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13118 Commits

Author SHA1 Message Date
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
4914d6c0ea Resolve Mantis 6480 (http://opensimulator.org/mantis/view.php?id=6480) 
by reversing the sign on the recoil computation and adding a
[XEngine]RecoilScaleFactor parameter which defaults to zero.
Testing in SL seems to show that there is not a recoil action there.
Or, at least, it is very small. If someone knows how small, the default
for the scale factor should be changed.
 2012-12-31 19:57:20 -08:00
Robert Adams
26f364cc5d Comment out test messages that go directly to the console. 2012-12-31 19:57:20 -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
fdf8732cd7 ScenePresence passes the avatar rotation down to the physics engine. This will be a no-op for ODE but enables asymmetrical avatars for BulletSim. 2012-12-28 16:29:16 -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
5afab9bcfe Add check to always push terse updates for presences that have new velocities of zero. 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
teravus
29cdf0f3dd * Merges BulletSim Updates to BulletSimN(BulletSNPlugin) 2012-12-18 15:00:10 -05:00
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
teravus
9318870607 * Update BulletSimN terrain implementation to default to Heightfield, it's less CPU intensive. 2012-12-23 16:17:18 -05:00
teravus
92e4f9f412 * Initial commit of BulletSimN (BulletSNPlugin). Purely C# implementation of BulletSim. This is designed to be /as close as possible/ to the BulletSim plugin while still being entirely in the managed space to make keeping it up to date easy as possible (no thinking work). This implementation is /slower/ then the c++ version just because it's fully managed, so it's not appropriate for huge sims, but it will run small ones OK. At the moment, it supports all known features of BulletSim. Think of it like.. POS but everything works. To use this plugin, set the physics plugin to BulletSimN. 2012-12-23 15:21:25 -05:00
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
Robert Adams
2e3e95e846 BulletSim: small fix to avatar movement motor use which keeps avatar from flying up forever. This doesn't fix the overall problem but keeps avatar flying from being totally unusable. 2012-12-21 10:04:12 -08:00
Robert Adams
8c99f63239 BulletSim: avatar movement smoothed with motor that modifies avatar velocity to target velocity. Fails in incorporating physical world effects (gravity) so avatar doesn't fly correctly. 2012-12-21 10:00:03 -08:00
Robert Adams
b4f8a05e9a BulletSim: Better detail logging of VMotor actions. 2012-12-21 09:56:31 -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
9d2f569d60 BulletSim: fix incorrectly defined property changed flag. 2012-12-20 16:06:52 -08:00
Robert Adams
e522bdb96a BulletSim: Check for unspecified TimeScale in BSVMotor and don't scale if not specified. Add test dump routine. Don'e zero current and target values when error goes to zero as the values could be used externally to store the actual target values, etc. 2012-12-20 16:05:33 -08:00
Robert Adams
a5b2539cf9 BulletSim: replace use of funky nullable values for vehicle property update control (m_known* stuff). Bitmaps will be quicker to test and to clear. 2012-12-20 10:32:33 -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
b7ad44e3a6 BulletSim: reorganize motor step code to separate error computation allowing subclass for PID error correction. 2012-12-20 08:35:36 -08:00
Robert Adams
a9b9c0f035 BulletSim: improve angularVerticalAttraction calculation to compute angular correction velocity rather than estimating correction (excuse to use trig functions). 2012-12-18 23:05:59 -08:00
Robert Adams
7b84bcfbb8 BulletSim: initial implementation of a PID motor. Not hooked up yet. 2012-12-18 22:59:59 -08:00
Robert Adams
cf89e29ac3 BulletSim: comments and TODO list update 2012-12-18 19:25:51 -08:00
Robert Adams
d15bfcf614 Replace axis rotation numeric constants (STATUS_ROTATE_XYZ) with symbols. Also made it so llSetStatus() can individually enable disable rotation axi using the bitmask of flags. 2012-12-18 19:25:40 -08:00