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authorRobert Adams2015-04-05 20:20:37 -0700
committerRobert Adams2015-04-05 20:20:37 -0700
commit8d6628484107e3ebe2c29b2b754e43c164545cf1 (patch)
tree6818e60a31d52879fb913a9fbb4262b21640665d /OpenSim/Region/Physics/BulletSPlugin
parentParameterize sleeps in LSL functions. (diff)
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BulletSim: implement VEHICLE_REFERENCE_FRAME. Thanks Vegaslon!.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs35
1 files changed, 21 insertions, 14 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index a4ef709..c6d6331 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -945,7 +945,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
945 { 945 {
946 get 946 get
947 { 947 {
948 return VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation)); 948 return VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleFrameOrientation));
949 } 949 }
950 } 950 }
951 951
@@ -956,6 +956,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
956 return VehicleForwardVelocity.X; 956 return VehicleForwardVelocity.X;
957 } 957 }
958 } 958 }
959 private Quaternion VehicleFrameOrientation
960 {
961 get
962 {
963 return VehicleOrientation * m_referenceFrame;
964 }
965 }
959 966
960 #endregion // Known vehicle value functions 967 #endregion // Known vehicle value functions
961 968
@@ -1065,7 +1072,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1065 linearMotorCorrectionV -= (currentVelV * frictionFactorV); 1072 linearMotorCorrectionV -= (currentVelV * frictionFactorV);
1066 1073
1067 // Motor is vehicle coordinates. Rotate it to world coordinates 1074 // Motor is vehicle coordinates. Rotate it to world coordinates
1068 Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation; 1075 Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleFrameOrientation;
1069 1076
1070 // If we're a ground vehicle, don't add any upward Z movement 1077 // If we're a ground vehicle, don't add any upward Z movement
1071 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) 1078 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
@@ -1107,7 +1114,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1107 linearDeflectionV *= new Vector3(1, -1, -1); 1114 linearDeflectionV *= new Vector3(1, -1, -1);
1108 1115
1109 // Correction is vehicle relative. Convert to world coordinates. 1116 // Correction is vehicle relative. Convert to world coordinates.
1110 Vector3 linearDeflectionW = linearDeflectionV * VehicleOrientation; 1117 Vector3 linearDeflectionW = linearDeflectionV * VehicleFrameOrientation;
1111 1118
1112 // Optionally, if not colliding, don't effect world downward velocity. Let falling things fall. 1119 // Optionally, if not colliding, don't effect world downward velocity. Let falling things fall.
1113 if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.HasSomeCollision) 1120 if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.HasSomeCollision)
@@ -1403,7 +1410,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1403 { 1410 {
1404 // The user wants this many radians per second angular change? 1411 // The user wants this many radians per second angular change?
1405 Vector3 origVehicleRotationalVelocity = VehicleRotationalVelocity; // DEBUG DEBUG 1412 Vector3 origVehicleRotationalVelocity = VehicleRotationalVelocity; // DEBUG DEBUG
1406 Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation); 1413 Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleFrameOrientation);
1407 Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV); 1414 Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV);
1408 1415
1409 // ================================================================== 1416 // ==================================================================
@@ -1424,7 +1431,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1424 Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep); 1431 Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep);
1425 angularMotorContributionV -= (currentAngularV * frictionFactorW); 1432 angularMotorContributionV -= (currentAngularV * frictionFactorW);
1426 1433
1427 Vector3 angularMotorContributionW = angularMotorContributionV * VehicleOrientation; 1434 Vector3 angularMotorContributionW = angularMotorContributionV * VehicleFrameOrientation;
1428 VehicleRotationalVelocity += angularMotorContributionW; 1435 VehicleRotationalVelocity += angularMotorContributionW;
1429 1436
1430 VDetailLog("{0}, MoveAngular,angularTurning,curAngVelV={1},origVehRotVel={2},vehRotVel={3},frictFact={4}, angContribV={5},angContribW={6}", 1437 VDetailLog("{0}, MoveAngular,angularTurning,curAngVelV={1},origVehRotVel={2},vehRotVel={3},frictFact={4}, angContribV={5},angContribW={6}",
@@ -1445,7 +1452,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1445 // If vertical attaction timescale is reasonable 1452 // If vertical attaction timescale is reasonable
1446 if (BSParam.VehicleEnableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff) 1453 if (BSParam.VehicleEnableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
1447 { 1454 {
1448 Vector3 vehicleUpAxis = Vector3.UnitZ * VehicleOrientation; 1455 Vector3 vehicleUpAxis = Vector3.UnitZ * VehicleFrameOrientation;
1449 switch (BSParam.VehicleAngularVerticalAttractionAlgorithm) 1456 switch (BSParam.VehicleAngularVerticalAttractionAlgorithm)
1450 { 1457 {
1451 case 0: 1458 case 0:
@@ -1466,7 +1473,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1466 1473
1467 if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != 0) 1474 if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != 0)
1468 { 1475 {
1469 Vector3 vehicleForwardAxis = Vector3.UnitX * VehicleOrientation; 1476 Vector3 vehicleForwardAxis = Vector3.UnitX * VehicleFrameOrientation;
1470 torqueVector = ProjectVector(torqueVector, vehicleForwardAxis); 1477 torqueVector = ProjectVector(torqueVector, vehicleForwardAxis);
1471 } 1478 }
1472 1479
@@ -1491,13 +1498,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1491 1498
1492 // Create a rotation that is only the vehicle's rotation around Z 1499 // Create a rotation that is only the vehicle's rotation around Z
1493 Vector3 currentEulerW = Vector3.Zero; 1500 Vector3 currentEulerW = Vector3.Zero;
1494 VehicleOrientation.GetEulerAngles(out currentEulerW.X, out currentEulerW.Y, out currentEulerW.Z); 1501 VehicleFrameOrientation.GetEulerAngles(out currentEulerW.X, out currentEulerW.Y, out currentEulerW.Z);
1495 Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEulerW.Z); 1502 Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEulerW.Z);
1496 1503
1497 // Create the axis that is perpendicular to the up vector and the rotated up vector. 1504 // Create the axis that is perpendicular to the up vector and the rotated up vector.
1498 Vector3 differenceAxisW = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation); 1505 Vector3 differenceAxisW = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleFrameOrientation);
1499 // Compute the angle between those to vectors. 1506 // Compute the angle between those to vectors.
1500 double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation))); 1507 double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleFrameOrientation)));
1501 // 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical 1508 // 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical
1502 1509
1503 // Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied. 1510 // Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied.
@@ -1530,7 +1537,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1530 Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG 1537 Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG
1531 1538
1532 // Take a vector pointing up and convert it from world to vehicle relative coords. 1539 // Take a vector pointing up and convert it from world to vehicle relative coords.
1533 Vector3 verticalError = Vector3.Normalize(Vector3.UnitZ * VehicleOrientation); 1540 Vector3 verticalError = Vector3.Normalize(Vector3.UnitZ * VehicleFrameOrientation);
1534 1541
1535 // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) 1542 // If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
1536 // is now: 1543 // is now:
@@ -1561,7 +1568,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1561 vertContributionV /= m_verticalAttractionTimescale; 1568 vertContributionV /= m_verticalAttractionTimescale;
1562 1569
1563 // Rotate the vehicle rotation to the world coordinates. 1570 // Rotate the vehicle rotation to the world coordinates.
1564 VehicleRotationalVelocity += (vertContributionV * VehicleOrientation); 1571 VehicleRotationalVelocity += (vertContributionV * VehicleFrameOrientation);
1565 1572
1566 VDetailLog("{0}, MoveAngular,verticalAttraction,,upAxis={1},origRotVW={2},vertError={3},unscaledV={4},eff={5},ts={6},vertContribV={7}", 1573 VDetailLog("{0}, MoveAngular,verticalAttraction,,upAxis={1},origRotVW={2},vertError={3},unscaledV={4},eff={5},ts={6},vertContribV={7}",
1567 ControllingPrim.LocalID, 1574 ControllingPrim.LocalID,
@@ -1602,7 +1609,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1602 movingDirection *= Math.Sign(VehicleForwardSpeed); 1609 movingDirection *= Math.Sign(VehicleForwardSpeed);
1603 1610
1604 // The direction the vehicle is pointing 1611 // The direction the vehicle is pointing
1605 Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; 1612 Vector3 pointingDirection = Vector3.UnitX * VehicleFrameOrientation;
1606 //Predict where the Vehicle will be pointing after AngularVelocity change is applied. This will keep 1613 //Predict where the Vehicle will be pointing after AngularVelocity change is applied. This will keep
1607 // from overshooting and allow this correction to merge with the Vertical Attraction peacefully. 1614 // from overshooting and allow this correction to merge with the Vertical Attraction peacefully.
1608 Vector3 predictedPointingDirection = pointingDirection * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f); 1615 Vector3 predictedPointingDirection = pointingDirection * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f);
@@ -1675,7 +1682,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1675 // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented. 1682 // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented.
1676 // As the vehicle rolls to the right or left, the Y value will increase from 1683 // As the vehicle rolls to the right or left, the Y value will increase from
1677 // zero (straight up) to 1 or -1 (full tilt right or left) 1684 // zero (straight up) to 1 or -1 (full tilt right or left)
1678 Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation; 1685 Vector3 rollComponents = Vector3.UnitZ * VehicleFrameOrientation;
1679 1686
1680 // Figure out the yaw value for this much roll. 1687 // Figure out the yaw value for this much roll.
1681 float yawAngle = m_angularMotorDirection.X * m_bankingEfficiency; 1688 float yawAngle = m_angularMotorDirection.X * m_bankingEfficiency;