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eedefdc5ff17f52c106d6832bc0cd8c596aefe62
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73 Commits

Author SHA1 Message Date
Robert Adams
eedefdc5ff BulletSim: rearrange code for sensing whether shapes have been 
constructed.
Add routine to check for failed and use that method rather than
    checking individual state.
 2014-08-02 00:58:27 +01:00
Robert Adams
db17f98c6f BulletSim: rearrange code to prevent using null pointers when a 
child mesh is not available when building a linkset.
 2014-08-02 00:54:54 +01:00
Robert Adams
03c6d2b0b4 BulletSim: stop processing linkset child when it is discovered that the 
child doesn't have a physical shape. Another attempt at fixing Mantis 7191.
 2014-08-02 00:49:28 +01:00
Robert Adams
901602411c BulletSim: fix exceptions while rebuilding linksets with mesh children. 
This should get around the exception reported in Mantis 7191 and 7204
by checking for the unbuilt child and rebuilding the linkset the next tick.
A warning message is output when this rebuild happens and this message is
clamped to 10 times in case there is a problem with a loop.
 2014-06-10 20:29:05 +01:00
Oren Hurvitz
998d7009a6 Eliminated many warnings 2014-04-23 16:37:36 +03:00
Robert Adams
dff0fb5690 BulletSim: Linkset.Refresh() calls internal ScheduleRebuild() to recreate the linkset physics at next PostTaint time. Replace the existing calls to ScheduleRebuild to be calls to Refresh(). This allows external routines to make changes to parameters and then cause the linkset to rebuild. 2013-09-11 09:11:46 -07:00
Robert Adams
725751fd6c BulletSim: fixes for change linkset implementation of physical linksets. 2013-09-11 09:11:34 -07:00
Robert Adams
24df15dab7 BulletSim: add implementation of 'physSetLinksetType' and 'physGetLinksetType' 
and processing routines in BulletSim.
Add linkset rebuild/conversion routine in BSLinkset.
 2013-08-02 09:47:12 -07:00
Robert Adams
5bcccfc305 BulletSim: add BSLinkInfo structure to remember link specific information 
for each link in a linkset.
Extend BSLinksetConstraint to create and use BSLinkInfo with the default
static constraint.
 2013-08-02 09:47:11 -07:00
Robert Adams
0d189165a8 BulletSim: distribute vehicle physical settings to all members of 
a linkset. Enables constraint based linksets.
Rename some internal variables to clarify whether values world or
vehicle relative.
 2013-07-30 15:23:33 -07:00
Robert Adams
f499b328c4 Revert "Revert "BulletSim: Add logic to linksets to change physical properties for"" 
Found that the vehicle movement problem was not caused by these physics changes.

This reverts commit 84d0699761.
 2013-07-23 08:14:20 -07:00
Robert Adams
af9deed135 Revert "Revert "BulletSim: freshen up the code for constraint based linksets."" 
Found that the vehicle movement problem was not caused by these physics changes.

This reverts commit 44543ebe63.
 2013-07-23 08:11:21 -07:00
Robert Adams
44543ebe63 Revert "BulletSim: freshen up the code for constraint based linksets." 
The changes don't seem to be ready for prime time.

This reverts commit 803632f8f3.
 2013-07-22 12:10:23 -07:00
Robert Adams
84d0699761 Revert "BulletSim: Add logic to linksets to change physical properties for" 
The changes don't seem to be ready for prime time.

This reverts commit b44f0e1a00.
 2013-07-22 12:07:42 -07:00
Robert Adams
b44f0e1a00 BulletSim: Add logic to linksets to change physical properties for 
whole linkset.
Override physical property setting for BSLinksetCompound as there are
not children to the compound spape.
 2013-07-22 10:27:24 -07:00
Robert Adams
803632f8f3 BulletSim: freshen up the code for constraint based linksets. 2013-07-22 10:27:06 -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
97698ae311 BulletSim: More tweaking on center-of-mass. Almost there. Changes have no effect if LinksetOffsetCenterOfMass=false (the default). 2013-07-06 08:25:15 -07:00
Robert Adams
03268d85c4 BulletSim: comments and non-functional changes working toward the center-of-gravity implementation. 2013-07-06 08:25:14 -07:00
Robert Adams
425d2a2a97 BulletSim: set linkset type to be prim specific rather than a simulator 
wide default. This allows individual prims to differ in the
underlying linkset implementation.
 2013-06-30 17:07:50 -07:00
Robert Adams
ddd97cb78e BulletSim: normalize quaternian rotations when building compound linksets. 
Attempt to fix vehicles being twisted off the ground when they go physical.
 2013-05-06 18:06:34 -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
0378baed35 BulletSim: rework LinksetCompound to work with new BSShape system. 
Not all working yet.
 2013-05-01 17:15:54 -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
15a3f80e2e BulletSim: LinksetCompound work to disable collision for root and 
child prims so compound shape can do all collisions.
Don't try to build a compound linkset for non-physical linksets.
Remove and replace root body when compound shape is added so collision
cache is rebuilt.
 2013-04-29 17:30:38 -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
21ec434688 BulletSim: first cut at new linksetCompound shape building. 2013-04-29 07:38:51 -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
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
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
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
05adf4b30f BulletSim: disable center-of-mass computation because it does not work yet 2013-01-27 12:50:06 -08:00
Robert Adams
36f401d850 BulletSim: parameterize the value for gravity reduction for ground vehicles on the ground. Set defaults for vehicle factors to one. Debug logging changes. 2013-01-27 12:50:05 -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
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
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
181d4c6fcb BulletSim: temporarily disable banking and direction deflection 
because the computations are wrong.
Add VehicleTorqueImpulse routines.
 2013-01-15 02:58:14 -08:00
Robert Adams
8bf0a9f85d BulletSim: disable center-of-mass computation for linksets until debugged. Move physical prim above ground if it is underground. Previously tried to correct by applying and up force but the prim would never go through the ground. 2013-01-14 07:50:58 -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
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