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authorRobert Adams2012-09-13 08:11:54 -0700
committerRobert Adams2012-09-15 15:31:29 -0700
commit2c5ff9399063080276a23bcd06fb696d653bef2e (patch)
tree3428eaff2697b562880c75f5f83eafcbb855c93e /OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
parentAdd basic asset connector tests to check behaviour for normal, local and temp... (diff)
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BulletSim: Way too many changes in one commit.
Many changes to BSDynamic for readability and commentary. Linkset hacking for vehicles: don't over mass the root prim. Add parameter for link constraint solver iterations. Correct uses of timestep in timescale calculations for vehicles. Reorganize code/logic for making objects static and dynamic for readability and use of API2. Changed most calls in BSPrim to use API2 calls (the new way). Avatars do not generate default Bullet collision events but do call up to the simulator for every avatar. Reduces overhead. Objects added to collision list only if they are processing collisions. Reduces overhead especially for large numbers of avatars. Generalize call for water height to GetWaterHeightAtXYZ(). Catch and correct exception getting terrain height when out of bounds. Correct race condition in Terrain Manager where creation wasn't at taint-time. Add API calls for constructing compound shapes. Move NeedsMeshing() logic into object class. Reorganize logic for object meshing to reduce rebuilding of meshs/hulls.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs218
1 files changed, 96 insertions, 122 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 8169e99..098fea7 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -80,7 +80,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
80 // Linear properties 80 // Linear properties
81 private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time 81 private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
82 private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL 82 private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL
83 private Vector3 m_dir = Vector3.Zero; // velocity applied to body 83 private Vector3 m_newVelocity = Vector3.Zero; // velocity computed to be applied to body
84 private Vector3 m_linearFrictionTimescale = Vector3.Zero; 84 private Vector3 m_linearFrictionTimescale = Vector3.Zero;
85 private float m_linearMotorDecayTimescale = 0; 85 private float m_linearMotorDecayTimescale = 0;
86 private float m_linearMotorTimescale = 0; 86 private float m_linearMotorTimescale = 0;
@@ -475,32 +475,33 @@ namespace OpenSim.Region.Physics.BulletSPlugin
475 frcount = 0; 475 frcount = 0;
476 476
477 MoveLinear(pTimestep); 477 MoveLinear(pTimestep);
478 MoveAngular(pTimestep); 478 // MoveAngular(pTimestep);
479 LimitRotation(pTimestep); 479 LimitRotation(pTimestep);
480 480
481 // remember the position so next step we can limit absolute movement effects
482 m_lastPositionVector = m_prim.Position;
483
481 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", 484 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
482 m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity); 485 m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity);
483 }// end Step 486 }// end Step
484 487
485 private void MoveLinear(float pTimestep) 488 private void MoveLinear(float pTimestep)
486 { 489 {
487 // requested m_linearMotorDirection is significant 490 // m_linearMotorDirection is the direction we are moving relative to the vehicle coordinates
488 // if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) 491 // m_lastLinearVelocityVector is the speed we are moving in that direction
489 if (m_linearMotorDirection.LengthSquared() > 0.0001f) 492 if (m_linearMotorDirection.LengthSquared() > 0.001f)
490 { 493 {
491 Vector3 origDir = m_linearMotorDirection; 494 Vector3 origDir = m_linearMotorDirection;
492 Vector3 origVel = m_lastLinearVelocityVector; 495 Vector3 origVel = m_lastLinearVelocityVector;
493 496
494 // add drive to body 497 // add drive to body
495 // Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); 498 // Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale / pTimestep);
496 Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale); 499 Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale / pTimestep);
497 // lastLinearVelocityVector is the current body velocity vector? 500 // lastLinearVelocityVector is the current body velocity vector
498 // RA: Not sure what the *10 is for. A correction for pTimestep? 501 // RA: Not sure what the *10 is for. A correction for pTimestep?
499 // m_lastLinearVelocityVector += (addAmount*10); 502 // m_lastLinearVelocityVector += (addAmount*10);
500 m_lastLinearVelocityVector += addAmount; 503 m_lastLinearVelocityVector += addAmount;
501 504
502 // This will work temporarily, but we really need to compare speed on an axis
503 // KF: Limit body velocity to applied velocity?
504 // Limit the velocity vector to less than the last set linear motor direction 505 // Limit the velocity vector to less than the last set linear motor direction
505 if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X)) 506 if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
506 m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X; 507 m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
@@ -509,34 +510,29 @@ namespace OpenSim.Region.Physics.BulletSPlugin
509 if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z)) 510 if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
510 m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z; 511 m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
511 512
513 /*
512 // decay applied velocity 514 // decay applied velocity
513 Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep))); 515 Vector3 decayfraction = Vector3.One/(m_linearMotorDecayTimescale / pTimestep);
516 // (RA: do not know where the 0.5f comes from)
514 m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f; 517 m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
515
516 /*
517 Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/m_linearMotorTimescale;
518 m_lastLinearVelocityVector += addAmount;
519
520 float decayfraction = (1.0f - 1.0f / m_linearMotorDecayTimescale);
521 m_linearMotorDirection *= decayfraction;
522
523 */ 518 */
519 float keepfraction = 1.0f - (1.0f / (m_linearMotorDecayTimescale / pTimestep));
520 m_linearMotorDirection *= keepfraction;
524 521
525 VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}", 522 VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},notDecay={4},dir={5},vel={6}",
526 m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector); 523 m_prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector);
527 } 524 }
528 else 525 else
529 { 526 {
530 // if what remains of applied is small, zero it. 527 // if what remains of direction is very small, zero it.
531 // if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
532 // m_lastLinearVelocityVector = Vector3.Zero;
533 m_linearMotorDirection = Vector3.Zero; 528 m_linearMotorDirection = Vector3.Zero;
534 m_lastLinearVelocityVector = Vector3.Zero; 529 m_lastLinearVelocityVector = Vector3.Zero;
530 VDetailLog("{0},MoveLinear,zeroed", m_prim.LocalID);
535 } 531 }
536 532
537 // convert requested object velocity to object relative vector 533 // convert requested object velocity to object relative vector
538 Quaternion rotq = m_prim.Orientation; 534 Quaternion rotq = m_prim.Orientation;
539 m_dir = m_lastLinearVelocityVector * rotq; 535 m_newVelocity = m_lastLinearVelocityVector * rotq;
540 536
541 // Add the various forces into m_dir which will be our new direction vector (velocity) 537 // Add the various forces into m_dir which will be our new direction vector (velocity)
542 538
@@ -544,60 +540,31 @@ namespace OpenSim.Region.Physics.BulletSPlugin
544 // KF: So far I have found no good method to combine a script-requested 540 // KF: So far I have found no good method to combine a script-requested
545 // .Z velocity and gravity. Therefore only 0g will used script-requested 541 // .Z velocity and gravity. Therefore only 0g will used script-requested
546 // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only. 542 // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
547 Vector3 grav = Vector3.Zero;
548 // There is some gravity, make a gravity force vector that is applied after object velocity. 543 // There is some gravity, make a gravity force vector that is applied after object velocity.
549 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; 544 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
550 grav.Z = m_prim.Scene.DefaultGravity.Z * m_prim.Mass * (1f - m_VehicleBuoyancy); 545 Vector3 grav = m_prim.Scene.DefaultGravity * (m_prim.Mass * (1f - m_VehicleBuoyancy));
546
547 /*
548 * RA: Not sure why one would do this
551 // Preserve the current Z velocity 549 // Preserve the current Z velocity
552 Vector3 vel_now = m_prim.Velocity; 550 Vector3 vel_now = m_prim.Velocity;
553 m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity 551 m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
552 */
554 553
555 Vector3 pos = m_prim.Position; 554 Vector3 pos = m_prim.Position;
556 Vector3 posChange = pos;
557// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); 555// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
558 double Zchange = Math.Abs(posChange.Z);
559 if (m_BlockingEndPoint != Vector3.Zero)
560 {
561 bool changed = false;
562 if (pos.X >= (m_BlockingEndPoint.X - (float)1))
563 {
564 pos.X -= posChange.X + 1;
565 changed = true;
566 }
567 if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
568 {
569 pos.Y -= posChange.Y + 1;
570 changed = true;
571 }
572 if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
573 {
574 pos.Z -= posChange.Z + 1;
575 changed = true;
576 }
577 if (pos.X <= 0)
578 {
579 pos.X += posChange.X + 1;
580 changed = true;
581 }
582 if (pos.Y <= 0)
583 {
584 pos.Y += posChange.Y + 1;
585 changed = true;
586 }
587 if (changed)
588 {
589 m_prim.Position = pos;
590 VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
591 m_prim.LocalID, m_BlockingEndPoint, posChange, pos);
592 }
593 }
594 556
595 // If below the terrain, move us above the ground a little. 557 // If below the terrain, move us above the ground a little.
596 if (pos.Z < m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos)) 558 float terrainHeight = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos);
559 // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset.
560 // Need to add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass.
561 // Vector3 rotatedSize = m_prim.Size * m_prim.Orientation;
562 // if (rotatedSize.Z < terrainHeight)
563 if (pos.Z < terrainHeight)
597 { 564 {
598 pos.Z = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos) + 2; 565 pos.Z = terrainHeight + 2;
599 m_prim.Position = pos; 566 m_prim.Position = pos;
600 VDetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos); 567 VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", m_prim.LocalID, terrainHeight, pos);
601 } 568 }
602 569
603 // Check if hovering 570 // Check if hovering
@@ -606,11 +573,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
606 // We should hover, get the target height 573 // We should hover, get the target height
607 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) 574 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
608 { 575 {
609 m_VhoverTargetHeight = m_prim.Scene.GetWaterLevel() + m_VhoverHeight; 576 m_VhoverTargetHeight = m_prim.Scene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight;
610 } 577 }
611 if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) 578 if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
612 { 579 {
613 m_VhoverTargetHeight = m_prim.Scene.TerrainManager.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; 580 m_VhoverTargetHeight = terrainHeight + m_VhoverHeight;
614 } 581 }
615 if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) 582 if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
616 { 583 {
@@ -635,82 +602,92 @@ namespace OpenSim.Region.Physics.BulletSPlugin
635 // Replace Vertical speed with correction figure if significant 602 // Replace Vertical speed with correction figure if significant
636 if (Math.Abs(herr0) > 0.01f) 603 if (Math.Abs(herr0) > 0.01f)
637 { 604 {
638 m_dir.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale); 605 m_newVelocity.Z = -((herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
639 //KF: m_VhoverEfficiency is not yet implemented 606 //KF: m_VhoverEfficiency is not yet implemented
640 } 607 }
641 else 608 else
642 { 609 {
643 m_dir.Z = 0f; 610 m_newVelocity.Z = 0f;
644 } 611 }
645 } 612 }
646 613
647 VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_dir, m_VhoverHeight, m_VhoverTargetHeight); 614 VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight);
615 }
648 616
649// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped 617 Vector3 posChange = pos - m_lastPositionVector;
650// m_VhoverTimescale = 0f; // time to acheive height 618 if (m_BlockingEndPoint != Vector3.Zero)
651// pTimestep is time since last frame,in secs 619 {
620 bool changed = false;
621 if (pos.X >= (m_BlockingEndPoint.X - (float)1))
622 {
623 pos.X -= posChange.X + 1;
624 changed = true;
625 }
626 if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
627 {
628 pos.Y -= posChange.Y + 1;
629 changed = true;
630 }
631 if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
632 {
633 pos.Z -= posChange.Z + 1;
634 changed = true;
635 }
636 if (pos.X <= 0)
637 {
638 pos.X += posChange.X + 1;
639 changed = true;
640 }
641 if (pos.Y <= 0)
642 {
643 pos.Y += posChange.Y + 1;
644 changed = true;
645 }
646 if (changed)
647 {
648 m_prim.Position = pos;
649 VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
650 m_prim.LocalID, m_BlockingEndPoint, posChange, pos);
651 }
652 } 652 }
653 653
654 float Zchange = Math.Abs(posChange.Z);
654 if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) 655 if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
655 { 656 {
656 //Start Experimental Values
657 if (Zchange > .3) 657 if (Zchange > .3)
658 {
659 grav.Z = (float)(grav.Z * 3); 658 grav.Z = (float)(grav.Z * 3);
660 }
661 if (Zchange > .15) 659 if (Zchange > .15)
662 {
663 grav.Z = (float)(grav.Z * 2); 660 grav.Z = (float)(grav.Z * 2);
664 }
665 if (Zchange > .75) 661 if (Zchange > .75)
666 {
667 grav.Z = (float)(grav.Z * 1.5); 662 grav.Z = (float)(grav.Z * 1.5);
668 }
669 if (Zchange > .05) 663 if (Zchange > .05)
670 {
671 grav.Z = (float)(grav.Z * 1.25); 664 grav.Z = (float)(grav.Z * 1.25);
672 }
673 if (Zchange > .025) 665 if (Zchange > .025)
674 {
675 grav.Z = (float)(grav.Z * 1.125); 666 grav.Z = (float)(grav.Z * 1.125);
676 } 667 float postemp = (pos.Z - terrainHeight);
677 float terraintemp = m_prim.Scene.TerrainManager.GetTerrainHeightAtXYZ(pos);
678 float postemp = (pos.Z - terraintemp);
679 if (postemp > 2.5f) 668 if (postemp > 2.5f)
680 {
681 grav.Z = (float)(grav.Z * 1.037125); 669 grav.Z = (float)(grav.Z * 1.037125);
682 }
683 VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav); 670 VDetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav);
684 //End Experimental Values
685 } 671 }
686 if ((m_flags & (VehicleFlag.NO_X)) != 0) 672 if ((m_flags & (VehicleFlag.NO_X)) != 0)
687 { 673 m_newVelocity.X = 0;
688 m_dir.X = 0;
689 }
690 if ((m_flags & (VehicleFlag.NO_Y)) != 0) 674 if ((m_flags & (VehicleFlag.NO_Y)) != 0)
691 { 675 m_newVelocity.Y = 0;
692 m_dir.Y = 0;
693 }
694 if ((m_flags & (VehicleFlag.NO_Z)) != 0) 676 if ((m_flags & (VehicleFlag.NO_Z)) != 0)
695 { 677 m_newVelocity.Z = 0;
696 m_dir.Z = 0;
697 }
698
699 m_lastPositionVector = m_prim.Position;
700 678
701 // Apply velocity 679 // Apply velocity
702 m_prim.Velocity = m_dir; 680 m_prim.Velocity = m_newVelocity;
703 // apply gravity force 681 // apply gravity force
704 // Why is this set here? The physics engine already does gravity. 682 // Why is this set here? The physics engine already does gravity.
705 // m_prim.AddForce(grav, false); 683 // m_prim.AddForce(grav, false);
706 // m_prim.Force = grav;
707 684
708 // Apply friction 685 // Apply friction
709 Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); 686 Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep));
710 m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; 687 m_lastLinearVelocityVector *= keepFraction;
711 688
712 VDetailLog("{0},MoveLinear,done,pos={1},vel={2},force={3},decay={4}", 689 VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}",
713 m_prim.LocalID, m_lastPositionVector, m_dir, grav, decayamount); 690 m_prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction);
714 691
715 } // end MoveLinear() 692 } // end MoveLinear()
716 693
@@ -735,17 +712,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
735 // There are m_angularMotorApply steps. 712 // There are m_angularMotorApply steps.
736 Vector3 origAngularVelocity = m_angularMotorVelocity; 713 Vector3 origAngularVelocity = m_angularMotorVelocity;
737 // ramp up to new value 714 // ramp up to new value
738 // current velocity += error / (time to get there / step interval) 715 // current velocity += error / ( time to get there / step interval)
739 // requested speed - last motor speed 716 // requested speed - last motor speed
740 m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep); 717 m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep);
741 m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); 718 m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep);
742 m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); 719 m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep);
743 720
744 VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},origvel={2},dir={3},vel={4}", 721 VDetailLog("{0},MoveAngular,angularMotorApply,apply={1},angTScale={2},timeStep={3},origvel={4},dir={5},vel={6}",
745 m_prim.LocalID,m_angularMotorApply,origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity); 722 m_prim.LocalID, m_angularMotorApply, m_angularMotorTimescale, pTimestep, origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity);
746 723
747 m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected 724 // This is done so that if script request rate is less than phys frame rate the expected
748 // velocity may still be acheived. 725 // velocity may still be acheived.
726 m_angularMotorApply--;
749 } 727 }
750 else 728 else
751 { 729 {
@@ -760,7 +738,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
760 Vector3 vertattr = Vector3.Zero; 738 Vector3 vertattr = Vector3.Zero;
761 if (m_verticalAttractionTimescale < 300) 739 if (m_verticalAttractionTimescale < 300)
762 { 740 {
763 float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep); 741 float VAservo = 0.2f / (m_verticalAttractionTimescale / pTimestep);
764 // get present body rotation 742 // get present body rotation
765 Quaternion rotq = m_prim.Orientation; 743 Quaternion rotq = m_prim.Orientation;
766 // make a vector pointing up 744 // make a vector pointing up
@@ -863,16 +841,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
863 m_rot.Y = 0; 841 m_rot.Y = 0;
864 changed = true; 842 changed = true;
865 } 843 }
866 if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
867 {
868 m_rot.X = 0;
869 m_rot.Y = 0;
870 changed = true;
871 }
872 if (changed) 844 if (changed)
845 {
873 m_prim.Orientation = m_rot; 846 m_prim.Orientation = m_rot;
847 VDetailLog("{0},LimitRotation,done,orig={1},new={2}", m_prim.LocalID, rotq, m_rot);
848 }
874 849
875 VDetailLog("{0},LimitRotation,done,changed={1},orig={2},new={3}", m_prim.LocalID, changed, rotq, m_rot);
876 } 850 }
877 851
878 // Invoke the detailed logger and output something if it's enabled. 852 // Invoke the detailed logger and output something if it's enabled.