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a79bafaaaf3df2a0e1663bf9317ee53eb06db204
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73 Commits

Author SHA1 Message Date
Robert Adams
dd10cf01e7 BulletSim: add hinge constraint. 
Update BulletSimAPI with new constraint related function calls.
Reorganize locking in BS6DofConstraint.
Update BS6DofConstraint to do constraint reset correctly.
Add new 'midpoint' construction of 6Dof constraint.
 2012-08-15 12:08:21 -07:00
Robert Adams
9efe7bf7ba BulletSim: add locking to constraintCollection and rename some of the public method variables to reduce confusion between a physics scene and the real scene. 2012-08-15 12:08:17 -07:00
Robert Adams
68f112888b BulletSim: clean up detail logging by adding many more debug log statements and then commenting out most of the additions. 2012-08-15 12:08:13 -07:00
Robert Adams
b05a2fc4ed BulletSim: don't recreate mesh unless it needs it when rebuilding the hull. Make sure the collisionCollection is reallocated each tick to fix race condition of it being cleared while still in use. 2012-08-15 12:08:09 -07:00
Robert Adams
257446889b BulletSim: fix problem of a null reference exception on shutdown if there were linksets in the region. 2012-08-15 12:08:05 -07:00
Robert Adams
77a7758cf5 BulletSim: Refactor BSConstraintCollection to add a new RemoveAndDestroyConstraint(BSConstraint xx) 2012-08-15 12:08:01 -07:00
Robert Adams
c1c1d48af1 BulletSim: add BSConstraint.RecomputConstraintVariables for the recomputation after linksets changed, etc 2012-08-15 12:07:57 -07:00
Robert Adams
6f1f299619 BulletSim: Add the class BSCharacter to the DetailLog output 2012-08-15 12:07:53 -07:00
Robert Adams
11a4b9ec1d BulletSim: rework physics FPS calculation to make a more realistic number. 2012-08-15 12:07:49 -07:00
Robert Adams
0c7ce4fc98 BulletSim: many, many detailed logging messages for physical linkset 
debugging.
Linkset bugs fixed where accounting of children would get lost.
Moved scene based vehicle tracking logic from prim to the scene.
Added GetCollisionFlags2 method to BulletSimAPI.
Updated DLLs and SOs.
 2012-08-10 16:22:44 -07:00
Robert Adams
3ca770cd2c BulletSim: Add module names to DetailLog output. Fix some problems with linksets that were caused by checking data structures that are changed regularly from taint time code -- resulted in linksets not being unlinked properly. 2012-08-10 08:33:09 -07:00
Robert Adams
320982cae3 BulletSim: add an identifier to the TaintObject call so exceptions that happen when the taint is invoked can be debugged 2012-08-09 15:17:19 -07:00
Robert Adams
38e79b80a8 BulletSim: separate out the constraints by type. The linksets use 
6dof constraint but eventually others will be exposed so future
features can use all the Bullet capabilities.
Force children to generate a position update when unlinked.
 2012-08-09 15:01:05 -07:00
Robert Adams
5ab151c2d6 BulletSim: add avatar code to keep avatars from ending up trapped under the terrain 2012-08-08 13:48:49 -07:00
Robert Adams
19417fca41 BulletSim: Added avatar capsule scaling for size of avatar. 
This also fixes computation of avatar mass.
Added parameter MaxPersistantManifoldPoolSize.
Fixed a parameter setting bug which caused crashes of there were
  more than 400 or so physical objects. I tested up to 5000.
Updated BulletSim DLLs and SOs.
 2012-08-07 17:15:06 -07:00
Robert Adams
4adb3471ac BulletSim: update SOs and DLLs to run on more Linux versions. Correct multiple buoyancy settings when character flying. Remove chatty log message on prim destruction. 2012-08-06 12:55:52 -07:00
Robert Adams
e7ad6ed3a3 BulletSim: pass collision subscription information to the C++ code so collisions on objects that don't care are not reported up. 2012-08-03 15:09:56 -07:00
Robert Adams
ea36d4a4cf BulletSim: Add AddObjectForce to BulletSim API. 
Add interface 2 enhancements to BSCharacter.
Modify AddForce and SetForce to use the new Bullet interface.
More DetailLog statements for character.
 2012-08-03 15:09:52 -07:00
Robert Adams
8b04e8a297 BulletSim: Debugging log statements added. Reduced size of updata buffer trying to find a corrupted memory problem. Update DLL and SO. 2012-08-02 16:30:23 -07:00
Robert Adams
c51ef38e2d BulletSim: fix problem where resizing a primary shape (cube or sphere) would not rebuild the physics mesh. Update the DLLs and SOs to latest version. 2012-07-31 16:23:52 -07:00
Robert Adams
e38d26a2dc BulletSim: change boolean parameters in the shape data from int's to float's to be consistant with parameter data structure 2012-07-31 16:23:48 -07:00
Robert Adams
50dbb9ffe4 BulletSim: add parameters and API calls for setting ERP and CFM. 
Set ERP and CFM in linkset constraints.
Reorder rebuilding of object bodies so they are not rebuilt everytime
   something is linked and unlinked.
 2012-07-31 09:23:05 -07:00
Robert Adams
ce812c88cc BulletSim: fix a recursive loop when fetching the mass of the root of a linkset. 2012-07-26 16:06:00 -07:00
Robert Adams
7d30637d51 BulletSim: refactor all the linkset logic out of the prim class 
and into its own class. The BulletSim data structures track
individual prims as linksets of 1 so most of the prim code is not
different between a linked and unlinked object.
 2012-07-26 16:05:57 -07:00
Robert Adams
9ca1075e7e BulletSim: remove unused, commented out code in BSConstraint 2012-07-25 16:31:17 -07:00
Robert Adams
0a4c080e63 BulletSim: fix line endings in newly added files (Is it DOS or is it UNIX? Only it's hairdresser knows for sure) 2012-07-25 16:31:12 -07:00
Robert Adams
d7add2940a BulletSim: add parameters for setting linkset constraint factors 2012-07-25 16:31:08 -07:00
Robert Adams
75f7721b0c BulletSim: small change to use the pointer to the bullet object for zeroing forces. 2012-07-25 16:31:04 -07:00
Robert Adams
bf6529db32 BulletSim: Redo parameter specification so only one place has 
to change to have a parameter show up in the ini file and
command line. Will make it much easier for the next person.
 2012-07-25 16:30:59 -07:00
Robert Adams
2d05e16f7e BulletSim: Add C# classes for storing and tracking constraints. 2012-07-25 16:30:55 -07:00
Robert Adams
5707e171f4 BulletSim: Move constraint tracking from C++ code to C# code 
for more flexibility.
 2012-07-25 16:30:50 -07:00
Robert Adams
bf6547be01 BulletSim: change how prim mass is saved so it is always calculated but zero is given if not physical. 2012-07-23 16:32:47 -07:00
Robert Adams
dda681515b BulletSim: small optimizations for link and unlink code 2012-07-23 16:32:41 -07:00
Robert Adams
8a574395c7 BulletSim: add Dispose() code to free up resources and close log files. 2012-07-23 16:32:36 -07:00
Robert Adams
85c6eb7c50 BulletSim: add all the new functions to BulletSimAPI. 
Modify ZeroMotion() to not make tainting calls and to use new API calls.
 2012-07-23 16:32:30 -07:00
Robert Adams
73f9e14b43 BulletSim: improve linking to add each link individually rather than rebuilding the object each time. Makes it an O(n) operation rather than O(n\!). 2012-07-23 16:32:24 -07:00
Robert Adams
b25d874afa BulletSim: add reference to OpenSim.Region.CoreModules in BSScene.cs attempting to fix a mono compile error. 2012-07-20 15:34:19 -07:00
Robert Adams
ca3b6b1f90 BulletSim: more detail logging for vehicle and general physics debugging. 
Physical linksets are fully functional.
Tweeking of the vehicle code to make it semi-work.
Utilize the new API2 for some setting operations.
Add GetOrientation() API call for proper reporting of children of linksets.
Changes the interface between C# and C++ code so old DLLs won't work!
 2012-07-20 14:08:29 -07:00
Robert Adams
7451bb1613 BulletSim: fix compile errors from last commit. Clean up passing of physics scene into vehicle dynamics code. 2012-07-20 14:02:29 -07:00
Robert Adams
cda67a68de BulletSim: Add very detailed logging to BSDynamics for vehicle debugging 2012-07-20 14:02:27 -07:00
Robert Adams
c400918c84 BulletSim: Add PID variables to physical scene. Not PIDing yet, but soon. 
Cleaned up code and got rid of compile warnings.
 2012-07-20 14:02:24 -07:00
Robert Adams
f9913b6ef7 BulletSim: Add detailed and voluminous debug logging that is enabled 
with an ini configuration parameter.
Correct computation of relative offsets of children in a linkset.
Remove a prim from any link relationship before deleting it.
Minor code flow cleanups.
 2012-07-20 14:02:22 -07:00
Robert Adams
e4a6611865 Clean up collision reporting code so they are properly passed to 
the simulator in batches.
More comments.
 2012-07-06 15:09:19 -07:00
Robert Adams
872d513daa BulletSim: make avatar animations update properly. 
It seems that ODE calls the avatar collision handling routine even
if there are no collisions. This causes the animation to be updated.
So, for instance, going from HOVER to FLY is caused by the physics engine
calling the collision routine each frame with 0 collisions.
 2012-03-26 17:36:33 -07:00
Robert Adams
2fcdecf090 BulletSim: fix typo introducted by previous checkins (git merge sometimes makes mistakes) 2012-03-26 08:57:40 -07:00
Robert Adams
07388071d4 Merge branch 'bulletsim1' of ssh://island.sciencesim.com/home/sceneapi/radams1/bs-opensim into bulletsim1 
Conflicts:
	OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
 2012-03-23 16:20:53 -07:00
Robert Adams
ff54b3c366 BulletSim: change default of shouldDisableContactPoolDynamicAllocation from False to True. It seems that collisions don't happen well when it is False (things fall through terrain). 2012-03-23 15:50:32 -07:00
Robert Adams
3f53b7bc91 BulletSim: Add new configuration parameters to get and set console commands 2012-03-23 13:15:24 -07:00
Robert Adams
142de1d02f BulletSim: add a bunch of internal Bullet configuration parameters to OpenSimDefaults.ini and the code. 2012-03-23 13:15:23 -07:00
Robert Adams
1273f259e4 BulletSim: remove confusion between angularVelocity and rotationalVelocity (there is still confusion in the rest of OpenSim). Enhance some debug statements to include the object ID. 2012-03-23 13:15:22 -07:00