NINJA Physics - Revision history

MakoBot: Robot: Replacing 'OpenSim' to 'OpenSimulator', which is the precise name

2012-03-04T06:44:51Z

Robot: Replacing 'OpenSim' to 'OpenSimulator', which is the precise name

MakoBot: Robot: Cosmetic changes

2012-03-04T03:37:21Z

Robot: Cosmetic changes

Fritigern at 02:56, 7 September 2011

2011-09-07T02:56:26Z

MakoBot: Removed 'Template:' prefix from template includings and/or changed external-link into internal-link

2011-06-10T23:12:03Z

Removed 'Template:' prefix from template includings and/or changed external-link into internal-link

Fritigern: /* Quick start */

2010-12-17T07:07:57Z

‎Quick start

Fritigern: /* Definitions */

2010-12-17T05:45:06Z

‎Definitions

Fritigern: /* Definitions */

2010-12-17T05:28:56Z

‎Definitions

Fritigern: /* Quick start */

2010-12-17T05:24:18Z

‎Quick start

Fritigern: /* Definitions */ Wikified the emphasized words and made them bold so that they can be located easier. Also, maybe the wording should be changed to simpler, less technical English

2010-12-17T05:14:10Z

‎Definitions: Wikified the emphasized words and made them bold so that they can be located easier. Also, maybe the wording should be changed to simpler, less technical English

Ideia Boa at 22:49, 21 May 2009

2009-05-21T22:49:07Z

@@ Line 3: / Line 3: @@
 <br />
-= NINJA Physics: Networked INteractive Jointed Assemblies for OpenSim =
+= NINJA Physics: Networked INteractive Jointed Assemblies for OpenSimulator =
-This project proposes a new physics extension called NINJA Physics. The NINJA Physics extension enhances the ODE physics in OpenSim with joints: movable linkages between prims. This will allow wheeled vehicles, ragdolls, and mechanical/robotic assemblies to be interactively built within the standard viewer and controllable through scripting.
+This project proposes a new physics extension called NINJA Physics. The NINJA Physics extension enhances the ODE physics in OpenSimulator with joints: movable linkages between prims. This will allow wheeled vehicles, ragdolls, and mechanical/robotic assemblies to be interactively built within the standard viewer and controllable through scripting.
 A demonstration of the idea can be seen here: http://jp.youtube.com/watch?v=nirTXPO-opE
@@ Line 10: / Line 10: @@
 NINJA stands for a Networked INteractive Jointed Assembly. "Jointed Assembly" refers to an articulated rigid body. The "INteractive" aspect refers to interactive editing in 3D space of jointed assemblies using the viewer and intuitive 3D placement of joint objects as normal prims. The "Networked" aspect refers to many users simultaneously interacting with jointed assemblies in a networked virtual world.
-The core ODE physics engine already provides support for joints; it is OpenSim and the viewer that lack support. This project therefore aims to extend the OpenSim physics interface to access the ODE joint functionality. Furthermore, this project must also provide a means of creating and editing joints within the standard viewer, which has no native support for joints. In the future, viewer changes and protocol changes can be considered for native joint support.
+The core ODE physics engine already provides support for joints; it is OpenSimulator and the viewer that lack support. This project therefore aims to extend the OpenSimulator physics interface to access the ODE joint functionality. Furthermore, this project must also provide a means of creating and editing joints within the standard viewer, which has no native support for joints. In the future, viewer changes and protocol changes can be considered for native joint support.
 This new kind of physics, jointed physics, is separate from and complementary to the existing LSL script-based vehicles. Separate from NINJA Physics, other activity has recently accelerated on LSL script-based vehicles, with some water-based vehicles already working (e.g. sailboats). The new jointed/NINJA physics will allow more new kinds of vehicles not currently possible with scripting. Two example of new kinds of vehicles are cars with wheels that actually turn and rotate, and robots that walk by moving limbs.
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 == Quick start ==
 To try out NINJA Physics, follow these steps.
-# <s>Apply the patch ninja-allparts.patch to your OpenSim source tree and compile. Available at http://opensimulator.org/mantis/view.php?id=2874</s> I am happy to report that NINJA Physics is included in trunk SVN as of r7875, so update your repository and it should be available. '''Important note if NINJA Physics is not working for you:''' The NINJA Physics in SVN r7875 should work but requires C# 3.0. The NINJA Physics in r7878 does '''not work'''. If you use SVN r7878 or above, please apply the additional patch in Mantis #2928 at http://opensimulator.org/mantis/view.php?id=2928
+# <s>Apply the patch ninja-allparts.patch to your OpenSimulator source tree and compile. Available at http://opensimulator.org/mantis/view.php?id=2874</s> I am happy to report that NINJA Physics is included in trunk SVN as of r7875, so update your repository and it should be available. '''Important note if NINJA Physics is not working for you:''' The NINJA Physics in SVN r7875 should work but requires C# 3.0. The NINJA Physics in r7878 does '''not work'''. If you use SVN r7878 or above, please apply the additional patch in Mantis #2928 at http://opensimulator.org/mantis/view.php?id=2928
 <!-- This is a little confusing. Does NINJA Physics in versions over r7878 work, or not? Is the patch still needed in OpenSimulator 0.7.x? -->
 # Copy demo-playground.tgz to your opensim/bin directory. Available at http://forge.opensimulator.org/gf/download/frsrelease/142/304/demo-playground.tgz <!-- I assume that this is optional? If so, please update the text to reflect this -->
@@ Line 36: / Line 36: @@
 == Definitions ==
-* A '''joint''' is a constraint on the motion of rigid bodies. Currently we consider two types of joints: a ball-and-socket joint and a hinge joint. A ball-and-socket joint is similar to the joint connecting your upper arm to your shoulder; the joint constrains the position of the two bodies, but allows free rotation. A hinge joint is similar to a door hinge: it constrains the position of two bodies but allows rotation about only one axis, the hinge axis. By using joints, we can create complex assemblies of prims in OpenSim that move with realistically-constrained motion.
+* A '''joint''' is a constraint on the motion of rigid bodies. Currently we consider two types of joints: a ball-and-socket joint and a hinge joint. A ball-and-socket joint is similar to the joint connecting your upper arm to your shoulder; the joint constrains the position of the two bodies, but allows free rotation. A hinge joint is similar to a door hinge: it constrains the position of two bodies but allows rotation about only one axis, the hinge axis. By using joints, we can create complex assemblies of prims in OpenSimulator that move with realistically-constrained motion.
 * A '''Jointed Assembly''' is basically an object with joints. Or more accurately, several prims, who are connected by joints, and then made physical.
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 == Multi-user testing ==
-This hasn't been tested in a multi-user environment. Single-user testing revealed occasional deadlocks which should hopefully now all be solved, but multi-user testing may expose more corner cases. My hope is that interested users of the OpenSim community can help test various multi-user scenarios. It will also be interesting to see how network latency and server load affect the user experience.
+This hasn't been tested in a multi-user environment. Single-user testing revealed occasional deadlocks which should hopefully now all be solved, but multi-user testing may expose more corner cases. My hope is that interested users of the OpenSimulator community can help test various multi-user scenarios. It will also be interesting to see how network latency and server load affect the user experience.
 = Links =

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 A demonstration of the idea can be seen here: http://jp.youtube.com/watch?v=nirTXPO-opE
-NINJA stands for a Networked INteractive Jointed Assembly. "Jointed Assembly" refers to an articulated rigid body. The "INteractive" aspect refers to interactive editing in 3D space of jointed assemblies using the viewer and intuitive 3D placement of joint objects as normal prims.  The "Networked" aspect refers to many users simultaneously interacting with jointed assemblies in a networked virtual world.
+NINJA stands for a Networked INteractive Jointed Assembly. "Jointed Assembly" refers to an articulated rigid body. The "INteractive" aspect refers to interactive editing in 3D space of jointed assemblies using the viewer and intuitive 3D placement of joint objects as normal prims. The "Networked" aspect refers to many users simultaneously interacting with jointed assemblies in a networked virtual world.
 The core ODE physics engine already provides support for joints; it is OpenSim and the viewer that lack support. This project therefore aims to extend the OpenSim physics interface to access the ODE joint functionality. Furthermore, this project must also provide a means of creating and editing joints within the standard viewer, which has no native support for joints. In the future, viewer changes and protocol changes can be considered for native joint support.
@@ Line 36: / Line 36: @@
 == Definitions ==
-*A '''joint''' is a constraint on the motion of rigid bodies. Currently we consider two types of joints: a ball-and-socket joint and a hinge joint. A ball-and-socket joint is similar to the joint connecting your upper arm to your shoulder; the joint constrains the position of the two bodies, but allows free rotation. A hinge joint is similar to a door hinge: it constrains the position of two bodies but allows rotation about only one axis, the hinge axis. By using joints, we can create complex assemblies of prims in OpenSim that move with realistically-constrained motion.
+* A '''joint''' is a constraint on the motion of rigid bodies. Currently we consider two types of joints: a ball-and-socket joint and a hinge joint. A ball-and-socket joint is similar to the joint connecting your upper arm to your shoulder; the joint constrains the position of the two bodies, but allows free rotation. A hinge joint is similar to a door hinge: it constrains the position of two bodies but allows rotation about only one axis, the hinge axis. By using joints, we can create complex assemblies of prims in OpenSim that move with realistically-constrained motion.
-*A '''Jointed Assembly''' is basically an object with joints. Or more accurately, several prims, who are connected by joints, and then made physical.
+* A '''Jointed Assembly''' is basically an object with joints. Or more accurately, several prims, who are connected by joints, and then made physical.
-*A '''joint proxy object''', also called a '''joint prim''', is a prim created in the viewer and existing within the region to represent a joint. Its position, relative to the prims it affects, defines the position around which the affected prims' movement will be constrained. For hinge joints, the orientation of the joint proxy object defines the hinge axis; specifically, the x-axis of the proxy object is defined as the axis about which the connected prims will be allowed to rotate. A joint prim only affects the physics simulation if the joint prim's "[x] Physical" property is activated.
+* A '''joint proxy object''', also called a '''joint prim''', is a prim created in the viewer and existing within the region to represent a joint. Its position, relative to the prims it affects, defines the position around which the affected prims' movement will be constrained. For hinge joints, the orientation of the joint proxy object defines the hinge axis; specifically, the x-axis of the proxy object is defined as the axis about which the connected prims will be allowed to rotate. A joint prim only affects the physics simulation if the joint prim's "[x] Physical" property is activated.
-*A '''physics engine joint''' is the data structure within the physics engine that actually constrains the behavior of the rigid bodies as simulated in the simulator. The physics engine joint is initially specified by and later visualized by the joint prim. <!-- This sounds like that this is the joint behavior from a developer's point of view. If this is true, then perhaps this bit should be in the Developers section -->
+* A '''physics engine joint''' is the data structure within the physics engine that actually constrains the behavior of the rigid bodies as simulated in the simulator. The physics engine joint is initially specified by and later visualized by the joint prim. <!-- This sounds like that this is the joint behavior from a developer's point of view. If this is true, then perhaps this bit should be in the Developers section -->
-*'''Activating/Deactivating''' is when you make a jointed object physical or non-physical respectively.
+* '''Activating/Deactivating''' is when you make a jointed object physical or non-physical respectively.
 == Enabling NINJA Physics in OpenSim.ini ==
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 In OpenSim.ini, set "physics = OpenDynamicsEngine" and "use_NINJA_physics_joints = true".
 == Creating a ball-and-socket joint ==
-Create two box prims side-by-side with space in between them.  Leave them non-physical for now. Give each one a unique name  (right click, edit, General tab, Name). Example names are  "box1" and "box2". Leave the dimensions at (0.5, 0.5, 0.5).  These 2 prims will be connected by a ball joint.
+Create two box prims side-by-side with space in between them. Leave them non-physical for now. Give each one a unique name (right click, edit, General tab, Name). Example names are "box1" and "box2". Leave the dimensions at (0.5, 0.5, 0.5). These 2 prims will be connected by a ball joint.
-Create a small sphere. Make its dimensions something like  (0.1, 0.1, 0.1). This prim represents a ball-and-socket joint.  Position the sphere between the 2 boxes. Assign the small sphere the name of "balljoint-uniquename", where "uniquename" is a unique name not used by any other prim. Give the sphere a Description of "box1 box2", which are the names of the 2 prims to be connected, separated by a space.
+Create a small sphere. Make its dimensions something like (0.1, 0.1, 0.1). This prim represents a ball-and-socket joint. Position the sphere between the 2 boxes. Assign the small sphere the name of "balljoint-uniquename", where "uniquename" is a unique name not used by any other prim. Give the sphere a Description of "box1 box2", which are the names of the 2 prims to be connected, separated by a space.
 Close all windows in the viewer. Press Ctrl+3 to enter edit mode. Drag the mouse to highlight the 2 boxes to be connected and the small sphere.
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 Drag the boxes around and notice they remain connected by a joint.
 == Creating a hinge joint ==

← Older revision		Revision as of 02:56, 7 September 2011
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	= Links =		= Links =
	* GForge project homepage http://forge.opensimulator.org/gf/project/ninjaphysics/		* GForge project homepage http://forge.opensimulator.org/gf/project/ninjaphysics/
		+
		+	[[Category:Scripting]]
		+	[[Category:Development]]

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 __NOTOC__
-{{Template:Quicklinks}}
+{{Quicklinks}}
 <br />

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 # Copy demo-playground.tgz to your opensim/bin directory. Available at http://forge.opensimulator.org/gf/download/frsrelease/142/304/demo-playground.tgz <!-- I assume that this is optional? If so, please update the text to reflect this -->
 # Edit OpenSim.ini to run in standalone mode with ODE physics. Set use_NINJA_physics_joints=true.
-# Start OpenSim.exe. In the region console type load-oar demo-playground.tgz to load demo data.
+# Start OpenSim.exe. In the region console type '''''load oar demo-playground.tgz''''' to load demo data.
 # Login to the region and navigate to (128,128). Select all prims in the swing object (Ctrl+3, mouse drag). If you have a powerful CPU, you can also select everything in the region, but note that processing joints takes some CPU power, so you may want to select a smaller group of objects to start.
 # In the object editing window, click on the "Physical" checkbox in the "Object" tab to turn the selection physical, then press ESC to exit selection mode. The prims and the joints go "live".

← Older revision		Revision as of 05:45, 17 December 2010
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	*A '''joint''' is a constraint on the motion of rigid bodies. Currently we consider two types of joints: a ball-and-socket joint and a hinge joint. A ball-and-socket joint is similar to the joint connecting your upper arm to your shoulder; the joint constrains the position of the two bodies, but allows free rotation. A hinge joint is similar to a door hinge: it constrains the position of two bodies but allows rotation about only one axis, the hinge axis. By using joints, we can create complex assemblies of prims in OpenSim that move with realistically-constrained motion.		*A '''joint''' is a constraint on the motion of rigid bodies. Currently we consider two types of joints: a ball-and-socket joint and a hinge joint. A ball-and-socket joint is similar to the joint connecting your upper arm to your shoulder; the joint constrains the position of the two bodies, but allows free rotation. A hinge joint is similar to a door hinge: it constrains the position of two bodies but allows rotation about only one axis, the hinge axis. By using joints, we can create complex assemblies of prims in OpenSim that move with realistically-constrained motion.
		+
		+	*A '''Jointed Assembly''' is basically an object with joints. Or more accurately, several prims, who are connected by joints, and then made physical.

	*A '''joint proxy object''', also called a '''joint prim''', is a prim created in the viewer and existing within the region to represent a joint. Its position, relative to the prims it affects, defines the position around which the affected prims' movement will be constrained. For hinge joints, the orientation of the joint proxy object defines the hinge axis; specifically, the x-axis of the proxy object is defined as the axis about which the connected prims will be allowed to rotate. A joint prim only affects the physics simulation if the joint prim's "[x] Physical" property is activated.		*A '''joint proxy object''', also called a '''joint prim''', is a prim created in the viewer and existing within the region to represent a joint. Its position, relative to the prims it affects, defines the position around which the affected prims' movement will be constrained. For hinge joints, the orientation of the joint proxy object defines the hinge axis; specifically, the x-axis of the proxy object is defined as the axis about which the connected prims will be allowed to rotate. A joint prim only affects the physics simulation if the joint prim's "[x] Physical" property is activated.

← Older revision		Revision as of 22:49, 21 May 2009
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		+	__NOTOC__
		+	{{Template:Quicklinks}}
		+	<br />
		+
	= NINJA Physics: Networked INteractive Jointed Assemblies for OpenSim =		= NINJA Physics: Networked INteractive Jointed Assemblies for OpenSim =
	This project proposes a new physics extension called NINJA Physics. The NINJA Physics extension enhances the ODE physics in OpenSim with joints: movable linkages between prims. This will allow wheeled vehicles, ragdolls, and mechanical/robotic assemblies to be interactively built within the standard viewer and controllable through scripting.		This project proposes a new physics extension called NINJA Physics. The NINJA Physics extension enhances the ODE physics in OpenSim with joints: movable linkages between prims. This will allow wheeled vehicles, ragdolls, and mechanical/robotic assemblies to be interactively built within the standard viewer and controllable through scripting.