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author | Robert Adams | 2012-11-25 20:03:36 -0800 |
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committer | Robert Adams | 2012-11-25 20:04:33 -0800 |
commit | 084e3926ca4c344279935f1bce3173c8f6e8258a (patch) | |
tree | 2a6d442f2264061be5e86ed0bd27cec4737e0846 /OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | |
parent | BulletSim: up the vehicle angular damping to 0.95. Still trying to overcome t... (diff) | |
download | opensim-SC-084e3926ca4c344279935f1bce3173c8f6e8258a.zip opensim-SC-084e3926ca4c344279935f1bce3173c8f6e8258a.tar.gz opensim-SC-084e3926ca4c344279935f1bce3173c8f6e8258a.tar.bz2 opensim-SC-084e3926ca4c344279935f1bce3173c8f6e8258a.tar.xz |
BulletSim: use m_angularMotor to do the basic movement. Add the setting of same. Rename the angular forces and add comments to match MoveAngular to the form of MoveLinear.
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 124 |
1 files changed, 64 insertions, 60 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 7757584..95a4134 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | |||
@@ -93,6 +93,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
93 | // private Vector3 m_linearMotorOffset = Vector3.Zero; | 93 | // private Vector3 m_linearMotorOffset = Vector3.Zero; |
94 | 94 | ||
95 | //Angular properties | 95 | //Angular properties |
96 | private BSVMotor m_angularMotor = new BSVMotor("AngularMotor"); | ||
96 | private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor | 97 | private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor |
97 | // private int m_angularMotorApply = 0; // application frame counter | 98 | // private int m_angularMotorApply = 0; // application frame counter |
98 | private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity | 99 | private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity |
@@ -153,9 +154,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
153 | break; | 154 | break; |
154 | case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: | 155 | case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: |
155 | m_angularMotorDecayTimescale = Math.Max(0.01f, Math.Min(pValue,120)); | 156 | m_angularMotorDecayTimescale = Math.Max(0.01f, Math.Min(pValue,120)); |
157 | m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale; | ||
156 | break; | 158 | break; |
157 | case Vehicle.ANGULAR_MOTOR_TIMESCALE: | 159 | case Vehicle.ANGULAR_MOTOR_TIMESCALE: |
158 | m_angularMotorTimescale = Math.Max(pValue, 0.01f); | 160 | m_angularMotorTimescale = Math.Max(pValue, 0.01f); |
161 | m_angularMotor.TimeScale = m_angularMotorTimescale; | ||
159 | break; | 162 | break; |
160 | case Vehicle.BANKING_EFFICIENCY: | 163 | case Vehicle.BANKING_EFFICIENCY: |
161 | m_bankingEfficiency = Math.Max(-1f, Math.Min(pValue, 1f)); | 164 | m_bankingEfficiency = Math.Max(-1f, Math.Min(pValue, 1f)); |
@@ -203,10 +206,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
203 | // set all of the components to the same value | 206 | // set all of the components to the same value |
204 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: | 207 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: |
205 | m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); | 208 | m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); |
209 | m_angularMotor.FrictionTimescale = m_angularFrictionTimescale; | ||
206 | break; | 210 | break; |
207 | case Vehicle.ANGULAR_MOTOR_DIRECTION: | 211 | case Vehicle.ANGULAR_MOTOR_DIRECTION: |
208 | m_angularMotorDirection = new Vector3(pValue, pValue, pValue); | 212 | m_angularMotorDirection = new Vector3(pValue, pValue, pValue); |
209 | // m_angularMotorApply = 100; | 213 | m_angularMotor.SetTarget(m_angularMotorDirection); |
210 | break; | 214 | break; |
211 | case Vehicle.LINEAR_FRICTION_TIMESCALE: | 215 | case Vehicle.LINEAR_FRICTION_TIMESCALE: |
212 | m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); | 216 | m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); |
@@ -231,6 +235,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
231 | { | 235 | { |
232 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: | 236 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: |
233 | m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); | 237 | m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); |
238 | m_angularMotor.FrictionTimescale = m_angularFrictionTimescale; | ||
234 | break; | 239 | break; |
235 | case Vehicle.ANGULAR_MOTOR_DIRECTION: | 240 | case Vehicle.ANGULAR_MOTOR_DIRECTION: |
236 | // Limit requested angular speed to 2 rps= 4 pi rads/sec | 241 | // Limit requested angular speed to 2 rps= 4 pi rads/sec |
@@ -238,7 +243,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
238 | pValue.Y = Math.Max(-12.56f, Math.Min(pValue.Y, 12.56f)); | 243 | pValue.Y = Math.Max(-12.56f, Math.Min(pValue.Y, 12.56f)); |
239 | pValue.Z = Math.Max(-12.56f, Math.Min(pValue.Z, 12.56f)); | 244 | pValue.Z = Math.Max(-12.56f, Math.Min(pValue.Z, 12.56f)); |
240 | m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); | 245 | m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); |
241 | // m_angularMotorApply = 100; | 246 | m_angularMotor.SetTarget(m_angularMotorDirection); |
242 | break; | 247 | break; |
243 | case Vehicle.LINEAR_FRICTION_TIMESCALE: | 248 | case Vehicle.LINEAR_FRICTION_TIMESCALE: |
244 | m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); | 249 | m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); |
@@ -358,10 +363,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
358 | m_bankingMix = 1; | 363 | m_bankingMix = 1; |
359 | 364 | ||
360 | m_referenceFrame = Quaternion.Identity; | 365 | m_referenceFrame = Quaternion.Identity; |
361 | m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); | 366 | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
362 | m_flags &= | 367 | | VehicleFlag.HOVER_TERRAIN_ONLY |
363 | ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | | 368 | | VehicleFlag.HOVER_GLOBAL_HEIGHT |
364 | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); | 369 | | VehicleFlag.HOVER_UP_ONLY); |
370 | m_flags |= (VehicleFlag.NO_DEFLECTION_UP | ||
371 | | VehicleFlag.LIMIT_ROLL_ONLY | ||
372 | | VehicleFlag.LIMIT_MOTOR_UP); | ||
365 | break; | 373 | break; |
366 | case Vehicle.TYPE_CAR: | 374 | case Vehicle.TYPE_CAR: |
367 | m_linearMotorDirection = Vector3.Zero; | 375 | m_linearMotorDirection = Vector3.Zero; |
@@ -521,8 +529,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
521 | // Update any physical parameters based on this type. | 529 | // Update any physical parameters based on this type. |
522 | Refresh(); | 530 | Refresh(); |
523 | 531 | ||
524 | m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, m_linearMotorDecayTimescale, m_linearFrictionTimescale, 1f); | 532 | m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, |
533 | m_linearMotorDecayTimescale, m_linearFrictionTimescale, 1f); | ||
525 | m_linearMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) | 534 | m_linearMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) |
535 | m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, | ||
536 | m_angularMotorDecayTimescale, m_angularFrictionTimescale, 1f); | ||
537 | m_angularMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) | ||
538 | |||
539 | // m_bankingMotor = new BSVMotor("BankingMotor", ...); | ||
526 | } | 540 | } |
527 | 541 | ||
528 | // Some of the properties of this prim may have changed. | 542 | // Some of the properties of this prim may have changed. |
@@ -577,26 +591,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
577 | if (!IsActive) return; | 591 | if (!IsActive) return; |
578 | 592 | ||
579 | MoveLinear(pTimestep); | 593 | MoveLinear(pTimestep); |
580 | // Commented out for debug | ||
581 | MoveAngular(pTimestep); | 594 | MoveAngular(pTimestep); |
582 | // Prim.ApplyTorqueImpulse(-Prim.RotationalVelocity * m_vehicleMass, false); // DEBUG DEBUG | ||
583 | // Prim.ForceRotationalVelocity = -Prim.RotationalVelocity; // DEBUG DEBUG | ||
584 | 595 | ||
585 | LimitRotation(pTimestep); | 596 | LimitRotation(pTimestep); |
586 | 597 | ||
587 | // remember the position so next step we can limit absolute movement effects | 598 | // remember the position so next step we can limit absolute movement effects |
588 | m_lastPositionVector = Prim.ForcePosition; | 599 | m_lastPositionVector = Prim.ForcePosition; |
589 | 600 | ||
590 | VDetailLog("{0},BSDynamics.Step,frict={1},grav={2},inertia={3},mass={4}", // DEBUG DEBUG | ||
591 | Prim.LocalID, | ||
592 | BulletSimAPI.GetFriction2(Prim.PhysBody.ptr), | ||
593 | BulletSimAPI.GetGravity2(Prim.PhysBody.ptr), | ||
594 | Prim.Inertia, | ||
595 | m_vehicleMass | ||
596 | ); | ||
597 | VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", | 601 | VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", |
598 | Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity); | 602 | Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity); |
599 | }// end Step | 603 | } |
600 | 604 | ||
601 | // Apply the effect of the linear motor. | 605 | // Apply the effect of the linear motor. |
602 | // Also does hover and float. | 606 | // Also does hover and float. |
@@ -790,6 +794,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
790 | } // end MoveLinear() | 794 | } // end MoveLinear() |
791 | 795 | ||
792 | // ======================================================================= | 796 | // ======================================================================= |
797 | // ======================================================================= | ||
793 | // Apply the effect of the angular motor. | 798 | // Apply the effect of the angular motor. |
794 | private void MoveAngular(float pTimestep) | 799 | private void MoveAngular(float pTimestep) |
795 | { | 800 | { |
@@ -819,12 +824,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
819 | m_angularMotorVelocity = Vector3.Zero; | 824 | m_angularMotorVelocity = Vector3.Zero; |
820 | } | 825 | } |
821 | 826 | ||
822 | #region Vertical attactor | 827 | Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); |
823 | |||
824 | Vector3 vertattr = Vector3.Zero; | ||
825 | Vector3 deflection = Vector3.Zero; | ||
826 | Vector3 banking = Vector3.Zero; | ||
827 | 828 | ||
829 | // ================================================================== | ||
830 | Vector3 verticalAttractionContribution = Vector3.Zero; | ||
828 | // If vertical attaction timescale is reasonable and we applied an angular force last time... | 831 | // If vertical attaction timescale is reasonable and we applied an angular force last time... |
829 | if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero) | 832 | if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero) |
830 | { | 833 | { |
@@ -854,24 +857,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
854 | // As the body rotates around the X axis, then verticalError.Y increases; Rotated around Y | 857 | // As the body rotates around the X axis, then verticalError.Y increases; Rotated around Y |
855 | // then .X increases, so change Body angular velocity X based on Y, and Y based on X. | 858 | // then .X increases, so change Body angular velocity X based on Y, and Y based on X. |
856 | // Z is not changed. | 859 | // Z is not changed. |
857 | vertattr.X = verticalError.Y; | 860 | verticalAttractionContribution.X = verticalError.Y; |
858 | vertattr.Y = - verticalError.X; | 861 | verticalAttractionContribution.Y = - verticalError.X; |
859 | vertattr.Z = 0f; | 862 | verticalAttractionContribution.Z = 0f; |
860 | 863 | ||
861 | // scaling appears better usingsquare-law | 864 | // scaling appears better usingsquare-law |
862 | Vector3 angularVelocity = Prim.ForceRotationalVelocity; | 865 | Vector3 angularVelocity = Prim.ForceRotationalVelocity; |
863 | float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); | 866 | float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); |
864 | vertattr.X += bounce * angularVelocity.X; | 867 | verticalAttractionContribution.X += bounce * angularVelocity.X; |
865 | vertattr.Y += bounce * angularVelocity.Y; | 868 | verticalAttractionContribution.Y += bounce * angularVelocity.Y; |
866 | 869 | ||
867 | VDetailLog("{0},MoveAngular,verticalAttraction,VAservo={1},effic={2},verticalError={3},bounce={4},vertattr={5}", | 870 | VDetailLog("{0},MoveAngular,verticalAttraction,VAservo={1},effic={2},verticalError={3},bounce={4},vertattr={5}", |
868 | Prim.LocalID, VAservo, m_verticalAttractionEfficiency, verticalError, bounce, vertattr); | 871 | Prim.LocalID, VAservo, m_verticalAttractionEfficiency, verticalError, bounce, verticalAttractionContribution); |
869 | 872 | ||
870 | } | 873 | } |
871 | #endregion // Vertical attactor | ||
872 | |||
873 | #region Deflection | ||
874 | 874 | ||
875 | // ================================================================== | ||
876 | Vector3 deflectionContribution = Vector3.Zero; | ||
875 | if (m_angularDeflectionEfficiency != 0) | 877 | if (m_angularDeflectionEfficiency != 0) |
876 | { | 878 | { |
877 | // Compute a scaled vector that points in the preferred axis (X direction) | 879 | // Compute a scaled vector that points in the preferred axis (X direction) |
@@ -882,18 +884,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
882 | Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(Prim.ForceOrientation, m_referenceFrame); | 884 | Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(Prim.ForceOrientation, m_referenceFrame); |
883 | 885 | ||
884 | // Scale by efficiency and timescale | 886 | // Scale by efficiency and timescale |
885 | deflection = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep; | 887 | deflectionContribution = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep; |
886 | 888 | ||
887 | VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}", | 889 | VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}", |
888 | Prim.LocalID, preferredAxisOfMotion, deflection); | 890 | Prim.LocalID, preferredAxisOfMotion, deflectionContribution); |
889 | // This deflection computation is not correct. | 891 | // This deflection computation is not correct. |
890 | deflection = Vector3.Zero; | 892 | deflectionContribution = Vector3.Zero; |
891 | } | 893 | } |
892 | 894 | ||
893 | #endregion | 895 | // ================================================================== |
894 | 896 | Vector3 bankingContribution = Vector3.Zero; | |
895 | #region Banking | ||
896 | |||
897 | if (m_bankingEfficiency != 0) | 897 | if (m_bankingEfficiency != 0) |
898 | { | 898 | { |
899 | Vector3 dir = Vector3.One * Prim.ForceOrientation; | 899 | Vector3 dir = Vector3.One * Prim.ForceOrientation; |
@@ -923,7 +923,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
923 | } | 923 | } |
924 | else | 924 | else |
925 | { | 925 | { |
926 | banking.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4; | 926 | bankingContribution.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4; |
927 | } | 927 | } |
928 | 928 | ||
929 | //If they are colliding, we probably shouldn't shove the prim around... probably | 929 | //If they are colliding, we probably shouldn't shove the prim around... probably |
@@ -941,22 +941,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
941 | else if (bankingRot.X < -3) | 941 | else if (bankingRot.X < -3) |
942 | bankingRot.X = -3; | 942 | bankingRot.X = -3; |
943 | bankingRot *= Prim.ForceOrientation; | 943 | bankingRot *= Prim.ForceOrientation; |
944 | banking += bankingRot; | 944 | bankingContribution += bankingRot; |
945 | } | 945 | } |
946 | m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency; | 946 | m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency; |
947 | VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}", | 947 | VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}", |
948 | Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, banking); | 948 | Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, bankingContribution); |
949 | } | 949 | } |
950 | 950 | ||
951 | #endregion | 951 | // ================================================================== |
952 | 952 | m_lastVertAttractor = verticalAttractionContribution; | |
953 | m_lastVertAttractor = vertattr; | ||
954 | 953 | ||
955 | // Sum velocities | 954 | // Sum velocities |
956 | m_lastAngularVelocity = m_angularMotorVelocity + vertattr + banking + deflection; | 955 | m_lastAngularVelocity = angularMotorContribution |
957 | 956 | + verticalAttractionContribution | |
958 | #region Linear Motor Offset | 957 | + bankingContribution |
958 | + deflectionContribution; | ||
959 | 959 | ||
960 | // ================================================================== | ||
960 | //Offset section | 961 | //Offset section |
961 | if (m_linearMotorOffset != Vector3.Zero) | 962 | if (m_linearMotorOffset != Vector3.Zero) |
962 | { | 963 | { |
@@ -972,8 +973,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
972 | // | 973 | // |
973 | // The torque created is the linear velocity crossed with the offset | 974 | // The torque created is the linear velocity crossed with the offset |
974 | 975 | ||
975 | // NOTE: this computation does should be in the linear section | 976 | // TODO: this computation should be in the linear section |
976 | // because there we know the impulse being applied. | 977 | // because that is where we know the impulse being applied. |
977 | Vector3 torqueFromOffset = Vector3.Zero; | 978 | Vector3 torqueFromOffset = Vector3.Zero; |
978 | // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse); | 979 | // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse); |
979 | if (float.IsNaN(torqueFromOffset.X)) | 980 | if (float.IsNaN(torqueFromOffset.X)) |
@@ -987,8 +988,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
987 | VDetailLog("{0},BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); | 988 | VDetailLog("{0},BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); |
988 | } | 989 | } |
989 | 990 | ||
990 | #endregion | 991 | // ================================================================== |
991 | 992 | // NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement | |
992 | if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) | 993 | if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) |
993 | { | 994 | { |
994 | m_lastAngularVelocity.X = 0; | 995 | m_lastAngularVelocity.X = 0; |
@@ -996,6 +997,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
996 | VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); | 997 | VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); |
997 | } | 998 | } |
998 | 999 | ||
1000 | // ================================================================== | ||
999 | if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) | 1001 | if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) |
1000 | { | 1002 | { |
1001 | m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. | 1003 | m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. |
@@ -1008,18 +1010,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1008 | // The above calculates the absolute angular velocity needed. Angular velocity is massless. | 1010 | // The above calculates the absolute angular velocity needed. Angular velocity is massless. |
1009 | // Since we are stuffing the angular velocity directly into the object, the computed | 1011 | // Since we are stuffing the angular velocity directly into the object, the computed |
1010 | // velocity needs to be scaled by the timestep. | 1012 | // velocity needs to be scaled by the timestep. |
1011 | Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) - Prim.ForceRotationalVelocity); | 1013 | // Also remove any motion that is on the object so added motion is only from vehicle. |
1014 | Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) | ||
1015 | - Prim.ForceRotationalVelocity); | ||
1012 | Prim.ForceRotationalVelocity = applyAngularForce; | 1016 | Prim.ForceRotationalVelocity = applyAngularForce; |
1013 | 1017 | ||
1014 | // Decay the angular movement for next time | 1018 | VDetailLog("{0},MoveAngular,done,newRotVel={1},lastAngular={2}", |
1015 | Vector3 decayamount = (Vector3.One / m_angularFrictionTimescale) * pTimestep; | 1019 | Prim.LocalID, applyAngularForce, m_lastAngularVelocity); |
1016 | m_lastAngularVelocity *= Vector3.One - decayamount; | ||
1017 | |||
1018 | VDetailLog("{0},MoveAngular,done,newRotVel={1},decay={2},lastAngular={3}", | ||
1019 | Prim.LocalID, applyAngularForce, decayamount, m_lastAngularVelocity); | ||
1020 | } | 1020 | } |
1021 | } //end MoveAngular | 1021 | } |
1022 | 1022 | ||
1023 | // This is from previous instantiations of XXXDynamics.cs. | ||
1024 | // Applies roll reference frame. | ||
1025 | // TODO: is this the right way to separate the code to do this operation? | ||
1026 | // Should this be in MoveAngular()? | ||
1023 | internal void LimitRotation(float timestep) | 1027 | internal void LimitRotation(float timestep) |
1024 | { | 1028 | { |
1025 | Quaternion rotq = Prim.ForceOrientation; | 1029 | Quaternion rotq = Prim.ForceOrientation; |