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author | Robert Adams | 2012-12-02 20:07:05 -0800 |
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committer | Robert Adams | 2012-12-03 07:59:46 -0800 |
commit | 10fcc70b36aa1b38cd92e9c4d9c441e4c0eeb5f6 (patch) | |
tree | 06ab58e92bd94dbe68e9f87edfa36360bcb51f3b /OpenSim | |
parent | BulletSim: format vehicle detail logging messages so vehicle changs are group... (diff) | |
download | opensim-SC-10fcc70b36aa1b38cd92e9c4d9c441e4c0eeb5f6.zip opensim-SC-10fcc70b36aa1b38cd92e9c4d9c441e4c0eeb5f6.tar.gz opensim-SC-10fcc70b36aa1b38cd92e9c4d9c441e4c0eeb5f6.tar.bz2 opensim-SC-10fcc70b36aa1b38cd92e9c4d9c441e4c0eeb5f6.tar.xz |
BulletSim: revert angular vertical attraction from motor to code. The motor code did not return the restoring difference but the current value. Remove unused commented out code.
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 66 |
1 files changed, 19 insertions, 47 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index cbad3bf..4d067cf 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | |||
@@ -125,7 +125,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
125 | //Attractor properties | 125 | //Attractor properties |
126 | private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction"); | 126 | private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction"); |
127 | private float m_verticalAttractionEfficiency = 1.0f; // damped | 127 | private float m_verticalAttractionEfficiency = 1.0f; // damped |
128 | private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor. | 128 | private float m_verticalAttractionTimescale = 600f; // Timescale > 500 means no vert attractor. |
129 | 129 | ||
130 | public BSDynamics(BSScene myScene, BSPrim myPrim) | 130 | public BSDynamics(BSScene myScene, BSPrim myPrim) |
131 | { | 131 | { |
@@ -573,6 +573,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
573 | // Vector3 localInertia = new Vector3(1f, 1f, 1f); | 573 | // Vector3 localInertia = new Vector3(1f, 1f, 1f); |
574 | Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass); | 574 | Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass); |
575 | BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); | 575 | BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); |
576 | BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); | ||
576 | 577 | ||
577 | VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}", | 578 | VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}", |
578 | Prim.LocalID, friction, localInertia, angularDamping); | 579 | Prim.LocalID, friction, localInertia, angularDamping); |
@@ -958,34 +959,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
958 | // Apply the effect of the angular motor. | 959 | // Apply the effect of the angular motor. |
959 | private void MoveAngular(float pTimestep) | 960 | private void MoveAngular(float pTimestep) |
960 | { | 961 | { |
961 | // m_angularMotorDirection // angular velocity requested by LSL motor | ||
962 | // m_angularMotorVelocity // current angular motor velocity (ramps up and down) | ||
963 | // m_angularMotorTimescale // motor angular velocity ramp up time | ||
964 | // m_angularMotorDecayTimescale // motor angular velocity decay rate | ||
965 | // m_angularFrictionTimescale // body angular velocity decay rate | ||
966 | // m_lastAngularVelocity // what was last applied to body | ||
967 | |||
968 | /* | ||
969 | if (m_angularMotorDirection.LengthSquared() > 0.0001) | ||
970 | { | ||
971 | Vector3 origVel = m_angularMotorVelocity; | ||
972 | Vector3 origDir = m_angularMotorDirection; | ||
973 | |||
974 | // new velocity += error / ( time to get there / step interval) | ||
975 | // requested direction - current vehicle direction | ||
976 | m_angularMotorVelocity += (m_angularMotorDirection - m_angularMotorVelocity) / (m_angularMotorTimescale / pTimestep); | ||
977 | // decay requested direction | ||
978 | m_angularMotorDirection *= (1.0f - (pTimestep * 1.0f/m_angularMotorDecayTimescale)); | ||
979 | |||
980 | VDetailLog("{0}, MoveAngular,angularMotorApply,angTScale={1},timeStep={2},origvel={3},origDir={4},vel={5}", | ||
981 | Prim.LocalID, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity); | ||
982 | } | ||
983 | else | ||
984 | { | ||
985 | m_angularMotorVelocity = Vector3.Zero; | ||
986 | } | ||
987 | */ | ||
988 | |||
989 | Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); | 962 | Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); |
990 | 963 | ||
991 | // ================================================================== | 964 | // ================================================================== |
@@ -1050,9 +1023,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1050 | // ================================================================== | 1023 | // ================================================================== |
1051 | if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) | 1024 | if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) |
1052 | { | 1025 | { |
1053 | m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. | ||
1054 | // TODO: zeroing is good but it also sets values in unmanaged code. Remove the stores when idle. | 1026 | // TODO: zeroing is good but it also sets values in unmanaged code. Remove the stores when idle. |
1055 | VDetailLog("{0}, MoveAngular,done,zero,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); | 1027 | VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID); |
1056 | VehicleRotationalVelocity = Vector3.Zero; | 1028 | VehicleRotationalVelocity = Vector3.Zero; |
1057 | Prim.ZeroAngularMotion(true); | 1029 | Prim.ZeroAngularMotion(true); |
1058 | } | 1030 | } |
@@ -1063,15 +1035,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1063 | // Since we are stuffing the angular velocity directly into the object, the computed | 1035 | // Since we are stuffing the angular velocity directly into the object, the computed |
1064 | // velocity needs to be scaled by the timestep. | 1036 | // velocity needs to be scaled by the timestep. |
1065 | // Also remove any motion that is on the object so added motion is only from vehicle. | 1037 | // Also remove any motion that is on the object so added motion is only from vehicle. |
1066 | Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) - VehicleRotationalVelocity); | 1038 | Vector3 setAngularVelocity = ((m_lastAngularVelocity * pTimestep) - VehicleRotationalVelocity); |
1067 | // Unscale the force by the angular factor so it overwhelmes the Bullet additions. | 1039 | VehicleRotationalVelocity = setAngularVelocity; |
1068 | VehicleRotationalVelocity = applyAngularForce; | ||
1069 | 1040 | ||
1070 | VDetailLog("{0}, MoveAngular,done,nonZero,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}", | 1041 | VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},setAngVelocity={6}", |
1071 | Prim.LocalID, | 1042 | Prim.LocalID, |
1072 | angularMotorContribution, verticalAttractionContribution, | 1043 | angularMotorContribution, verticalAttractionContribution, |
1073 | bankingContribution, deflectionContribution, | 1044 | bankingContribution, deflectionContribution, |
1074 | applyAngularForce, m_lastAngularVelocity | 1045 | m_lastAngularVelocity, setAngularVelocity |
1075 | ); | 1046 | ); |
1076 | } | 1047 | } |
1077 | } | 1048 | } |
@@ -1083,12 +1054,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1083 | // If vertical attaction timescale is reasonable and we applied an angular force last time... | 1054 | // If vertical attaction timescale is reasonable and we applied an angular force last time... |
1084 | if (m_verticalAttractionTimescale < 500) | 1055 | if (m_verticalAttractionTimescale < 500) |
1085 | { | 1056 | { |
1057 | /* | ||
1086 | Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; | 1058 | Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; |
1087 | verticalError.Normalize(); | 1059 | verticalError.Normalize(); |
1088 | m_verticalAttractionMotor.SetCurrent(verticalError); | 1060 | m_verticalAttractionMotor.SetCurrent(verticalError); |
1089 | m_verticalAttractionMotor.SetTarget(Vector3.UnitZ); | 1061 | m_verticalAttractionMotor.SetTarget(Vector3.UnitZ); |
1090 | ret = m_verticalAttractionMotor.Step(pTimestep); | 1062 | ret = m_verticalAttractionMotor.Step(pTimestep); |
1091 | /* | 1063 | */ |
1092 | // Take a vector pointing up and convert it from world to vehicle relative coords. | 1064 | // Take a vector pointing up and convert it from world to vehicle relative coords. |
1093 | Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; | 1065 | Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; |
1094 | verticalError.Normalize(); | 1066 | verticalError.Normalize(); |
@@ -1108,25 +1080,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1108 | } | 1080 | } |
1109 | 1081 | ||
1110 | // Y error means needed rotation around X axis and visa versa. | 1082 | // Y error means needed rotation around X axis and visa versa. |
1111 | verticalAttractionContribution.X = verticalError.Y; | 1083 | ret.X = verticalError.Y; |
1112 | verticalAttractionContribution.Y = - verticalError.X; | 1084 | ret.Y = - verticalError.X; |
1113 | verticalAttractionContribution.Z = 0f; | 1085 | ret.Z = 0f; |
1114 | 1086 | ||
1115 | // scale by the time scale and timestep | 1087 | // scale by the time scale and timestep |
1116 | Vector3 unscaledContrib = verticalAttractionContribution; | 1088 | Vector3 unscaledContrib = ret; |
1117 | verticalAttractionContribution /= m_verticalAttractionTimescale; | 1089 | ret /= m_verticalAttractionTimescale; |
1118 | verticalAttractionContribution *= pTimestep; | 1090 | ret *= pTimestep; |
1119 | 1091 | ||
1120 | // apply efficiency | 1092 | // apply efficiency |
1121 | Vector3 preEfficiencyContrib = verticalAttractionContribution; | 1093 | Vector3 preEfficiencyContrib = ret; |
1094 | // Effenciency squared seems to give a more realistic effect | ||
1122 | float efficencySquared = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency; | 1095 | float efficencySquared = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency; |
1123 | verticalAttractionContribution *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); | 1096 | ret *= efficencySquared; |
1124 | 1097 | ||
1125 | VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}", | 1098 | VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}", |
1126 | Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib, | 1099 | Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib, |
1127 | m_verticalAttractionEfficiency, efficencySquared, | 1100 | m_verticalAttractionEfficiency, efficencySquared, |
1128 | verticalAttractionContribution); | 1101 | ret); |
1129 | */ | ||
1130 | 1102 | ||
1131 | } | 1103 | } |
1132 | return ret; | 1104 | return ret; |