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author | Robert Adams | 2013-01-07 22:00:50 -0800 |
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committer | Robert Adams | 2013-01-07 22:00:50 -0800 |
commit | 1603606f1d8bd62574cf98e051877d836cbeb012 (patch) | |
tree | cc8756cbedb2cf3e028debb93717cf26ddb27f53 /OpenSim/Region/Physics/BulletSPlugin | |
parent | BulletSim: add function to push avatar up when hitting stairs. (diff) | |
download | opensim-SC-1603606f1d8bd62574cf98e051877d836cbeb012.zip opensim-SC-1603606f1d8bd62574cf98e051877d836cbeb012.tar.gz opensim-SC-1603606f1d8bd62574cf98e051877d836cbeb012.tar.bz2 opensim-SC-1603606f1d8bd62574cf98e051877d836cbeb012.tar.xz |
BulletSim: improve vehicle angular banking and deflection computation. Rotate angular correction forces to be world relative rather than vehicle relative.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 37 |
1 files changed, 18 insertions, 19 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index a9fbc8b..eb695d9 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | |||
@@ -1111,6 +1111,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1111 | + deflectionContribution | 1111 | + deflectionContribution |
1112 | + bankingContribution; | 1112 | + bankingContribution; |
1113 | 1113 | ||
1114 | // Add of the above computation are made relative to vehicle coordinates. | ||
1115 | // Convert to world coordinates. | ||
1116 | m_lastAngularVelocity *= VehicleOrientation; | ||
1117 | |||
1114 | // ================================================================== | 1118 | // ================================================================== |
1115 | // Apply the correction velocity. | 1119 | // Apply the correction velocity. |
1116 | // TODO: Should this be applied as an angular force (torque)? | 1120 | // TODO: Should this be applied as an angular force (torque)? |
@@ -1222,14 +1226,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1222 | public Vector3 ComputeAngularDeflection() | 1226 | public Vector3 ComputeAngularDeflection() |
1223 | { | 1227 | { |
1224 | Vector3 ret = Vector3.Zero; | 1228 | Vector3 ret = Vector3.Zero; |
1225 | return ret; // DEBUG DEBUG DEBUG | 1229 | |
1226 | // Disable angular deflection for the moment. | ||
1227 | // Since angularMotorUp and angularDeflection are computed independently, they will calculate | 1230 | // Since angularMotorUp and angularDeflection are computed independently, they will calculate |
1228 | // approximately the same X or Y correction. When added together (when contributions are combined) | 1231 | // approximately the same X or Y correction. When added together (when contributions are combined) |
1229 | // this creates an over-correction and then wabbling as the target is overshot. | 1232 | // this creates an over-correction and then wabbling as the target is overshot. |
1230 | // TODO: rethink how the different correction computations inter-relate. | 1233 | // TODO: rethink how the different correction computations inter-relate. |
1231 | 1234 | ||
1232 | if (m_angularDeflectionEfficiency != 0) | 1235 | if (m_angularDeflectionEfficiency != 0 && VehicleVelocity != Vector3.Zero) |
1233 | { | 1236 | { |
1234 | // The direction the vehicle is moving | 1237 | // The direction the vehicle is moving |
1235 | Vector3 movingDirection = VehicleVelocity; | 1238 | Vector3 movingDirection = VehicleVelocity; |
@@ -1298,33 +1301,29 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1298 | 1301 | ||
1299 | if (m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) | 1302 | if (m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) |
1300 | { | 1303 | { |
1301 | // This works by rotating a unit vector to the orientation of the vehicle. The | 1304 | // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented. |
1302 | // roll (tilt) will be Y component of a tilting Z vector (zero for no tilt | 1305 | // As the vehicle rolls to the right or left, the Y value will increase from |
1303 | // up to one for full over). | 1306 | // zero (straight up) to 1 or -1 (full tilt right or left) |
1304 | Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation; | 1307 | Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation; |
1305 | 1308 | ||
1306 | // Figure out the yaw value for this much roll. | 1309 | // Figure out the yaw value for this much roll. |
1307 | float turnComponent = rollComponents.Y * rollComponents.Y * m_bankingEfficiency; | 1310 | // Squared because that seems to give a good value |
1308 | // Keep the sign | 1311 | float yawAngle = (float)Math.Asin(rollComponents.Y * rollComponents.Y) * m_bankingEfficiency; |
1309 | if (rollComponents.Y < 0f) | ||
1310 | turnComponent = -turnComponent; | ||
1311 | |||
1312 | // TODO: there must be a better computation of the banking force. | ||
1313 | float bankingTurnForce = turnComponent; | ||
1314 | 1312 | ||
1315 | // actual error = static turn error + dynamic turn error | 1313 | // actual error = static turn error + dynamic turn error |
1316 | float mixedBankingError = bankingTurnForce * (1f - m_bankingMix) + bankingTurnForce * m_bankingMix * VehicleForwardSpeed; | 1314 | float mixedYawAngle = yawAngle * (1f - m_bankingMix) + yawAngle * m_bankingMix * VehicleForwardSpeed; |
1315 | |||
1317 | // TODO: the banking effect should not go to infinity but what to limit it to? | 1316 | // TODO: the banking effect should not go to infinity but what to limit it to? |
1318 | mixedBankingError = ClampInRange(-20f, mixedBankingError, 20f); | 1317 | mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f); |
1319 | 1318 | ||
1320 | // Build the force vector to change rotation from what it is to what it should be | 1319 | // Build the force vector to change rotation from what it is to what it should be |
1321 | ret.Z = -mixedBankingError; | 1320 | ret.Z = -mixedYawAngle; |
1322 | 1321 | ||
1323 | // Don't do it all at once. | 1322 | // Don't do it all at once. |
1324 | ret /= m_bankingTimescale; | 1323 | ret /= m_bankingTimescale; |
1325 | 1324 | ||
1326 | VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},turnComp={3},bankErr={4},mixedBankErr={5},ret={6}", | 1325 | VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}", |
1327 | Prim.LocalID, rollComponents, VehicleForwardSpeed, turnComponent, bankingTurnForce, mixedBankingError, ret); | 1326 | Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, ret); |
1328 | } | 1327 | } |
1329 | return ret; | 1328 | return ret; |
1330 | } | 1329 | } |