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author | Robert Adams | 2013-01-21 23:43:24 -0800 |
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committer | Robert Adams | 2013-01-21 23:43:24 -0800 |
commit | 80b1e32bfa00a2d3354f0d7e0df83a5b0b3e2c49 (patch) | |
tree | 6d6ca5dbbdc60f2b9464d03a773facdcf11bb80a /OpenSim/Region | |
parent | BulletSim: allow changing position and rotation of a child of a linkset (diff) | |
download | opensim-SC-80b1e32bfa00a2d3354f0d7e0df83a5b0b3e2c49.zip opensim-SC-80b1e32bfa00a2d3354f0d7e0df83a5b0b3e2c49.tar.gz opensim-SC-80b1e32bfa00a2d3354f0d7e0df83a5b0b3e2c49.tar.bz2 opensim-SC-80b1e32bfa00a2d3354f0d7e0df83a5b0b3e2c49.tar.xz |
BulletSim: Tweeks to vehicle motion.
Pass through old angular velocity making for smoother transitions.
Remove some old kludges for angular motion (damping and rotvel suppression).
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 21 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 2 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 3 |
3 files changed, 11 insertions, 15 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index f8fc3de..dbe44de 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | |||
@@ -1192,7 +1192,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1192 | // set directly on the vehicle. | 1192 | // set directly on the vehicle. |
1193 | private void MoveAngular(float pTimestep) | 1193 | private void MoveAngular(float pTimestep) |
1194 | { | 1194 | { |
1195 | VehicleRotationalVelocity = Vector3.Zero; | 1195 | // VehicleRotationalVelocity = Vector3.Zero; |
1196 | 1196 | ||
1197 | ComputeAngularTurning(pTimestep); | 1197 | ComputeAngularTurning(pTimestep); |
1198 | 1198 | ||
@@ -1203,12 +1203,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1203 | ComputeAngularBanking(); | 1203 | ComputeAngularBanking(); |
1204 | 1204 | ||
1205 | // ================================================================== | 1205 | // ================================================================== |
1206 | // All of the above computation are made relative to vehicle coordinates. | ||
1207 | // Convert to world coordinates. | ||
1208 | // TODO: Should this be applied as an angular force (torque)? | ||
1209 | VehicleRotationalVelocity *= VehicleOrientation; | ||
1210 | |||
1211 | // ================================================================== | ||
1212 | if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.01f)) | 1206 | if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.01f)) |
1213 | { | 1207 | { |
1214 | // The vehicle is not adding anything angular wise. | 1208 | // The vehicle is not adding anything angular wise. |
@@ -1256,7 +1250,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1256 | private void ComputeAngularTurning(float pTimestep) | 1250 | private void ComputeAngularTurning(float pTimestep) |
1257 | { | 1251 | { |
1258 | // The user wants this many radians per second angular change? | 1252 | // The user wants this many radians per second angular change? |
1259 | Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); | 1253 | Vector3 currentAngular = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation); |
1254 | Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep, currentAngular); | ||
1260 | 1255 | ||
1261 | // ================================================================== | 1256 | // ================================================================== |
1262 | // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : | 1257 | // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : |
@@ -1272,7 +1267,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1272 | angularMotorContribution.Y = 0f; | 1267 | angularMotorContribution.Y = 0f; |
1273 | } | 1268 | } |
1274 | 1269 | ||
1275 | VehicleRotationalVelocity += angularMotorContribution; | 1270 | VehicleRotationalVelocity += angularMotorContribution * VehicleOrientation; |
1276 | VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); | 1271 | VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); |
1277 | } | 1272 | } |
1278 | 1273 | ||
@@ -1312,7 +1307,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1312 | if (verticalError.Z < 0f) | 1307 | if (verticalError.Z < 0f) |
1313 | { | 1308 | { |
1314 | vertContribution.X += PIOverFour; | 1309 | vertContribution.X += PIOverFour; |
1315 | vertContribution.Y += PIOverFour; | 1310 | // vertContribution.Y -= PIOverFour; |
1316 | } | 1311 | } |
1317 | 1312 | ||
1318 | // 'vertContrbution' is now the necessary angular correction to correct tilt in one second. | 1313 | // 'vertContrbution' is now the necessary angular correction to correct tilt in one second. |
@@ -1320,7 +1315,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1320 | Vector3 unscaledContrib = vertContribution; // DEBUG DEBUG | 1315 | Vector3 unscaledContrib = vertContribution; // DEBUG DEBUG |
1321 | vertContribution /= m_verticalAttractionTimescale; | 1316 | vertContribution /= m_verticalAttractionTimescale; |
1322 | 1317 | ||
1323 | VehicleRotationalVelocity += vertContribution; | 1318 | VehicleRotationalVelocity += vertContribution * VehicleOrientation; |
1324 | 1319 | ||
1325 | VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}", | 1320 | VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}", |
1326 | Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContribution); | 1321 | Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContribution); |
@@ -1371,7 +1366,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1371 | deflectContribution = (-deflectionError) * m_angularDeflectionEfficiency; | 1366 | deflectContribution = (-deflectionError) * m_angularDeflectionEfficiency; |
1372 | deflectContribution /= m_angularDeflectionTimescale; | 1367 | deflectContribution /= m_angularDeflectionTimescale; |
1373 | 1368 | ||
1374 | VehicleRotationalVelocity += deflectContribution; | 1369 | VehicleRotationalVelocity += deflectContribution * VehicleOrientation; |
1375 | 1370 | ||
1376 | VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", | 1371 | VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", |
1377 | Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContribution); | 1372 | Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContribution); |
@@ -1438,7 +1433,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1438 | // Don't do it all at once. | 1433 | // Don't do it all at once. |
1439 | bankingContribution /= m_bankingTimescale; | 1434 | bankingContribution /= m_bankingTimescale; |
1440 | 1435 | ||
1441 | VehicleRotationalVelocity += bankingContribution; | 1436 | VehicleRotationalVelocity += bankingContribution * VehicleOrientation; |
1442 | 1437 | ||
1443 | VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}", | 1438 | VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}", |
1444 | Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContribution); | 1439 | Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContribution); |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 2b4488a..da7438a 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | |||
@@ -450,7 +450,7 @@ public static class BSParam | |||
450 | (s) => { return (float)VehicleMaxAngularVelocity; }, | 450 | (s) => { return (float)VehicleMaxAngularVelocity; }, |
451 | (s,p,l,v) => { VehicleMaxAngularVelocity = v; } ), | 451 | (s,p,l,v) => { VehicleMaxAngularVelocity = v; } ), |
452 | new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", | 452 | new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", |
453 | 0.95f, | 453 | 0.0f, |
454 | (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, | 454 | (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, |
455 | (s) => { return VehicleAngularDamping; }, | 455 | (s) => { return VehicleAngularDamping; }, |
456 | (s,p,l,v) => { VehicleAngularDamping = v; } ), | 456 | (s,p,l,v) => { VehicleAngularDamping = v; } ), |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index 468ff40..e6b8507 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | |||
@@ -1009,6 +1009,7 @@ public sealed class BSPrim : BSPhysObject | |||
1009 | { | 1009 | { |
1010 | DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); | 1010 | DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); |
1011 | PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); | 1011 | PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); |
1012 | // PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity); | ||
1012 | ActivateIfPhysical(false); | 1013 | ActivateIfPhysical(false); |
1013 | } | 1014 | } |
1014 | } | 1015 | } |
@@ -1649,7 +1650,7 @@ public sealed class BSPrim : BSPhysObject | |||
1649 | // TODO: handle physics introduced by Bullet with computed vehicle physics. | 1650 | // TODO: handle physics introduced by Bullet with computed vehicle physics. |
1650 | if (_vehicle.IsActive) | 1651 | if (_vehicle.IsActive) |
1651 | { | 1652 | { |
1652 | entprop.RotationalVelocity = OMV.Vector3.Zero; | 1653 | // entprop.RotationalVelocity = OMV.Vector3.Zero; |
1653 | } | 1654 | } |
1654 | 1655 | ||
1655 | // Assign directly to the local variables so the normal set actions do not happen | 1656 | // Assign directly to the local variables so the normal set actions do not happen |