BulletSim: add classes for physics motors. Eventually these will replace the manual code for vehicles and add PID functionality to avatar movement.

1 files changed, 104 insertions, 0 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
new file mode 100755
index 0000000..bc6e4c4
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -0,0 +1,104 @@
+using System;

+using System.Collections.Generic;

+using System.Text;

+using OpenMetaverse;

+

+namespace OpenSim.Region.Physics.BulletSPlugin

+{

+public abstract class BSMotor

+{

+    public virtual void Reset() { }

+    public virtual void Zero() { }

+}

+// Can all the incremental stepping be replaced with motor classes?

+public class BSVMotor : BSMotor

+{

+    public Vector3 FrameOfReference { get; set; }

+    public Vector3 Offset { get; set; }

+

+    public float TimeScale { get; set; }

+    public float TargetValueDecayTimeScale { get; set; }

+    public Vector3 CurrentValueReductionTimescale { get; set; }

+    public float Efficiency { get; set; }

+

+    public Vector3 TargetValue { get; private set; }

+    public Vector3 CurrentValue { get; private set; }

+

+

+

+    BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)

+    {

+        TimeScale = timeScale;

+        TargetValueDecayTimeScale = decayTimeScale;

+        CurrentValueReductionTimescale = frictionTimeScale;

+        Efficiency = efficiency;

+    }

+    public void SetCurrent(Vector3 current)

+    {

+        CurrentValue = current;

+    }

+    public void SetTarget(Vector3 target)

+    {

+        TargetValue = target;

+    }

+    public Vector3 Step(float timeStep)

+    {

+        if (CurrentValue.LengthSquared() > 0.001f)

+        {

+            // Vector3 origDir = Target;       // DEBUG

+            // Vector3 origVel = CurrentValue;   // DEBUG

+

+            // Add (desiredVelocity - currentAppliedVelocity) / howLongItShouldTakeToComplete

+            Vector3 addAmount = (TargetValue - CurrentValue)/(TargetValue) * timeStep;

+            CurrentValue += addAmount;

+

+            float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;

+            TargetValue *= (1f - decayFactor);

+

+            Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep;

+            CurrentValue *= (Vector3.One - frictionFactor);

+        }

+        else

+        {

+            // if what remains of direction is very small, zero it.

+            TargetValue = Vector3.Zero;

+            CurrentValue = Vector3.Zero;

+

+            // VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);

+        }

+        return CurrentValue;

+    }

+}

+

+public class BSFMotor : BSMotor

+{

+    public float TimeScale { get; set; }

+    public float DecayTimeScale { get; set; }

+    public float Friction { get; set; }

+    public float Efficiency { get; set; }

+

+    public float Target { get; private set; }

+    public float CurrentValue { get; private set; }

+

+    BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency)

+    {

+    }

+    public void SetCurrent(float target)

+    {

+    }

+    public void SetTarget(float target)

+    {

+    }

+    public float Step(float timeStep)

+    {

+        return 0f;

+    }

+}

+public class BSPIDMotor : BSMotor

+{

+    // TODO: write and use this one

+    BSPIDMotor()

+    {

+    }

+}

+}