stuff.
 2013-01-04 17:06:48 -08:00
Robert Adams
aa236b2020 BulletSim: add parameter to have Bullet output performance statistics 
every so many frames. Default to off.
 2013-01-01 17:27:34 -08:00
Robert Adams
b14b65ea95 BulletSim: move selection of the unmanaged Bullet DLL from BSPlugin 
into the unmanaged Bullet interface class.
 2013-01-01 17:27:33 -08:00
Robert Adams
9d840fd2ee BulletSim: move over and port the interface for BulletXNA. 
Copied BulletSNPlugin.BulletSimAPI to a new
BulletSPlugin.BSAPIXNA.cs and then modifyed the latter to
comply with the BSAPITemplate definition. Not totally debugged
but the code is all there for an INI variable to select either
unmanaged C++ Bullet or the C# version of Bullet.
 2013-01-01 17:27:33 -08:00
Robert Adams
0662d109c2 BulletSim: fix line endings. 2013-01-01 17:27:33 -08:00
Robert Adams
04132d3af4 BulletSim: subclass Bullet[World|Body|Shape|Constraint] for unmanaged 
to have pointers and managed to have objects.
Initial paste of XNA code. Commented out.
 2013-01-01 17:27:32 -08:00
Robert Adams
db3b6e8921 BulletSim: remove unused unmanaged memory reference functions from BSAPITemplate. 2012-12-31 19:57:26 -08:00
Robert Adams
6988b5ceaf BulletSim: remove rigid body contruction functions from BSAPITemplate that relied on prebuilt construction info structures. 2012-12-31 19:57:25 -08:00
Robert Adams
9396ccc078 BulletSim: eliminate the use of the unmanaged HeightMapInfo structure. 
Remove all related calls from the unmanaged and BSAPITemplate interfaces.
Update DLLs and SOs to include the version without HeightMapInfo structures.
 2012-12-31 19:57:25 -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
c2a7af18b6 BulletSim: nearly complete in conversion from BulletSimAPI to BSAPITemplate. Only initialization and debug fuctions left. 2012-12-31 19:57:23 -08:00
Robert Adams
5379d6d112 BulletSim: remove all the debug printing of pointer formatting (.ToString(X)) and replace it with a method on BulletBody, BulletShape, ... 2012-12-31 19:57:22 -08:00
Robert Adams
9218748321 BulletSim: another round of conversion: dynamics world and collision object functions. 2012-12-31 19:57:22 -08:00
Robert Adams
9fd0e1b080 BulletSim: add the implementation files for the two versions of Bullet: 
unmanaged (C++) and managed (C#).
 2012-12-31 19:57:21 -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
28a8949b9f BulletSim: remove check for small motor movement because, while it 
did the right thing for stopping (speed reducing to zero), it prevented
movement from starting (speed increasing from zero). Will revisit
when the generalize PID motor is debugged.
 2012-12-29 10:19:47 -08:00
Robert Adams
0538096fa3 BulletSim: an 'if' to suppress multiple setting of avatar orientation. 
Looks like the viewer bombards the server with avatar orientation
information (we're talking several hundred a second) when the avatar
is being turned or when walking. This change just reduces the number
of 'set' calls into unmanaged code.
 2012-12-29 08:32:57 -08:00
Robert Adams
db6c0363f0 BulletSim: tweeking avatar capsule code in an attempt to have 
asymmetrical avatar capsule work now that rotation is being passed
from the simulator. Turns out the Bullet capsule is just not very
functional: it doesn't scale properly, the implementation only half
does asymmetry and, in general, is hard to work with.
Avatar shape is about what it was before these changes.
Added initial data structures for avatar shape mesh.
 2012-12-29 08:03:57 -08:00
Robert Adams
7266eeca6e BulletSim: add 'AvatarAlwaysRunFactor' parameter and use in setTargetVelocity 
to implement the 'always run' feature.
 2012-12-28 12:01:57 -08:00
Robert Adams
70e0a86601 BulletSim: fix problem of avatars appearing to walk through walls 
by moving the movement motor to a pre-step action and out of its
questionable previous home in UpdateProperties.
 2012-12-28 11:56:07 -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
422f0fd6ec BulletSim: fix physical object not interacting with static objects. 
Another instance of the underlying Bullet doing, ah, helpful things
when items are added to the world.
 2012-12-27 22:12:28 -08:00
Robert Adams
c1e7539c77 BulletSim: Parameterize nominal frame rate (55) and add parameters to dynamially turn on/off detailed, unmanaged data dumping of prims and vehicles. 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
7230990679 BulletSim: fix odd code that wasn't really recomputing the mass of a 
rebuilt linkset. I was burnt by making get/set methods with side
effects. I should know better.
 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
e98e223927 BulletSim: complete applyImpulse function in BSCharacter (like I said 
I did last time).
 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
5f71ee57c4 BulletSim: stop avatar from sliding VERY slowly after walking by 
only zeroing the movement motor in the UpdateProperties routine.
 2012-12-25 23:54:10 -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
4759a8acee BulletSim: Default avatar density changed to 3.5 which is WAY closer 
to the SL value.
Fixed frictin values for physical materials which were just wrong
which caused things that should have slipped to not.
 2012-12-24 20:16:10 -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
144322a7c9 BulletSim: remove post step one-time taints (doesn't make any sense). Rename pre and post step event invocation routines to Trigger* to be consistant. Remove old, unused code. 2012-12-22 17:07:52 -08:00
Robert Adams
16e49035f7 BulletSim: add Enabled parameter and operation to motors. 2012-12-22 17:06:13 -08:00
Robert Adams
5b2cbc0ae6 BulletSim: remove all special vehicle code from BSScene. Replace per-frame updates for vehicles with per-frame action registration. One fewer special case. 2012-12-21 23:24:31 -08:00
Robert Adams
a54392d7cc BulletSim: remove the movement decay while flying. Made flying slow down over time. 2012-12-21 23:05:05 -08:00
Robert Adams
37fb691ba5 BulletSim: Fix llApplyImpulse so it works after the first impulse. The problem was Bullet deactivating the object between the pushes (when, as far as the physics engine is concerned, it isn't moving). 2012-12-21 23:03:27 -08:00
Robert Adams
3d659fe97d BulletSim: add BSPhysObject code to manage registrations of preStep events. Use same to implement setForce and setTorque so the values are restored at the beginning of each step (since Bullet zeros forces applied last step). Simplify implementation of AddForce and AddTorque by relying on the addition of forces in Bullet. 2012-12-21 17:27:53 -08:00
Robert Adams
6dbf9c8ed4 BulletSim: repair vehicle problems introduced in previous 'improvements'. Fix line endings in BSParams. 2012-12-21 15:21:32 -08:00
Robert Adams
ae4d932e7f BulletSim: Move all the parameter variables, tables and get and fetch logic to a separate, static class for easier addition and to remove all that bulk from the BSScene class. 2012-12-21 13:35:44 -08:00