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-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs1044
1 files changed, 674 insertions, 370 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index dbc9039..13c2539 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -24,30 +24,17 @@
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 * 26 *
27 27 * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial
28/* RA: June 14, 2011. Copied from ODEDynamics.cs and converted to 28 * are Copyright (c) 2009 Linden Research, Inc and are used under their license
29 * call the BulletSim system. 29 * of Creative Commons Attribution-Share Alike 3.0
30 */ 30 * (http://creativecommons.org/licenses/by-sa/3.0/).
31/* Revised Aug, Sept 2009 by Kitto Flora. ODEDynamics.cs replaces
32 * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised:
33 * ODEPrim.cs contains methods dealing with Prim editing, Prim
34 * characteristics and Kinetic motion.
35 * ODEDynamics.cs contains methods dealing with Prim Physical motion
36 * (dynamics) and the associated settings. Old Linear and angular
37 * motors for dynamic motion have been replace with MoveLinear()
38 * and MoveAngular(); 'Physical' is used only to switch ODE dynamic
39 * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_<other> is to
40 * switch between 'VEHICLE' parameter use and general dynamics
41 * settings use.
42 */ 31 */
43 32
44using System; 33using System;
45using System.Collections.Generic; 34using System.Collections.Generic;
46using System.Reflection; 35using System.Reflection;
47using System.Runtime.InteropServices; 36using System.Runtime.InteropServices;
48using log4net;
49using OpenMetaverse; 37using OpenMetaverse;
50using OpenSim.Framework;
51using OpenSim.Region.Physics.Manager; 38using OpenSim.Region.Physics.Manager;
52 39
53namespace OpenSim.Region.Physics.BulletSPlugin 40namespace OpenSim.Region.Physics.BulletSPlugin
@@ -80,10 +67,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
80 private Quaternion m_referenceFrame = Quaternion.Identity; 67 private Quaternion m_referenceFrame = Quaternion.Identity;
81 68
82 // Linear properties 69 // Linear properties
70 private BSVMotor m_linearMotor = new BSVMotor("LinearMotor");
83 private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time 71 private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
84 private Vector3 m_linearMotorOffset = Vector3.Zero; // the point of force can be offset from the center 72 private Vector3 m_linearMotorOffset = Vector3.Zero; // the point of force can be offset from the center
85 private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL 73 private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL
86 private Vector3 m_newVelocity = Vector3.Zero; // velocity computed to be applied to body
87 private Vector3 m_linearFrictionTimescale = Vector3.Zero; 74 private Vector3 m_linearFrictionTimescale = Vector3.Zero;
88 private float m_linearMotorDecayTimescale = 0; 75 private float m_linearMotorDecayTimescale = 0;
89 private float m_linearMotorTimescale = 0; 76 private float m_linearMotorTimescale = 0;
@@ -93,16 +80,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
93 // private Vector3 m_linearMotorOffset = Vector3.Zero; 80 // private Vector3 m_linearMotorOffset = Vector3.Zero;
94 81
95 //Angular properties 82 //Angular properties
83 private BSVMotor m_angularMotor = new BSVMotor("AngularMotor");
96 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor 84 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
97 // private int m_angularMotorApply = 0; // application frame counter 85 // private int m_angularMotorApply = 0; // application frame counter
98 private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity 86 private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity
99 private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate 87 private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate
100 private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate 88 private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
101 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate 89 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
102 private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body 90 private Vector3 m_lastAngularVelocity = Vector3.Zero;
103 private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body 91 private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
104 92
105 //Deflection properties 93 //Deflection properties
94 private BSVMotor m_angularDeflectionMotor = new BSVMotor("AngularDeflection");
106 private float m_angularDeflectionEfficiency = 0; 95 private float m_angularDeflectionEfficiency = 0;
107 private float m_angularDeflectionTimescale = 0; 96 private float m_angularDeflectionTimescale = 0;
108 private float m_linearDeflectionEfficiency = 0; 97 private float m_linearDeflectionEfficiency = 0;
@@ -114,6 +103,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
114 private float m_bankingTimescale = 0; 103 private float m_bankingTimescale = 0;
115 104
116 //Hover and Buoyancy properties 105 //Hover and Buoyancy properties
106 private BSVMotor m_hoverMotor = new BSVMotor("Hover");
117 private float m_VhoverHeight = 0f; 107 private float m_VhoverHeight = 0f;
118 private float m_VhoverEfficiency = 0f; 108 private float m_VhoverEfficiency = 0f;
119 private float m_VhoverTimescale = 0f; 109 private float m_VhoverTimescale = 0f;
@@ -124,8 +114,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
124 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. 114 // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
125 115
126 //Attractor properties 116 //Attractor properties
127 private float m_verticalAttractionEfficiency = 1.0f; // damped 117 private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction");
128 private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor. 118 private float m_verticalAttractionEfficiency = 1.0f; // damped
119 private float m_verticalAttractionCutoff = 500f; // per the documentation
120 // Timescale > cutoff means no vert attractor.
121 private float m_verticalAttractionTimescale = 510f;
122
123 // Just some recomputed constants:
124 static readonly float PIOverFour = ((float)Math.PI) / 4f;
125 static readonly float PIOverTwo = ((float)Math.PI) / 2f;
129 126
130 public BSDynamics(BSScene myScene, BSPrim myPrim) 127 public BSDynamics(BSScene myScene, BSPrim myPrim)
131 { 128 {
@@ -137,7 +134,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
137 // Return 'true' if this vehicle is doing vehicle things 134 // Return 'true' if this vehicle is doing vehicle things
138 public bool IsActive 135 public bool IsActive
139 { 136 {
140 get { return Type != Vehicle.TYPE_NONE; } 137 get { return Type != Vehicle.TYPE_NONE && Prim.IsPhysical; }
141 } 138 }
142 139
143 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) 140 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
@@ -152,13 +149,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
152 m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); 149 m_angularDeflectionTimescale = Math.Max(pValue, 0.01f);
153 break; 150 break;
154 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: 151 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
155 m_angularMotorDecayTimescale = Math.Max(pValue, 0.01f); 152 m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
153 m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale;
156 break; 154 break;
157 case Vehicle.ANGULAR_MOTOR_TIMESCALE: 155 case Vehicle.ANGULAR_MOTOR_TIMESCALE:
158 m_angularMotorTimescale = Math.Max(pValue, 0.01f); 156 m_angularMotorTimescale = Math.Max(pValue, 0.01f);
157 m_angularMotor.TimeScale = m_angularMotorTimescale;
159 break; 158 break;
160 case Vehicle.BANKING_EFFICIENCY: 159 case Vehicle.BANKING_EFFICIENCY:
161 m_bankingEfficiency = Math.Max(-1f, Math.Min(pValue, 1f)); 160 m_bankingEfficiency = ClampInRange(-1f, pValue, 1f);
162 break; 161 break;
163 case Vehicle.BANKING_MIX: 162 case Vehicle.BANKING_MIX:
164 m_bankingMix = Math.Max(pValue, 0.01f); 163 m_bankingMix = Math.Max(pValue, 0.01f);
@@ -167,10 +166,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
167 m_bankingTimescale = Math.Max(pValue, 0.01f); 166 m_bankingTimescale = Math.Max(pValue, 0.01f);
168 break; 167 break;
169 case Vehicle.BUOYANCY: 168 case Vehicle.BUOYANCY:
170 m_VehicleBuoyancy = Math.Max(-1f, Math.Min(pValue, 1f)); 169 m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f);
171 break; 170 break;
172 case Vehicle.HOVER_EFFICIENCY: 171 case Vehicle.HOVER_EFFICIENCY:
173 m_VhoverEfficiency = Math.Max(0f, Math.Min(pValue, 1f)); 172 m_VhoverEfficiency = ClampInRange(0f, pValue, 1f);
174 break; 173 break;
175 case Vehicle.HOVER_HEIGHT: 174 case Vehicle.HOVER_HEIGHT:
176 m_VhoverHeight = pValue; 175 m_VhoverHeight = pValue;
@@ -185,33 +184,40 @@ namespace OpenSim.Region.Physics.BulletSPlugin
185 m_linearDeflectionTimescale = Math.Max(pValue, 0.01f); 184 m_linearDeflectionTimescale = Math.Max(pValue, 0.01f);
186 break; 185 break;
187 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: 186 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
188 m_linearMotorDecayTimescale = Math.Max(pValue, 0.01f); 187 m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
188 m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale;
189 break; 189 break;
190 case Vehicle.LINEAR_MOTOR_TIMESCALE: 190 case Vehicle.LINEAR_MOTOR_TIMESCALE:
191 m_linearMotorTimescale = Math.Max(pValue, 0.01f); 191 m_linearMotorTimescale = Math.Max(pValue, 0.01f);
192 m_linearMotor.TimeScale = m_linearMotorTimescale;
192 break; 193 break;
193 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: 194 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
194 m_verticalAttractionEfficiency = Math.Max(0.1f, Math.Min(pValue, 1f)); 195 m_verticalAttractionEfficiency = ClampInRange(0.1f, pValue, 1f);
196 m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency;
195 break; 197 break;
196 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: 198 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
197 m_verticalAttractionTimescale = Math.Max(pValue, 0.01f); 199 m_verticalAttractionTimescale = Math.Max(pValue, 0.01f);
200 m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale;
198 break; 201 break;
199 202
200 // These are vector properties but the engine lets you use a single float value to 203 // These are vector properties but the engine lets you use a single float value to
201 // set all of the components to the same value 204 // set all of the components to the same value
202 case Vehicle.ANGULAR_FRICTION_TIMESCALE: 205 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
203 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); 206 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
207 m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
204 break; 208 break;
205 case Vehicle.ANGULAR_MOTOR_DIRECTION: 209 case Vehicle.ANGULAR_MOTOR_DIRECTION:
206 m_angularMotorDirection = new Vector3(pValue, pValue, pValue); 210 m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
207 // m_angularMotorApply = 100; 211 m_angularMotor.SetTarget(m_angularMotorDirection);
208 break; 212 break;
209 case Vehicle.LINEAR_FRICTION_TIMESCALE: 213 case Vehicle.LINEAR_FRICTION_TIMESCALE:
210 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); 214 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
215 m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
211 break; 216 break;
212 case Vehicle.LINEAR_MOTOR_DIRECTION: 217 case Vehicle.LINEAR_MOTOR_DIRECTION:
213 m_linearMotorDirection = new Vector3(pValue, pValue, pValue); 218 m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
214 m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue); 219 m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
220 m_linearMotor.SetTarget(m_linearMotorDirection);
215 break; 221 break;
216 case Vehicle.LINEAR_MOTOR_OFFSET: 222 case Vehicle.LINEAR_MOTOR_OFFSET:
217 m_linearMotorOffset = new Vector3(pValue, pValue, pValue); 223 m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
@@ -227,21 +233,24 @@ namespace OpenSim.Region.Physics.BulletSPlugin
227 { 233 {
228 case Vehicle.ANGULAR_FRICTION_TIMESCALE: 234 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
229 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); 235 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
236 m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
230 break; 237 break;
231 case Vehicle.ANGULAR_MOTOR_DIRECTION: 238 case Vehicle.ANGULAR_MOTOR_DIRECTION:
232 // Limit requested angular speed to 2 rps= 4 pi rads/sec 239 // Limit requested angular speed to 2 rps= 4 pi rads/sec
233 pValue.X = Math.Max(-12.56f, Math.Min(pValue.X, 12.56f)); 240 pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f);
234 pValue.Y = Math.Max(-12.56f, Math.Min(pValue.Y, 12.56f)); 241 pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f);
235 pValue.Z = Math.Max(-12.56f, Math.Min(pValue.Z, 12.56f)); 242 pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f);
236 m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); 243 m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
237 // m_angularMotorApply = 100; 244 m_angularMotor.SetTarget(m_angularMotorDirection);
238 break; 245 break;
239 case Vehicle.LINEAR_FRICTION_TIMESCALE: 246 case Vehicle.LINEAR_FRICTION_TIMESCALE:
240 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); 247 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
248 m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
241 break; 249 break;
242 case Vehicle.LINEAR_MOTOR_DIRECTION: 250 case Vehicle.LINEAR_MOTOR_DIRECTION:
243 m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); 251 m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
244 m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); 252 m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
253 m_linearMotor.SetTarget(m_linearMotorDirection);
245 break; 254 break;
246 case Vehicle.LINEAR_MOTOR_OFFSET: 255 case Vehicle.LINEAR_MOTOR_OFFSET:
247 m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); 256 m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
@@ -303,7 +312,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
303 m_VhoverEfficiency = 0; 312 m_VhoverEfficiency = 0;
304 m_VhoverTimescale = 0; 313 m_VhoverTimescale = 0;
305 m_VehicleBuoyancy = 0; 314 m_VehicleBuoyancy = 0;
306 315
307 m_linearDeflectionEfficiency = 1; 316 m_linearDeflectionEfficiency = 1;
308 m_linearDeflectionTimescale = 1; 317 m_linearDeflectionTimescale = 1;
309 318
@@ -319,6 +328,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
319 328
320 m_referenceFrame = Quaternion.Identity; 329 m_referenceFrame = Quaternion.Identity;
321 m_flags = (VehicleFlag)0; 330 m_flags = (VehicleFlag)0;
331
322 break; 332 break;
323 333
324 case Vehicle.TYPE_SLED: 334 case Vehicle.TYPE_SLED:
@@ -351,10 +361,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
351 m_bankingMix = 1; 361 m_bankingMix = 1;
352 362
353 m_referenceFrame = Quaternion.Identity; 363 m_referenceFrame = Quaternion.Identity;
354 m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); 364 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
355 m_flags &= 365 | VehicleFlag.HOVER_TERRAIN_ONLY
356 ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | 366 | VehicleFlag.HOVER_GLOBAL_HEIGHT
357 VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); 367 | VehicleFlag.HOVER_UP_ONLY);
368 m_flags |= (VehicleFlag.NO_DEFLECTION_UP
369 | VehicleFlag.LIMIT_ROLL_ONLY
370 | VehicleFlag.LIMIT_MOTOR_UP);
371
358 break; 372 break;
359 case Vehicle.TYPE_CAR: 373 case Vehicle.TYPE_CAR:
360 m_linearMotorDirection = Vector3.Zero; 374 m_linearMotorDirection = Vector3.Zero;
@@ -498,6 +512,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
498 m_bankingEfficiency = 0; 512 m_bankingEfficiency = 0;
499 m_bankingMix = 0.7f; 513 m_bankingMix = 0.7f;
500 m_bankingTimescale = 5; 514 m_bankingTimescale = 5;
515
501 m_referenceFrame = Quaternion.Identity; 516 m_referenceFrame = Quaternion.Identity;
502 517
503 m_referenceFrame = Quaternion.Identity; 518 m_referenceFrame = Quaternion.Identity;
@@ -510,6 +525,26 @@ namespace OpenSim.Region.Physics.BulletSPlugin
510 | VehicleFlag.HOVER_GLOBAL_HEIGHT); 525 | VehicleFlag.HOVER_GLOBAL_HEIGHT);
511 break; 526 break;
512 } 527 }
528
529 // Update any physical parameters based on this type.
530 Refresh();
531
532 m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale,
533 m_linearMotorDecayTimescale, m_linearFrictionTimescale,
534 1f);
535 m_linearMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
536
537 m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale,
538 m_angularMotorDecayTimescale, m_angularFrictionTimescale,
539 1f);
540 m_angularMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
541
542 m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale,
543 BSMotor.Infinite, BSMotor.InfiniteVector,
544 m_verticalAttractionEfficiency);
545 // Z goes away and we keep X and Y
546 m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f);
547 m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
513 } 548 }
514 549
515 // Some of the properties of this prim may have changed. 550 // Some of the properties of this prim may have changed.
@@ -518,13 +553,35 @@ namespace OpenSim.Region.Physics.BulletSPlugin
518 { 553 {
519 if (IsActive) 554 if (IsActive)
520 { 555 {
521 // Friction effects are handled by this vehicle code 556 // Remember the mass so we don't have to fetch it every step
522 BulletSimAPI.SetFriction2(Prim.PhysBody.ptr, 0f); 557 m_vehicleMass = Prim.Linkset.LinksetMass;
523 BulletSimAPI.SetHitFraction2(Prim.PhysBody.ptr, 0f);
524 558
525 // BulletSimAPI.SetAngularDamping2(Prim.PhysBody.ptr, 0.8f); 559 // Friction affects are handled by this vehicle code
560 float friction = 0f;
561 PhysicsScene.PE.SetFriction(Prim.PhysBody, friction);
526 562
527 VDetailLog("{0},BSDynamics.Refresh,zeroingFriction and adding damping", Prim.LocalID); 563 // Moderate angular movement introduced by Bullet.
564 // TODO: possibly set AngularFactor and LinearFactor for the type of vehicle.
565 // Maybe compute linear and angular factor and damping from params.
566 float angularDamping = BSParam.VehicleAngularDamping;
567 PhysicsScene.PE.SetAngularDamping(Prim.PhysBody, angularDamping);
568
569 // Vehicles report collision events so we know when it's on the ground
570 PhysicsScene.PE.AddToCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
571
572 Vector3 localInertia = PhysicsScene.PE.CalculateLocalInertia(Prim.PhysShape, m_vehicleMass);
573 PhysicsScene.PE.SetMassProps(Prim.PhysBody, m_vehicleMass, localInertia);
574 PhysicsScene.PE.UpdateInertiaTensor(Prim.PhysBody);
575
576 Vector3 grav = PhysicsScene.DefaultGravity * (1f - Prim.Buoyancy);
577 PhysicsScene.PE.SetGravity(Prim.PhysBody, grav);
578
579 VDetailLog("{0},BSDynamics.Refresh,mass={1},frict={2},inert={3},aDamp={4}",
580 Prim.LocalID, m_vehicleMass, friction, localInertia, angularDamping);
581 }
582 else
583 {
584 PhysicsScene.PE.RemoveFromCollisionFlags(Prim.PhysBody, CollisionFlags.BS_VEHICLE_COLLISIONS);
528 } 585 }
529 } 586 }
530 587
@@ -546,116 +603,342 @@ namespace OpenSim.Region.Physics.BulletSPlugin
546 Refresh(); 603 Refresh();
547 } 604 }
548 605
606 #region Known vehicle value functions
607 // Vehicle physical parameters that we buffer from constant getting and setting.
608 // The "m_known*" values are unknown until they are fetched and the m_knownHas flag is set.
609 // Changing is remembered and the parameter is stored back into the physics engine only if updated.
610 // This does two things: 1) saves continuious calls into unmanaged code, and
611 // 2) signals when a physics property update must happen back to the simulator
612 // to update values modified for the vehicle.
613 private int m_knownChanged;
614 private int m_knownHas;
615 private float m_knownTerrainHeight;
616 private float m_knownWaterLevel;
617 private Vector3 m_knownPosition;
618 private Vector3 m_knownVelocity;
619 private Vector3 m_knownForce;
620 private Quaternion m_knownOrientation;
621 private Vector3 m_knownRotationalVelocity;
622 private Vector3 m_knownRotationalForce;
623 private Vector3 m_knownForwardVelocity; // vehicle relative forward speed
624
625 private const int m_knownChangedPosition = 1 << 0;
626 private const int m_knownChangedVelocity = 1 << 1;
627 private const int m_knownChangedForce = 1 << 2;
628 private const int m_knownChangedOrientation = 1 << 3;
629 private const int m_knownChangedRotationalVelocity = 1 << 4;
630 private const int m_knownChangedRotationalForce = 1 << 5;
631 private const int m_knownChangedTerrainHeight = 1 << 6;
632 private const int m_knownChangedWaterLevel = 1 << 7;
633 private const int m_knownChangedForwardVelocity = 1 << 8;
634
635 private void ForgetKnownVehicleProperties()
636 {
637 m_knownHas = 0;
638 m_knownChanged = 0;
639 }
640 // Push all the changed values back into the physics engine
641 private void PushKnownChanged()
642 {
643 if (m_knownChanged != 0)
644 {
645 if ((m_knownChanged & m_knownChangedPosition) != 0)
646 Prim.ForcePosition = m_knownPosition;
647
648 if ((m_knownChanged & m_knownChangedOrientation) != 0)
649 Prim.ForceOrientation = m_knownOrientation;
650
651 if ((m_knownChanged & m_knownChangedVelocity) != 0)
652 {
653 Prim.ForceVelocity = m_knownVelocity;
654 PhysicsScene.PE.SetInterpolationLinearVelocity(Prim.PhysBody, VehicleVelocity);
655 }
656
657 if ((m_knownChanged & m_knownChangedForce) != 0)
658 Prim.AddForce((Vector3)m_knownForce, false, true);
659
660 if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0)
661 {
662 Prim.ForceRotationalVelocity = m_knownRotationalVelocity;
663 // Fake out Bullet by making it think the velocity is the same as last time.
664 PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
665 }
666
667 if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
668 Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true);
669
670 // If we set one of the values (ie, the physics engine didn't do it) we must force
671 // an UpdateProperties event to send the changes up to the simulator.
672 PhysicsScene.PE.PushUpdate(Prim.PhysBody);
673 }
674 m_knownChanged = 0;
675 }
676
677 // Since the computation of terrain height can be a little involved, this routine
678 // is used to fetch the height only once for each vehicle simulation step.
679 private float GetTerrainHeight(Vector3 pos)
680 {
681 if ((m_knownHas & m_knownChangedTerrainHeight) == 0)
682 {
683 m_knownTerrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
684 m_knownHas |= m_knownChangedTerrainHeight;
685 }
686 return m_knownTerrainHeight;
687 }
688
689 // Since the computation of water level can be a little involved, this routine
690 // is used ot fetch the level only once for each vehicle simulation step.
691 private float GetWaterLevel(Vector3 pos)
692 {
693 if ((m_knownHas & m_knownChangedWaterLevel) == 0)
694 {
695 m_knownWaterLevel = Prim.PhysicsScene.TerrainManager.GetWaterLevelAtXYZ(pos);
696 m_knownHas |= m_knownChangedWaterLevel;
697 }
698 return (float)m_knownWaterLevel;
699 }
700
701 private Vector3 VehiclePosition
702 {
703 get
704 {
705 if ((m_knownHas & m_knownChangedPosition) == 0)
706 {
707 m_knownPosition = Prim.ForcePosition;
708 m_knownHas |= m_knownChangedPosition;
709 }
710 return m_knownPosition;
711 }
712 set
713 {
714 m_knownPosition = value;
715 m_knownChanged |= m_knownChangedPosition;
716 m_knownHas |= m_knownChangedPosition;
717 }
718 }
719
720 private Quaternion VehicleOrientation
721 {
722 get
723 {
724 if ((m_knownHas & m_knownChangedOrientation) == 0)
725 {
726 m_knownOrientation = Prim.ForceOrientation;
727 m_knownHas |= m_knownChangedOrientation;
728 }
729 return m_knownOrientation;
730 }
731 set
732 {
733 m_knownOrientation = value;
734 m_knownChanged |= m_knownChangedOrientation;
735 m_knownHas |= m_knownChangedOrientation;
736 }
737 }
738
739 private Vector3 VehicleVelocity
740 {
741 get
742 {
743 if ((m_knownHas & m_knownChangedVelocity) == 0)
744 {
745 m_knownVelocity = Prim.ForceVelocity;
746 m_knownHas |= m_knownChangedVelocity;
747 }
748 return (Vector3)m_knownVelocity;
749 }
750 set
751 {
752 m_knownVelocity = value;
753 m_knownChanged |= m_knownChangedVelocity;
754 m_knownHas |= m_knownChangedVelocity;
755 }
756 }
757
758 private void VehicleAddForce(Vector3 aForce)
759 {
760 if ((m_knownHas & m_knownChangedForce) == 0)
761 {
762 m_knownForce = Vector3.Zero;
763 }
764 m_knownForce += aForce;
765 m_knownChanged |= m_knownChangedForce;
766 m_knownHas |= m_knownChangedForce;
767 }
768
769 private Vector3 VehicleRotationalVelocity
770 {
771 get
772 {
773 if ((m_knownHas & m_knownChangedRotationalVelocity) == 0)
774 {
775 m_knownRotationalVelocity = Prim.ForceRotationalVelocity;
776 m_knownHas |= m_knownChangedRotationalVelocity;
777 }
778 return (Vector3)m_knownRotationalVelocity;
779 }
780 set
781 {
782 m_knownRotationalVelocity = value;
783 m_knownChanged |= m_knownChangedRotationalVelocity;
784 m_knownHas |= m_knownChangedRotationalVelocity;
785 }
786 }
787 private void VehicleAddAngularForce(Vector3 aForce)
788 {
789 if ((m_knownHas & m_knownChangedRotationalForce) == 0)
790 {
791 m_knownRotationalForce = Vector3.Zero;
792 }
793 m_knownRotationalForce += aForce;
794 m_knownChanged |= m_knownChangedRotationalForce;
795 m_knownHas |= m_knownChangedRotationalForce;
796 }
797 // Vehicle relative forward velocity
798 private Vector3 VehicleForwardVelocity
799 {
800 get
801 {
802 if ((m_knownHas & m_knownChangedForwardVelocity) == 0)
803 {
804 m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation));
805 m_knownHas |= m_knownChangedForwardVelocity;
806 }
807 return m_knownForwardVelocity;
808 }
809 }
810 private float VehicleForwardSpeed
811 {
812 get
813 {
814 return VehicleForwardVelocity.X;
815 }
816 }
817
818 #endregion // Known vehicle value functions
819
549 // One step of the vehicle properties for the next 'pTimestep' seconds. 820 // One step of the vehicle properties for the next 'pTimestep' seconds.
550 internal void Step(float pTimestep) 821 internal void Step(float pTimestep)
551 { 822 {
552 if (!IsActive) return; 823 if (!IsActive) return;
553 824
554 // DEBUG 825 if (PhysicsScene.VehiclePhysicalLoggingEnabled)
555 // Because Bullet does apply forces to the vehicle, our last computed 826 PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
556 // linear and angular velocities are not what is happening now.
557 // Vector3 externalAngularVelocity = Prim.ForceRotationalVelocity - m_lastAngularVelocity;
558 // m_lastAngularVelocity += (externalAngularVelocity * 0.5f) * pTimestep;
559 // m_lastAngularVelocity = Prim.ForceRotationalVelocity; // DEBUG: account for what Bullet did last time
560 // m_lastLinearVelocityVector = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation); // DEBUG:
561 // END DEBUG
562 827
563 m_vehicleMass = Prim.Linkset.LinksetMass; 828 ForgetKnownVehicleProperties();
564 829
565 MoveLinear(pTimestep); 830 MoveLinear(pTimestep);
566 // Commented out for debug
567 MoveAngular(pTimestep); 831 MoveAngular(pTimestep);
568 // Prim.ApplyTorqueImpulse(-Prim.RotationalVelocity * m_vehicleMass, false); // DEBUG DEBUG
569 // Prim.ForceRotationalVelocity = -Prim.RotationalVelocity; // DEBUG DEBUG
570 832
571 LimitRotation(pTimestep); 833 LimitRotation(pTimestep);
572 834
573 // remember the position so next step we can limit absolute movement effects 835 // remember the position so next step we can limit absolute movement effects
574 m_lastPositionVector = Prim.ForcePosition; 836 m_lastPositionVector = VehiclePosition;
575 837
576 VDetailLog("{0},BSDynamics.Step,frict={1},grav={2},inertia={3},mass={4}", // DEBUG DEBUG 838 // If we forced the changing of some vehicle parameters, update the values and
577 Prim.LocalID, 839 // for the physics engine to note the changes so an UpdateProperties event will happen.
578 BulletSimAPI.GetFriction2(Prim.PhysBody.ptr), 840 PushKnownChanged();
579 BulletSimAPI.GetGravity2(Prim.PhysBody.ptr), 841
580 Prim.Inertia, 842 if (PhysicsScene.VehiclePhysicalLoggingEnabled)
581 m_vehicleMass 843 PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
582 ); 844
583 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}", 845 VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
584 Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity); 846 Prim.LocalID, VehiclePosition, Prim.Force, VehicleVelocity, VehicleRotationalVelocity);
585 }// end Step 847 }
586 848
587 // Apply the effect of the linear motor. 849 // Apply the effect of the linear motor and other linear motions (like hover and float).
588 // Also does hover and float.
589 private void MoveLinear(float pTimestep) 850 private void MoveLinear(float pTimestep)
590 { 851 {
591 // m_linearMotorDirection is the target direction we are moving relative to the vehicle coordinates 852 Vector3 linearMotorContribution = m_linearMotor.Step(pTimestep);
592 // m_lastLinearVelocityVector is the current speed we are moving in that direction
593 if (m_linearMotorDirection.LengthSquared() > 0.001f)
594 {
595 Vector3 origDir = m_linearMotorDirection; // DEBUG
596 Vector3 origVel = m_lastLinearVelocityVector; // DEBUG
597 // DEBUG: the vehicle velocity rotated to be relative to vehicle coordinates for comparison
598 Vector3 vehicleVelocity = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation); // DEBUG
599 853
600 // Add (desiredVelocity - lastAppliedVelocity) / howLongItShouldTakeToComplete 854 // The movement computed in the linear motor is relative to the vehicle
601 Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale) * pTimestep; 855 // coordinates. Rotate the movement to world coordinates.
602 m_lastLinearVelocityVector += addAmount; 856 linearMotorContribution *= VehicleOrientation;
603 857
604 float decayFactor = (1.0f / m_linearMotorDecayTimescale) * pTimestep; 858 // ==================================================================
605 m_linearMotorDirection *= (1f - decayFactor); 859 // Buoyancy: force to overcome gravity.
860 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
861 // So, if zero, don't change anything (let gravity happen). If one, negate the effect of gravity.
862 Vector3 buoyancyContribution = Prim.PhysicsScene.DefaultGravity * m_VehicleBuoyancy;
606 863
607 // Rotate new object velocity from vehicle relative to world coordinates 864 Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep);
608 m_newVelocity = m_lastLinearVelocityVector * Prim.ForceOrientation;
609 865
610 // Apply friction for next time 866 Vector3 hoverContribution = ComputeLinearHover(pTimestep);
611 Vector3 frictionFactor = (Vector3.One / m_linearFrictionTimescale) * pTimestep;
612 m_lastLinearVelocityVector *= (Vector3.One - frictionFactor);
613 867
614 VDetailLog("{0},MoveLinear,nonZero,origlmDir={1},origlvVel={2},vehVel={3},add={4},decay={5},frict={6},lmDir={7},lvVec={8},newVel={9}", 868 ComputeLinearBlockingEndPoint(pTimestep);
615 Prim.LocalID, origDir, origVel, vehicleVelocity, addAmount, decayFactor, frictionFactor, 869
616 m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity); 870 Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep);
617 } 871
618 else 872 // ==================================================================
619 { 873 Vector3 newVelocity = linearMotorContribution
620 // if what remains of direction is very small, zero it. 874 + terrainHeightContribution
621 m_linearMotorDirection = Vector3.Zero; 875 + hoverContribution
622 m_lastLinearVelocityVector = Vector3.Zero; 876 + limitMotorUpContribution;
623 m_newVelocity = Vector3.Zero; 877
878 Vector3 newForce = buoyancyContribution;
879
880 // If not changing some axis, reduce out velocity
881 if ((m_flags & (VehicleFlag.NO_X)) != 0)
882 newVelocity.X = 0;
883 if ((m_flags & (VehicleFlag.NO_Y)) != 0)
884 newVelocity.Y = 0;
885 if ((m_flags & (VehicleFlag.NO_Z)) != 0)
886 newVelocity.Z = 0;
624 887
625 VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID); 888 // ==================================================================
889 // Clamp high or low velocities
890 float newVelocityLengthSq = newVelocity.LengthSquared();
891 if (newVelocityLengthSq > 1000f)
892 {
893 newVelocity /= newVelocity.Length();
894 newVelocity *= 1000f;
626 } 895 }
896 else if (newVelocityLengthSq < 0.001f)
897 newVelocity = Vector3.Zero;
627 898
628 // m_newVelocity is velocity computed from linear motor in world coordinates 899 // ==================================================================
900 // Stuff new linear velocity into the vehicle.
901 // Since the velocity is just being set, it is not scaled by pTimeStep. Bullet will do that for us.
902 VehicleVelocity = newVelocity;
629 903
630 // Gravity and Buoyancy 904 // Other linear forces are applied as forces.
631 // There is some gravity, make a gravity force vector that is applied after object velocity. 905 Vector3 totalDownForce = newForce * m_vehicleMass;
632 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; 906 if (!totalDownForce.ApproxEquals(Vector3.Zero, 0.01f))
633 Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy); 907 {
908 VehicleAddForce(totalDownForce);
909 }
634 910
635 /* 911 VDetailLog("{0}, MoveLinear,done,newVel={1},totDown={2},IsColliding={3}",
636 * RA: Not sure why one would do this unless we are hoping external forces are doing gravity, ... 912 Prim.LocalID, newVelocity, totalDownForce, Prim.IsColliding);
637 // Preserve the current Z velocity 913 VDetailLog("{0}, MoveLinear,done,linContrib={1},terrContrib={2},hoverContrib={3},limitContrib={4},buoyContrib={5}",
638 Vector3 vel_now = m_prim.Velocity; 914 Prim.LocalID,
639 m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity 915 linearMotorContribution, terrainHeightContribution, hoverContribution,
640 */ 916 limitMotorUpContribution, buoyancyContribution
917 );
641 918
642 Vector3 pos = Prim.ForcePosition; 919 } // end MoveLinear()
643// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
644 920
921 public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep)
922 {
923 Vector3 ret = Vector3.Zero;
645 // If below the terrain, move us above the ground a little. 924 // If below the terrain, move us above the ground a little.
646 float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos); 925 // TODO: Consider taking the rotated size of the object or possibly casting a ray.
647 // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset. 926 if (VehiclePosition.Z < GetTerrainHeight(VehiclePosition))
648 // TODO: Add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass.
649 // Vector3 rotatedSize = m_prim.Size * m_prim.ForceOrientation;
650 // if (rotatedSize.Z < terrainHeight)
651 if (pos.Z < terrainHeight)
652 { 927 {
653 pos.Z = terrainHeight + 2; 928 // TODO: correct position by applying force rather than forcing position.
654 Prim.ForcePosition = pos; 929 Vector3 newPosition = VehiclePosition;
655 VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos); 930 newPosition.Z = GetTerrainHeight(VehiclePosition) + 1f;
931 VehiclePosition = newPosition;
932 VDetailLog("{0}, MoveLinear,terrainHeight,terrainHeight={1},pos={2}",
933 Prim.LocalID, GetTerrainHeight(VehiclePosition), VehiclePosition);
656 } 934 }
935 return ret;
936 }
937
938 public Vector3 ComputeLinearHover(float pTimestep)
939 {
940 Vector3 ret = Vector3.Zero;
657 941
658 // Check if hovering
659 // m_VhoverEfficiency: 0=bouncy, 1=totally damped 942 // m_VhoverEfficiency: 0=bouncy, 1=totally damped
660 // m_VhoverTimescale: time to achieve height 943 // m_VhoverTimescale: time to achieve height
661 if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) 944 if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
@@ -663,11 +946,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
663 // We should hover, get the target height 946 // We should hover, get the target height
664 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0) 947 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
665 { 948 {
666 m_VhoverTargetHeight = Prim.PhysicsScene.GetWaterLevelAtXYZ(pos) + m_VhoverHeight; 949 m_VhoverTargetHeight = GetWaterLevel(VehiclePosition) + m_VhoverHeight;
667 } 950 }
668 if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) 951 if ((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
669 { 952 {
670 m_VhoverTargetHeight = terrainHeight + m_VhoverHeight; 953 m_VhoverTargetHeight = GetTerrainHeight(VehiclePosition) + m_VhoverHeight;
671 } 954 }
672 if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) 955 if ((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
673 { 956 {
@@ -677,45 +960,47 @@ namespace OpenSim.Region.Physics.BulletSPlugin
677 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0) 960 if ((m_flags & VehicleFlag.HOVER_UP_ONLY) != 0)
678 { 961 {
679 // If body is already heigher, use its height as target height 962 // If body is already heigher, use its height as target height
680 if (pos.Z > m_VhoverTargetHeight) 963 if (VehiclePosition.Z > m_VhoverTargetHeight)
681 m_VhoverTargetHeight = pos.Z; 964 m_VhoverTargetHeight = VehiclePosition.Z;
682 } 965 }
966
683 if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0) 967 if ((m_flags & VehicleFlag.LOCK_HOVER_HEIGHT) != 0)
684 { 968 {
685 if (Math.Abs(pos.Z - m_VhoverTargetHeight) > 0.2f) 969 if (Math.Abs(VehiclePosition.Z - m_VhoverTargetHeight) > 0.2f)
686 { 970 {
971 Vector3 pos = VehiclePosition;
687 pos.Z = m_VhoverTargetHeight; 972 pos.Z = m_VhoverTargetHeight;
688 Prim.ForcePosition = pos; 973 VehiclePosition = pos;
689 } 974 }
690 } 975 }
691 else 976 else
692 { 977 {
693 float verticalError = pos.Z - m_VhoverTargetHeight; 978 // Error is positive if below the target and negative if above.
694 // RA: where does the 50 come from? 979 float verticalError = m_VhoverTargetHeight - VehiclePosition.Z;
695 float verticalCorrectionVelocity = pTimestep * ((verticalError * 50.0f) / m_VhoverTimescale); 980 float verticalCorrectionVelocity = verticalError / m_VhoverTimescale;
696 // Replace Vertical speed with correction figure if significant 981
697 if (Math.Abs(verticalError) > 0.01f) 982 // TODO: implement m_VhoverEfficiency correctly
698 { 983 if (Math.Abs(verticalError) > m_VhoverEfficiency)
699 m_newVelocity.Z += verticalCorrectionVelocity;
700 //KF: m_VhoverEfficiency is not yet implemented
701 }
702 else if (verticalError < -0.01)
703 {
704 m_newVelocity.Z -= verticalCorrectionVelocity;
705 }
706 else
707 { 984 {
708 m_newVelocity.Z = 0f; 985 ret = new Vector3(0f, 0f, verticalCorrectionVelocity);
709 } 986 }
710 } 987 }
711 988
712 VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", Prim.LocalID, pos, m_newVelocity, m_VhoverHeight, m_VhoverTargetHeight); 989 VDetailLog("{0}, MoveLinear,hover,pos={1},ret={2},hoverTS={3},height={4},target={5}",
990 Prim.LocalID, VehiclePosition, ret, m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight);
713 } 991 }
714 992
993 return ret;
994 }
995
996 public bool ComputeLinearBlockingEndPoint(float pTimestep)
997 {
998 bool changed = false;
999
1000 Vector3 pos = VehiclePosition;
715 Vector3 posChange = pos - m_lastPositionVector; 1001 Vector3 posChange = pos - m_lastPositionVector;
716 if (m_BlockingEndPoint != Vector3.Zero) 1002 if (m_BlockingEndPoint != Vector3.Zero)
717 { 1003 {
718 bool changed = false;
719 if (pos.X >= (m_BlockingEndPoint.X - (float)1)) 1004 if (pos.X >= (m_BlockingEndPoint.X - (float)1))
720 { 1005 {
721 pos.X -= posChange.X + 1; 1006 pos.X -= posChange.X + 1;
@@ -743,233 +1028,109 @@ namespace OpenSim.Region.Physics.BulletSPlugin
743 } 1028 }
744 if (changed) 1029 if (changed)
745 { 1030 {
746 Prim.ForcePosition = pos; 1031 VehiclePosition = pos;
747 VDetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}", 1032 VDetailLog("{0}, MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
748 Prim.LocalID, m_BlockingEndPoint, posChange, pos); 1033 Prim.LocalID, m_BlockingEndPoint, posChange, pos);
749 } 1034 }
750 } 1035 }
1036 return changed;
1037 }
751 1038
752 #region downForce 1039 // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
753 Vector3 downForce = Vector3.Zero; 1040 // Prevent ground vehicles from motoring into the sky. This flag has a subtle effect when
1041 // used with conjunction with banking: the strength of the banking will decay when the
1042 // vehicle no longer experiences collisions. The decay timescale is the same as
1043 // VEHICLE_BANKING_TIMESCALE. This is to help prevent ground vehicles from steering
1044 // when they are in mid jump.
1045 // TODO: this code is wrong. Also, what should it do for boats (height from water)?
1046 // This is just using the ground and a general collision check. Should really be using
1047 // a downward raycast to find what is below.
1048 public Vector3 ComputeLinearMotorUp(float pTimestep)
1049 {
1050 Vector3 ret = Vector3.Zero;
1051 float distanceAboveGround = 0f;
754 1052
755 if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) 1053 if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
756 { 1054 {
757 // If the vehicle is motoring into the sky, get it going back down. 1055 float targetHeight = Type == Vehicle.TYPE_BOAT ? GetWaterLevel(VehiclePosition) : GetTerrainHeight(VehiclePosition);
758 // Is this an angular force or both linear and angular?? 1056 distanceAboveGround = VehiclePosition.Z - targetHeight;
759 float distanceAboveGround = pos.Z - terrainHeight; 1057 // Not colliding if the vehicle is off the ground
760 if (distanceAboveGround > 2f) 1058 if (!Prim.IsColliding)
761 { 1059 {
762 // downForce = new Vector3(0, 0, (-distanceAboveGround / m_bankingTimescale) * pTimestep);
763 // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale); 1060 // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale);
764 downForce = new Vector3(0, 0, -distanceAboveGround); 1061 ret = new Vector3(0, 0, -distanceAboveGround);
765 } 1062 }
766 // TODO: this calculation is all wrong. From the description at 1063 // TODO: this calculation is wrong. From the description at
767 // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce 1064 // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce
768 // has a decay factor. This says this force should 1065 // has a decay factor. This says this force should
769 // be computed with a motor. 1066 // be computed with a motor.
770 VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}", 1067 // TODO: add interaction with banking.
771 Prim.LocalID, distanceAboveGround, downForce);
772 }
773 #endregion // downForce
774
775 // If not changing some axis, reduce out velocity
776 if ((m_flags & (VehicleFlag.NO_X)) != 0)
777 m_newVelocity.X = 0;
778 if ((m_flags & (VehicleFlag.NO_Y)) != 0)
779 m_newVelocity.Y = 0;
780 if ((m_flags & (VehicleFlag.NO_Z)) != 0)
781 m_newVelocity.Z = 0;
782
783 // Clamp REALLY high or low velocities
784 if (m_newVelocity.LengthSquared() > 1e6f)
785 {
786 m_newVelocity /= m_newVelocity.Length();
787 m_newVelocity *= 1000f;
788 }
789 else if (m_newVelocity.LengthSquared() < 1e-6f)
790 m_newVelocity = Vector3.Zero;
791
792 // Stuff new linear velocity into the vehicle
793 Prim.ForceVelocity = m_newVelocity;
794 // Prim.ApplyForceImpulse((m_newVelocity - Prim.Velocity) * m_vehicleMass, false); // DEBUG DEBUG
795
796 Vector3 totalDownForce = downForce + grav;
797 if (totalDownForce != Vector3.Zero)
798 {
799 Prim.AddForce(totalDownForce * m_vehicleMass, false);
800 // Prim.ApplyForceImpulse(totalDownForce * m_vehicleMass, false);
801 } 1068 }
802 1069 VDetailLog("{0}, MoveLinear,limitMotorUp,distAbove={1},colliding={2},ret={3}",
803 VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},primVel={4},totalDown={5}", 1070 Prim.LocalID, distanceAboveGround, Prim.IsColliding, ret);
804 Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, Prim.Velocity, totalDownForce); 1071 return ret;
805 1072 }
806 } // end MoveLinear()
807 1073
808 // ======================================================================= 1074 // =======================================================================
1075 // =======================================================================
809 // Apply the effect of the angular motor. 1076 // Apply the effect of the angular motor.
1077 // The 'contribution' is how much angular correction velocity each function wants.
1078 // All the contributions are added together and the resulting velocity is
1079 // set directly on the vehicle.
810 private void MoveAngular(float pTimestep) 1080 private void MoveAngular(float pTimestep)
811 { 1081 {
812 // m_angularMotorDirection // angular velocity requested by LSL motor 1082 // The user wants this many radians per second angular change?
813 // m_angularMotorApply // application frame counter 1083 Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
814 // m_angularMotorVelocity // current angular motor velocity (ramps up and down) 1084
815 // m_angularMotorTimescale // motor angular velocity ramp up rate 1085 // ==================================================================
816 // m_angularMotorDecayTimescale // motor angular velocity decay rate 1086 // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
817 // m_angularFrictionTimescale // body angular velocity decay rate 1087 // This flag prevents linear deflection parallel to world z-axis. This is useful
818 // m_lastAngularVelocity // what was last applied to body 1088 // for preventing ground vehicles with large linear deflection, like bumper cars,
819 1089 // from climbing their linear deflection into the sky.
820 if (m_angularMotorDirection.LengthSquared() > 0.0001) 1090 // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
821 { 1091 if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
822 Vector3 origVel = m_angularMotorVelocity;
823 Vector3 origDir = m_angularMotorDirection;
824
825 // new velocity += error / ( time to get there / step interval)
826 // requested direction - current vehicle direction
827 m_angularMotorVelocity += (m_angularMotorDirection - m_angularMotorVelocity) / (m_angularMotorTimescale / pTimestep);
828 // decay requested direction
829 m_angularMotorDirection *= (1.0f - (pTimestep * 1.0f/m_angularMotorDecayTimescale));
830
831 VDetailLog("{0},MoveAngular,angularMotorApply,angTScale={1},timeStep={2},origvel={3},origDir={4},vel={5}",
832 Prim.LocalID, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity);
833 }
834 else
835 { 1092 {
836 m_angularMotorVelocity = Vector3.Zero; 1093 angularMotorContribution.X = 0f;
1094 angularMotorContribution.Y = 0f;
1095 VDetailLog("{0}, MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
837 } 1096 }
838 1097
839 #region Vertical attactor 1098 Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction();
840
841 Vector3 vertattr = Vector3.Zero;
842 Vector3 deflection = Vector3.Zero;
843 Vector3 banking = Vector3.Zero;
844
845 // If vertical attaction timescale is reasonable and we applied an angular force last time...
846 if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero)
847 {
848 float VAservo = pTimestep * 0.2f / m_verticalAttractionTimescale;
849 if (Prim.IsColliding)
850 VAservo = pTimestep * 0.05f / (m_verticalAttractionTimescale);
851
852 VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
853
854 // Create a vector of the vehicle "up" in world coordinates
855 Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation;
856 // verticalError.X and .Y are the World error amounts. They are 0 when there is no
857 // error (Vehicle Body is 'vertical'), and .Z will be 1. As the body leans to its
858 // side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall
859 // and .Z will go // negative. Similar for tilt and |.Y|. .X and .Y must be
860 // modulated to prevent a stable inverted body.
861
862 // Error is 0 (no error) to +/- 2 (max error)
863 if (verticalError.Z < 0.0f)
864 {
865 verticalError.X = 2.0f - verticalError.X;
866 verticalError.Y = 2.0f - verticalError.Y;
867 }
868 // scale it by VAservo (timestep and timescale)
869 verticalError = verticalError * VAservo;
870
871 // As the body rotates around the X axis, then verticalError.Y increases; Rotated around Y
872 // then .X increases, so change Body angular velocity X based on Y, and Y based on X.
873 // Z is not changed.
874 vertattr.X = verticalError.Y;
875 vertattr.Y = - verticalError.X;
876 vertattr.Z = 0f;
877 1099
878 // scaling appears better usingsquare-law 1100 Vector3 deflectionContribution = ComputeAngularDeflection();
879 Vector3 angularVelocity = Prim.ForceRotationalVelocity;
880 float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
881 vertattr.X += bounce * angularVelocity.X;
882 vertattr.Y += bounce * angularVelocity.Y;
883 1101
884 VDetailLog("{0},MoveAngular,verticalAttraction,VAservo={1},effic={2},verticalError={3},bounce={4},vertattr={5}", 1102 Vector3 bankingContribution = ComputeAngularBanking();
885 Prim.LocalID, VAservo, m_verticalAttractionEfficiency, verticalError, bounce, vertattr);
886 1103
887 } 1104 // ==================================================================
888 #endregion // Vertical attactor 1105 m_lastVertAttractor = verticalAttractionContribution;
889 1106
890 #region Deflection 1107 m_lastAngularVelocity = angularMotorContribution
1108 + verticalAttractionContribution
1109 + deflectionContribution
1110 + bankingContribution;
891 1111
892 if (m_angularDeflectionEfficiency != 0) 1112 // ==================================================================
1113 // Apply the correction velocity.
1114 // TODO: Should this be applied as an angular force (torque)?
1115 if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
893 { 1116 {
894 // Compute a scaled vector that points in the preferred axis (X direction) 1117 VehicleRotationalVelocity = m_lastAngularVelocity;
895 Vector3 scaledDefaultDirection =
896 new Vector3((pTimestep * 10 * (m_angularDeflectionEfficiency / m_angularDeflectionTimescale)), 0, 0);
897 // Adding the current vehicle orientation and reference frame displaces the orientation to the frame.
898 // Rotate the scaled default axix relative to the actual vehicle direction giving where it should point.
899 Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(Prim.ForceOrientation, m_referenceFrame);
900
901 // Scale by efficiency and timescale
902 deflection = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep;
903
904 VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}",
905 Prim.LocalID, preferredAxisOfMotion, deflection);
906 // This deflection computation is not correct.
907 deflection = Vector3.Zero;
908 }
909
910 #endregion
911 1118
912 #region Banking 1119 VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5}",
913 1120 Prim.LocalID,
914 if (m_bankingEfficiency != 0) 1121 angularMotorContribution, verticalAttractionContribution,
1122 bankingContribution, deflectionContribution,
1123 m_lastAngularVelocity
1124 );
1125 }
1126 else
915 { 1127 {
916 Vector3 dir = Vector3.One * Prim.ForceOrientation; 1128 // The vehicle is not adding anything angular wise.
917 float mult = (m_bankingMix*m_bankingMix)*-1*(m_bankingMix < 0 ? -1 : 1); 1129 VehicleRotationalVelocity = Vector3.Zero;
918 //Changes which way it banks in and out of turns 1130 VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID);
919
920 //Use the square of the efficiency, as it looks much more how SL banking works
921 float effSquared = (m_bankingEfficiency*m_bankingEfficiency);
922 if (m_bankingEfficiency < 0)
923 effSquared *= -1; //Keep the negative!
924
925 float mix = Math.Abs(m_bankingMix);
926 if (m_angularMotorVelocity.X == 0)
927 {
928 /*if (!parent.Orientation.ApproxEquals(this.m_referenceFrame, 0.25f))
929 {
930 Vector3 axisAngle;
931 float angle;
932 parent.Orientation.GetAxisAngle(out axisAngle, out angle);
933 Vector3 rotatedVel = parent.Velocity * parent.Orientation;
934 if ((rotatedVel.X < 0 && axisAngle.Y > 0) || (rotatedVel.X > 0 && axisAngle.Y < 0))
935 m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (1f) * 10;
936 else
937 m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (-1f) * 10;
938 }*/
939 }
940 else
941 banking.Z += (effSquared*(mult*mix))*(m_angularMotorVelocity.X) * 4;
942 if (!Prim.IsColliding && Math.Abs(m_angularMotorVelocity.X) > mix)
943 //If they are colliding, we probably shouldn't shove the prim around... probably
944 {
945 float angVelZ = m_angularMotorVelocity.X*-1;
946 /*if(angVelZ > mix)
947 angVelZ = mix;
948 else if(angVelZ < -mix)
949 angVelZ = -mix;*/
950 //This controls how fast and how far the banking occurs
951 Vector3 bankingRot = new Vector3(angVelZ*(effSquared*mult), 0, 0);
952 if (bankingRot.X > 3)
953 bankingRot.X = 3;
954 else if (bankingRot.X < -3)
955 bankingRot.X = -3;
956 bankingRot *= Prim.ForceOrientation;
957 banking += bankingRot;
958 }
959 m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency;
960 VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},banking={3}",
961 Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, banking);
962 } 1131 }
963 1132
964 #endregion 1133 // ==================================================================
965
966 m_lastVertAttractor = vertattr;
967
968 // Sum velocities
969 m_lastAngularVelocity = m_angularMotorVelocity + vertattr + banking + deflection;
970
971 #region Linear Motor Offset
972
973 //Offset section 1134 //Offset section
974 if (m_linearMotorOffset != Vector3.Zero) 1135 if (m_linearMotorOffset != Vector3.Zero)
975 { 1136 {
@@ -985,8 +1146,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
985 // 1146 //
986 // The torque created is the linear velocity crossed with the offset 1147 // The torque created is the linear velocity crossed with the offset
987 1148
988 // NOTE: this computation does should be in the linear section 1149 // TODO: this computation should be in the linear section
989 // because there we know the impulse being applied. 1150 // because that is where we know the impulse being applied.
990 Vector3 torqueFromOffset = Vector3.Zero; 1151 Vector3 torqueFromOffset = Vector3.Zero;
991 // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse); 1152 // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse);
992 if (float.IsNaN(torqueFromOffset.X)) 1153 if (float.IsNaN(torqueFromOffset.X))
@@ -995,47 +1156,184 @@ namespace OpenSim.Region.Physics.BulletSPlugin
995 torqueFromOffset.Y = 0; 1156 torqueFromOffset.Y = 0;
996 if (float.IsNaN(torqueFromOffset.Z)) 1157 if (float.IsNaN(torqueFromOffset.Z))
997 torqueFromOffset.Z = 0; 1158 torqueFromOffset.Z = 0;
998 torqueFromOffset *= m_vehicleMass; 1159
999 Prim.ApplyTorqueImpulse(torqueFromOffset, true); 1160 VehicleAddAngularForce(torqueFromOffset * m_vehicleMass);
1000 VDetailLog("{0},BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); 1161 VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset);
1001 } 1162 }
1002 1163
1003 #endregion 1164 }
1165 // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
1166 // Some vehicles, like boats, should always keep their up-side up. This can be done by
1167 // enabling the "vertical attractor" behavior that springs the vehicle's local z-axis to
1168 // the world z-axis (a.k.a. "up"). To take advantage of this feature you would set the
1169 // VEHICLE_VERTICAL_ATTRACTION_TIMESCALE to control the period of the spring frequency,
1170 // and then set the VEHICLE_VERTICAL_ATTRACTION_EFFICIENCY to control the damping. An
1171 // efficiency of 0.0 will cause the spring to wobble around its equilibrium, while an
1172 // efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay.
1173 public Vector3 ComputeAngularVerticalAttraction()
1174 {
1175 Vector3 ret = Vector3.Zero;
1004 1176
1005 if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) 1177 // If vertical attaction timescale is reasonable
1178 if (m_verticalAttractionTimescale < m_verticalAttractionCutoff)
1006 { 1179 {
1007 m_lastAngularVelocity.X = 0; 1180 // Take a vector pointing up and convert it from world to vehicle relative coords.
1008 m_lastAngularVelocity.Y = 0; 1181 Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
1009 VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); 1182
1183 // If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
1184 // is now:
1185 // leaning to one side: rotated around the X axis with the Y value going
1186 // from zero (nearly straight up) to one (completely to the side)) or
1187 // leaning front-to-back: rotated around the Y axis with the value of X being between
1188 // zero and one.
1189 // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
1190
1191 // Y error means needed rotation around X axis and visa versa.
1192 // Since the error goes from zero to one, the asin is the corresponding angle.
1193 ret.X = (float)Math.Asin(verticalError.Y);
1194 // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
1195 ret.Y = -(float)Math.Asin(verticalError.X);
1196
1197 // If verticalError.Z is negative, the vehicle is upside down. Add additional push.
1198 if (verticalError.Z < 0f)
1199 {
1200 ret.X += PIOverFour;
1201 ret.Y += PIOverFour;
1202 }
1203
1204 // 'ret' is now the necessary velocity to correct tilt in one second.
1205 // Correction happens over a number of seconds.
1206 Vector3 unscaledContrib = ret;
1207 ret /= m_verticalAttractionTimescale;
1208
1209 VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}",
1210 Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, ret);
1010 } 1211 }
1212 return ret;
1213 }
1011 1214
1012 if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) 1215 // Return the angular correction to correct the direction the vehicle is pointing to be
1216 // the direction is should want to be pointing.
1217 // The vehicle is moving in some direction and correct its orientation to it is pointing
1218 // in that direction.
1219 // TODO: implement reference frame.
1220 public Vector3 ComputeAngularDeflection()
1221 {
1222 Vector3 ret = Vector3.Zero;
1223 return ret; // DEBUG DEBUG DEBUG
1224 // Disable angular deflection for the moment.
1225 // Since angularMotorUp and angularDeflection are computed independently, they will calculate
1226 // approximately the same X or Y correction. When added together (when contributions are combined)
1227 // this creates an over-correction and then wabbling as the target is overshot.
1228 // TODO: rethink how the different correction computations inter-relate.
1229
1230 if (m_angularDeflectionEfficiency != 0)
1013 { 1231 {
1014 m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. 1232 // The direction the vehicle is moving
1015 Prim.ZeroAngularMotion(true); 1233 Vector3 movingDirection = VehicleVelocity;
1016 VDetailLog("{0},MoveAngular,zeroAngularMotion,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); 1234 movingDirection.Normalize();
1235
1236 // The direction the vehicle is pointing
1237 Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
1238 pointingDirection.Normalize();
1239
1240 // The difference between what is and what should be.
1241 Vector3 deflectionError = movingDirection - pointingDirection;
1242
1243 // Don't try to correct very large errors (not our job)
1244 if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = 0f;
1245 if (Math.Abs(deflectionError.Y) > PIOverFour) deflectionError.Y = 0f;
1246 if (Math.Abs(deflectionError.Z) > PIOverFour) deflectionError.Z = 0f;
1247
1248 // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError);
1249
1250 // Scale the correction by recovery timescale and efficiency
1251 ret = (-deflectionError) * m_angularDeflectionEfficiency;
1252 ret /= m_angularDeflectionTimescale;
1253
1254 VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
1255 Prim.LocalID, movingDirection, pointingDirection, deflectionError, ret);
1256 VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}",
1257 Prim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale);
1017 } 1258 }
1018 else 1259 return ret;
1260 }
1261
1262 // Return an angular change to rotate the vehicle around the Z axis when the vehicle
1263 // is tipped around the X axis.
1264 // From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial:
1265 // The vertical attractor feature must be enabled in order for the banking behavior to
1266 // function. The way banking works is this: a rotation around the vehicle's roll-axis will
1267 // produce a angular velocity around the yaw-axis, causing the vehicle to turn. The magnitude
1268 // of the yaw effect will be proportional to the
1269 // VEHICLE_BANKING_EFFICIENCY, the angle of the roll rotation, and sometimes the vehicle's
1270 // velocity along its preferred axis of motion.
1271 // The VEHICLE_BANKING_EFFICIENCY can vary between -1 and +1. When it is positive then any
1272 // positive rotation (by the right-hand rule) about the roll-axis will effect a
1273 // (negative) torque around the yaw-axis, making it turn to the right--that is the
1274 // vehicle will lean into the turn, which is how real airplanes and motorcycle's work.
1275 // Negating the banking coefficient will make it so that the vehicle leans to the
1276 // outside of the turn (not very "physical" but might allow interesting vehicles so why not?).
1277 // The VEHICLE_BANKING_MIX is a fake (i.e. non-physical) parameter that is useful for making
1278 // banking vehicles do what you want rather than what the laws of physics allow.
1279 // For example, consider a real motorcycle...it must be moving forward in order for
1280 // it to turn while banking, however video-game motorcycles are often configured
1281 // to turn in place when at a dead stop--because they are often easier to control
1282 // that way using the limited interface of the keyboard or game controller. The
1283 // VEHICLE_BANKING_MIX enables combinations of both realistic and non-realistic
1284 // banking by functioning as a slider between a banking that is correspondingly
1285 // totally static (0.0) and totally dynamic (1.0). By "static" we mean that the
1286 // banking effect depends only on the vehicle's rotation about its roll-axis compared
1287 // to "dynamic" where the banking is also proportional to its velocity along its
1288 // roll-axis. Finding the best value of the "mixture" will probably require trial and error.
1289 // The time it takes for the banking behavior to defeat a preexisting angular velocity about the
1290 // world z-axis is determined by the VEHICLE_BANKING_TIMESCALE. So if you want the vehicle to
1291 // bank quickly then give it a banking timescale of about a second or less, otherwise you can
1292 // make a sluggish vehicle by giving it a timescale of several seconds.
1293 public Vector3 ComputeAngularBanking()
1294 {
1295 Vector3 ret = Vector3.Zero;
1296
1297 if (m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
1019 { 1298 {
1020 // Apply to the body. 1299 // This works by rotating a unit vector to the orientation of the vehicle. The
1021 // The above calculates the absolute angular velocity needed. Angular velocity is massless. 1300 // roll (tilt) will be Y component of a tilting Z vector (zero for no tilt
1022 // Since we are stuffing the angular velocity directly into the object, the computed 1301 // up to one for full over).
1023 // velocity needs to be scaled by the timestep. 1302 Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation;
1024 Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) - Prim.ForceRotationalVelocity); 1303
1025 Prim.ForceRotationalVelocity = applyAngularForce; 1304 // Figure out the yaw value for this much roll.
1026 1305 float turnComponent = rollComponents.Y * rollComponents.Y * m_bankingEfficiency;
1027 // Decay the angular movement for next time 1306 // Keep the sign
1028 Vector3 decayamount = (Vector3.One / m_angularFrictionTimescale) * pTimestep; 1307 if (rollComponents.Y < 0f)
1029 m_lastAngularVelocity *= Vector3.One - decayamount; 1308 turnComponent = -turnComponent;
1030 1309
1031 VDetailLog("{0},MoveAngular,done,newRotVel={1},decay={2},lastAngular={3}", 1310 // TODO: there must be a better computation of the banking force.
1032 Prim.LocalID, applyAngularForce, decayamount, m_lastAngularVelocity); 1311 float bankingTurnForce = turnComponent;
1312
1313 // actual error = static turn error + dynamic turn error
1314 float mixedBankingError = bankingTurnForce * (1f - m_bankingMix) + bankingTurnForce * m_bankingMix * VehicleForwardSpeed;
1315 // TODO: the banking effect should not go to infinity but what to limit it to?
1316 mixedBankingError = ClampInRange(-20f, mixedBankingError, 20f);
1317
1318 // Build the force vector to change rotation from what it is to what it should be
1319 ret.Z = -mixedBankingError;
1320
1321 // Don't do it all at once.
1322 ret /= m_bankingTimescale;
1323
1324 VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},turnComp={3},bankErr={4},mixedBankErr={5},ret={6}",
1325 Prim.LocalID, rollComponents, VehicleForwardSpeed, turnComponent, bankingTurnForce, mixedBankingError, ret);
1033 } 1326 }
1034 } //end MoveAngular 1327 return ret;
1328 }
1035 1329
1330 // This is from previous instantiations of XXXDynamics.cs.
1331 // Applies roll reference frame.
1332 // TODO: is this the right way to separate the code to do this operation?
1333 // Should this be in MoveAngular()?
1036 internal void LimitRotation(float timestep) 1334 internal void LimitRotation(float timestep)
1037 { 1335 {
1038 Quaternion rotq = Prim.ForceOrientation; 1336 Quaternion rotq = VehicleOrientation;
1039 Quaternion m_rot = rotq; 1337 Quaternion m_rot = rotq;
1040 if (m_RollreferenceFrame != Quaternion.Identity) 1338 if (m_RollreferenceFrame != Quaternion.Identity)
1041 { 1339 {
@@ -1063,12 +1361,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1063 } 1361 }
1064 if (rotq != m_rot) 1362 if (rotq != m_rot)
1065 { 1363 {
1066 Prim.ForceOrientation = m_rot; 1364 VehicleOrientation = m_rot;
1067 VDetailLog("{0},LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot); 1365 VDetailLog("{0}, LimitRotation,done,orig={1},new={2}", Prim.LocalID, rotq, m_rot);
1068 } 1366 }
1069 1367
1070 } 1368 }
1071 1369
1370 private float ClampInRange(float low, float val, float high)
1371 {
1372 return Math.Max(low, Math.Min(val, high));
1373 // return Utils.Clamp(val, low, high);
1374 }
1375
1072 // Invoke the detailed logger and output something if it's enabled. 1376 // Invoke the detailed logger and output something if it's enabled.
1073 private void VDetailLog(string msg, params Object[] args) 1377 private void VDetailLog(string msg, params Object[] args)
1074 { 1378 {