diff options
author | Teravus Ovares | 2009-04-19 08:12:10 +0000 |
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committer | Teravus Ovares | 2009-04-19 08:12:10 +0000 |
commit | 03901c8c0dc537aca9bfbdcd45dac65891c88b4b (patch) | |
tree | e3a33a9431977ad7a1bd3876dcfe77a045a3dec3 /OpenSim | |
parent | Added a "force_simple_prim_meshing" option to the ODE settings in OpenSim.ini... (diff) | |
download | opensim-SC-03901c8c0dc537aca9bfbdcd45dac65891c88b4b.zip opensim-SC-03901c8c0dc537aca9bfbdcd45dac65891c88b4b.tar.gz opensim-SC-03901c8c0dc537aca9bfbdcd45dac65891c88b4b.tar.bz2 opensim-SC-03901c8c0dc537aca9bfbdcd45dac65891c88b4b.tar.xz |
* Rudimentary angular motor implementation for the LSL Vehicle API
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | 6 | ||||
-rw-r--r-- | OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs | 86 |
2 files changed, 84 insertions, 8 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs index dae19c3..ed1366c 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODECharacter.cs | |||
@@ -52,8 +52,12 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
52 | StopCFM = 8, | 52 | StopCFM = 8, |
53 | LoStop2 = 256, | 53 | LoStop2 = 256, |
54 | HiStop2 = 257, | 54 | HiStop2 = 257, |
55 | Vel2 = 258, | ||
56 | FMax2 = 259, | ||
55 | LoStop3 = 512, | 57 | LoStop3 = 512, |
56 | HiStop3 = 513 | 58 | HiStop3 = 513, |
59 | Vel3 = 514, | ||
60 | FMax3 = 515 | ||
57 | } | 61 | } |
58 | public class OdeCharacter : PhysicsActor | 62 | public class OdeCharacter : PhysicsActor |
59 | { | 63 | { |
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs b/OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs index 04de9a7..81c41ad 100644 --- a/OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs +++ b/OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs | |||
@@ -62,6 +62,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
62 | private Quaternion m_referenceFrame = Quaternion.Identity; | 62 | private Quaternion m_referenceFrame = Quaternion.Identity; |
63 | private Vector3 m_angularFrictionTimescale = Vector3.Zero; | 63 | private Vector3 m_angularFrictionTimescale = Vector3.Zero; |
64 | private Vector3 m_angularMotorDirection = Vector3.Zero; | 64 | private Vector3 m_angularMotorDirection = Vector3.Zero; |
65 | private Vector3 m_angularMotorDirectionLASTSET = Vector3.Zero; | ||
65 | private Vector3 m_linearFrictionTimescale = Vector3.Zero; | 66 | private Vector3 m_linearFrictionTimescale = Vector3.Zero; |
66 | private Vector3 m_linearMotorDirection = Vector3.Zero; | 67 | private Vector3 m_linearMotorDirection = Vector3.Zero; |
67 | private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; | 68 | private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; |
@@ -84,6 +85,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
84 | private float m_verticalAttractionEfficiency = 0; | 85 | private float m_verticalAttractionEfficiency = 0; |
85 | private float m_verticalAttractionTimescale = 0; | 86 | private float m_verticalAttractionTimescale = 0; |
86 | private Vector3 m_lastLinearVelocityVector = Vector3.Zero; | 87 | private Vector3 m_lastLinearVelocityVector = Vector3.Zero; |
88 | private Vector3 m_lastAngularVelocityVector = Vector3.Zero; | ||
87 | private VehicleFlag m_flags = (VehicleFlag) 0; | 89 | private VehicleFlag m_flags = (VehicleFlag) 0; |
88 | 90 | ||
89 | private bool m_LinearMotorSetLastFrame = false; | 91 | private bool m_LinearMotorSetLastFrame = false; |
@@ -168,6 +170,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
168 | break; | 170 | break; |
169 | case Vehicle.ANGULAR_MOTOR_DIRECTION: | 171 | case Vehicle.ANGULAR_MOTOR_DIRECTION: |
170 | m_angularMotorDirection = new Vector3(pValue, pValue, pValue); | 172 | m_angularMotorDirection = new Vector3(pValue, pValue, pValue); |
173 | m_angularMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue); | ||
171 | break; | 174 | break; |
172 | case Vehicle.LINEAR_FRICTION_TIMESCALE: | 175 | case Vehicle.LINEAR_FRICTION_TIMESCALE: |
173 | m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); | 176 | m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); |
@@ -193,7 +196,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
193 | break; | 196 | break; |
194 | case Vehicle.ANGULAR_MOTOR_DIRECTION: | 197 | case Vehicle.ANGULAR_MOTOR_DIRECTION: |
195 | m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); | 198 | m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); |
196 | m_LinearMotorSetLastFrame = true; | 199 | m_angularMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); |
197 | break; | 200 | break; |
198 | case Vehicle.LINEAR_FRICTION_TIMESCALE: | 201 | case Vehicle.LINEAR_FRICTION_TIMESCALE: |
199 | m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); | 202 | m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); |
@@ -269,10 +272,12 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
269 | d.JointAttach(m_lMotor1, Body, IntPtr.Zero); | 272 | d.JointAttach(m_lMotor1, Body, IntPtr.Zero); |
270 | } | 273 | } |
271 | 274 | ||
272 | Vector3 dirNorm = m_lastLinearVelocityVector; | 275 | if (m_aMotor == IntPtr.Zero) |
273 | dirNorm.Normalize(); | 276 | { |
274 | //d.JointSetLMotorAxis(m_lMotor1, 0, 1, dirNorm.X, dirNorm.Y, dirNorm.Z); | 277 | m_aMotor = d.JointCreateAMotor(pParentScene.world, m_jointGroup); |
275 | //d.JointSetLMotorParam(m_lMotor1, (int)dParam.Vel, m_lastLinearVelocityVector.Length()); | 278 | d.JointSetAMotorNumAxes(m_aMotor, 3); |
279 | d.JointAttach(m_aMotor, Body, IntPtr.Zero); | ||
280 | } | ||
276 | } | 281 | } |
277 | } | 282 | } |
278 | 283 | ||
@@ -296,6 +301,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
296 | return; | 301 | return; |
297 | VerticalAttractor(pTimestep); | 302 | VerticalAttractor(pTimestep); |
298 | LinearMotor(pTimestep); | 303 | LinearMotor(pTimestep); |
304 | AngularMotor(pTimestep); | ||
299 | } | 305 | } |
300 | 306 | ||
301 | private void SetDefaultsForType(Vehicle pType) | 307 | private void SetDefaultsForType(Vehicle pType) |
@@ -490,7 +496,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
490 | 496 | ||
491 | //System.Console.WriteLine(m_linearMotorDirection + " " + m_lastLinearVelocityVector); | 497 | //System.Console.WriteLine(m_linearMotorDirection + " " + m_lastLinearVelocityVector); |
492 | 498 | ||
493 | SetMotorProperties(); | 499 | SetLinearMotorProperties(); |
494 | 500 | ||
495 | Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); | 501 | Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); |
496 | m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; | 502 | m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; |
@@ -499,7 +505,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
499 | 505 | ||
500 | } | 506 | } |
501 | 507 | ||
502 | private void SetMotorProperties() | 508 | private void SetLinearMotorProperties() |
503 | { | 509 | { |
504 | Vector3 dirNorm = m_lastLinearVelocityVector; | 510 | Vector3 dirNorm = m_lastLinearVelocityVector; |
505 | dirNorm.Normalize(); | 511 | dirNorm.Normalize(); |
@@ -519,5 +525,71 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
519 | } | 525 | } |
520 | 526 | ||
521 | } | 527 | } |
528 | |||
529 | private void AngularMotor(float pTimestep) | ||
530 | { | ||
531 | if (!m_angularMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) | ||
532 | { | ||
533 | |||
534 | Vector3 addAmount = m_angularMotorDirection / (m_angularMotorTimescale / pTimestep); | ||
535 | m_lastAngularVelocityVector += (addAmount * 10); | ||
536 | |||
537 | // This will work temporarily, but we really need to compare speed on an axis | ||
538 | if (Math.Abs(m_lastAngularVelocityVector.X) > Math.Abs(m_angularMotorDirectionLASTSET.X)) | ||
539 | m_lastAngularVelocityVector.X = m_angularMotorDirectionLASTSET.X; | ||
540 | if (Math.Abs(m_lastAngularVelocityVector.Y) > Math.Abs(m_angularMotorDirectionLASTSET.Y)) | ||
541 | m_lastAngularVelocityVector.Y = m_angularMotorDirectionLASTSET.Y; | ||
542 | if (Math.Abs(m_lastAngularVelocityVector.Z) > Math.Abs(m_angularMotorDirectionLASTSET.Z)) | ||
543 | m_lastAngularVelocityVector.Z = m_angularMotorDirectionLASTSET.Z; | ||
544 | //Console.WriteLine("add: " + addAmount); | ||
545 | |||
546 | Vector3 decayfraction = ((Vector3.One / (m_angularMotorDecayTimescale / pTimestep))); | ||
547 | //Console.WriteLine("decay: " + decayfraction); | ||
548 | |||
549 | m_angularMotorDirection -= m_angularMotorDirection * decayfraction; | ||
550 | //Console.WriteLine("actual: " + m_linearMotorDirection); | ||
551 | } | ||
552 | |||
553 | //System.Console.WriteLine(m_linearMotorDirection + " " + m_lastLinearVelocityVector); | ||
554 | |||
555 | SetAngularMotorProperties(); | ||
556 | |||
557 | Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep); | ||
558 | m_lastAngularVelocityVector -= m_lastAngularVelocityVector * decayamount; | ||
559 | |||
560 | //m_linearMotorDirection *= decayamount; | ||
561 | |||
562 | } | ||
563 | private void SetAngularMotorProperties() | ||
564 | { | ||
565 | |||
566 | |||
567 | |||
568 | d.Mass objMass; | ||
569 | d.BodyGetMass(Body, out objMass); | ||
570 | d.Quaternion rot = d.BodyGetQuaternion(Body); | ||
571 | Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); | ||
572 | Vector3 axis0 = Vector3.UnitX; | ||
573 | Vector3 axis1 = Vector3.UnitY; | ||
574 | Vector3 axis2 = Vector3.UnitZ; | ||
575 | axis0 *= rotq; | ||
576 | axis1 *= rotq; | ||
577 | axis2 *= rotq; | ||
578 | |||
579 | |||
580 | if (m_aMotor != IntPtr.Zero) | ||
581 | { | ||
582 | d.JointSetAMotorAxis(m_aMotor, 0, 1, axis0.X, axis0.Y, axis0.Z); | ||
583 | d.JointSetAMotorAxis(m_aMotor, 1, 1, axis1.X, axis1.Y, axis1.Z); | ||
584 | d.JointSetAMotorAxis(m_aMotor, 2, 1, axis2.X, axis2.Y, axis2.Z); | ||
585 | d.JointSetAMotorParam(m_aMotor, (int)dParam.FMax, 30*objMass.mass); | ||
586 | d.JointSetAMotorParam(m_aMotor, (int)dParam.FMax2, 30*objMass.mass); | ||
587 | d.JointSetAMotorParam(m_aMotor, (int)dParam.FMax3, 30 * objMass.mass); | ||
588 | d.JointSetAMotorParam(m_aMotor, (int)dParam.Vel, m_lastAngularVelocityVector.X); | ||
589 | d.JointSetAMotorParam(m_aMotor, (int)dParam.Vel2, m_lastAngularVelocityVector.Y); | ||
590 | d.JointSetAMotorParam(m_aMotor, (int)dParam.Vel3, m_lastAngularVelocityVector.Z); | ||
591 | |||
592 | } | ||
593 | } | ||
522 | } | 594 | } |
523 | } | 595 | } |