1 files changed, 97 insertions, 43 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 7b98f9d..c6d6331 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -42,7 +42,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 {
     public sealed class BSDynamics : BSActor
     {
+#pragma warning disable 414
         private static string LogHeader = "[BULLETSIM VEHICLE]";
+#pragma warning restore 414
 
         // the prim this dynamic controller belongs to
         private BSPrimLinkable ControllingPrim { get; set; }
@@ -74,8 +76,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private Vector3 m_linearMotorOffset = Vector3.Zero;             // the point of force can be offset from the center
         private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero;   // velocity requested by LSL
         private Vector3 m_linearFrictionTimescale = Vector3.Zero;
-        private float m_linearMotorDecayTimescale = 0;
-        private float m_linearMotorTimescale = 0;
+        private float m_linearMotorDecayTimescale = 1;
+        private float m_linearMotorTimescale = 1;
         private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
         private Vector3 m_lastPositionVector = Vector3.Zero;
         // private bool m_LinearMotorSetLastFrame = false;
@@ -86,8 +88,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private Vector3 m_angularMotorDirection = Vector3.Zero;         // angular velocity requested by LSL motor
         // private int m_angularMotorApply = 0;                            // application frame counter
         private Vector3 m_angularMotorVelocity = Vector3.Zero;          // current angular motor velocity
-        private float m_angularMotorTimescale = 0;                      // motor angular velocity ramp up rate
-        private float m_angularMotorDecayTimescale = 0;                 // motor angular velocity decay rate
+        private float m_angularMotorTimescale = 1;                      // motor angular velocity ramp up rate
+        private float m_angularMotorDecayTimescale = 1;                 // motor angular velocity decay rate
         private Vector3 m_angularFrictionTimescale = Vector3.Zero;      // body angular velocity  decay rate
         private Vector3 m_lastAngularVelocity = Vector3.Zero;
         private Vector3 m_lastVertAttractor = Vector3.Zero;             // what VA was last applied to body
@@ -101,7 +103,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
         //Banking properties
         private float m_bankingEfficiency = 0;
-        private float m_bankingMix = 0;
+        private float m_bankingMix = 1;
         private float m_bankingTimescale = 0;
 
         //Hover and Buoyancy properties
@@ -122,8 +124,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         private float m_verticalAttractionTimescale = 510f;
 
         // Just some recomputed constants:
+#pragma warning disable 414
+        static readonly float TwoPI = ((float)Math.PI) * 2f; 
+        static readonly float FourPI = ((float)Math.PI) * 4f; 
         static readonly float PIOverFour = ((float)Math.PI) / 4f;
         static readonly float PIOverTwo = ((float)Math.PI) / 2f;
+#pragma warning restore 414
 
         public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName)
             : base(myScene, myPrim, actorName)
@@ -155,56 +161,58 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         public void ProcessFloatVehicleParam(Vehicle pParam, float pValue)
         {
             VDetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", ControllingPrim.LocalID, pParam, pValue);
+            float clampTemp;
+
             switch (pParam)
             {
                 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
                     m_angularDeflectionEfficiency = ClampInRange(0f, pValue, 1f);
                     break;
                 case Vehicle.ANGULAR_DEFLECTION_TIMESCALE:
-                    m_angularDeflectionTimescale = Math.Max(pValue, 0.01f);
+                    m_angularDeflectionTimescale = ClampInRange(0.25f, pValue, 120);
                     break;
                 case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
-                    m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
+                    m_angularMotorDecayTimescale = ClampInRange(0.25f, pValue, 120);
                     m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale;
                     break;
                 case Vehicle.ANGULAR_MOTOR_TIMESCALE:
-                    m_angularMotorTimescale = Math.Max(pValue, 0.01f);
+                    m_angularMotorTimescale = ClampInRange(0.25f, pValue, 120);
                     m_angularMotor.TimeScale = m_angularMotorTimescale;
                     break;
                 case Vehicle.BANKING_EFFICIENCY:
                     m_bankingEfficiency = ClampInRange(-1f, pValue, 1f);
                     break;
                 case Vehicle.BANKING_MIX:
-                    m_bankingMix = Math.Max(pValue, 0.01f);
+                    m_bankingMix = ClampInRange(0.01f, pValue, 1);
                     break;
                 case Vehicle.BANKING_TIMESCALE:
-                    m_bankingTimescale = Math.Max(pValue, 0.01f);
+                    m_bankingTimescale = ClampInRange(0.25f, pValue, 120);
                     break;
                 case Vehicle.BUOYANCY:
                     m_VehicleBuoyancy = ClampInRange(-1f, pValue, 1f);
                     m_VehicleGravity = ControllingPrim.ComputeGravity(m_VehicleBuoyancy);
                     break;
                 case Vehicle.HOVER_EFFICIENCY:
-                    m_VhoverEfficiency = ClampInRange(0f, pValue, 1f);
+                    m_VhoverEfficiency = ClampInRange(0.01f, pValue, 1f);
                     break;
                 case Vehicle.HOVER_HEIGHT:
-                    m_VhoverHeight = pValue;
+                    m_VhoverHeight = ClampInRange(0f, pValue, 1000000f);
                     break;
                 case Vehicle.HOVER_TIMESCALE:
-                    m_VhoverTimescale = Math.Max(pValue, 0.01f);
+                    m_VhoverTimescale = ClampInRange(0.01f, pValue, 120);
                     break;
                 case Vehicle.LINEAR_DEFLECTION_EFFICIENCY:
                     m_linearDeflectionEfficiency = ClampInRange(0f, pValue, 1f);
                     break;
                 case Vehicle.LINEAR_DEFLECTION_TIMESCALE:
-                    m_linearDeflectionTimescale = Math.Max(pValue, 0.01f);
+                    m_linearDeflectionTimescale = ClampInRange(0.01f, pValue, 120);
                     break;
                 case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
                     m_linearMotorDecayTimescale = ClampInRange(0.01f, pValue, 120);
                     m_linearMotor.TargetValueDecayTimeScale = m_linearMotorDecayTimescale;
                     break;
                 case Vehicle.LINEAR_MOTOR_TIMESCALE:
-                    m_linearMotorTimescale = Math.Max(pValue, 0.01f);
+                    m_linearMotorTimescale = ClampInRange(0.01f, pValue, 120);
                     m_linearMotor.TimeScale = m_linearMotorTimescale;
                     break;
                 case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
@@ -212,30 +220,35 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency;
                     break;
                 case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
-                    m_verticalAttractionTimescale = Math.Max(pValue, 0.01f);
+                    m_verticalAttractionTimescale = ClampInRange(0.01f, pValue, 120);
                     m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale;
                     break;
 
                 // These are vector properties but the engine lets you use a single float value to
                 // set all of the components to the same value
                 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
-                    m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    clampTemp = ClampInRange(0.01f, pValue, 120);
+                    m_angularFrictionTimescale = new Vector3(clampTemp, clampTemp, clampTemp);
                     break;
                 case Vehicle.ANGULAR_MOTOR_DIRECTION:
-                    m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
+                    clampTemp = ClampInRange(-TwoPI, pValue, TwoPI);
+                    m_angularMotorDirection = new Vector3(clampTemp, clampTemp, clampTemp);
                     m_angularMotor.Zero();
                     m_angularMotor.SetTarget(m_angularMotorDirection);
                     break;
                 case Vehicle.LINEAR_FRICTION_TIMESCALE:
-                    m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
+                    clampTemp = ClampInRange(0.01f, pValue, 120);
+                    m_linearFrictionTimescale = new Vector3(clampTemp, clampTemp, clampTemp);
                     break;
                 case Vehicle.LINEAR_MOTOR_DIRECTION:
-                    m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
-                    m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
+                    clampTemp = ClampInRange(-BSParam.MaxLinearVelocity, pValue, BSParam.MaxLinearVelocity);
+                    m_linearMotorDirection = new Vector3(clampTemp, clampTemp, clampTemp);
+                    m_linearMotorDirectionLASTSET = new Vector3(clampTemp, clampTemp, clampTemp);
                     m_linearMotor.SetTarget(m_linearMotorDirection);
                     break;
                 case Vehicle.LINEAR_MOTOR_OFFSET:
-                    m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
+                    clampTemp = ClampInRange(-1000, pValue, 1000);
+                    m_linearMotorOffset = new Vector3(clampTemp, clampTemp, clampTemp);
                     break;
 
             }
@@ -247,29 +260,46 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             switch (pParam)
             {
                 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
+                    pValue.X = ClampInRange(0.25f, pValue.X, 120);
+                    pValue.Y = ClampInRange(0.25f, pValue.Y, 120);
+                    pValue.Z = ClampInRange(0.25f, pValue.Z, 120);
                     m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
                     break;
                 case Vehicle.ANGULAR_MOTOR_DIRECTION:
                     // Limit requested angular speed to 2 rps= 4 pi rads/sec
-                    pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f);
-                    pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f);
-                    pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f);
+                    pValue.X = ClampInRange(-FourPI, pValue.X, FourPI);
+                    pValue.Y = ClampInRange(-FourPI, pValue.Y, FourPI);
+                    pValue.Z = ClampInRange(-FourPI, pValue.Z, FourPI);
                     m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
                     m_angularMotor.Zero();
                     m_angularMotor.SetTarget(m_angularMotorDirection);
                     break;
                 case Vehicle.LINEAR_FRICTION_TIMESCALE:
+                    pValue.X = ClampInRange(0.25f, pValue.X, 120);
+                    pValue.Y = ClampInRange(0.25f, pValue.Y, 120);
+                    pValue.Z = ClampInRange(0.25f, pValue.Z, 120);
                     m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
                     break;
                 case Vehicle.LINEAR_MOTOR_DIRECTION:
+                    pValue.X = ClampInRange(-BSParam.MaxLinearVelocity, pValue.X, BSParam.MaxLinearVelocity);
+                    pValue.Y = ClampInRange(-BSParam.MaxLinearVelocity, pValue.Y, BSParam.MaxLinearVelocity);
+                    pValue.Z = ClampInRange(-BSParam.MaxLinearVelocity, pValue.Z, BSParam.MaxLinearVelocity);
                     m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
                     m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
                     m_linearMotor.SetTarget(m_linearMotorDirection);
                     break;
                 case Vehicle.LINEAR_MOTOR_OFFSET:
+                    // Not sure the correct range to limit this variable
+                    pValue.X = ClampInRange(-1000, pValue.X, 1000);
+                    pValue.Y = ClampInRange(-1000, pValue.Y, 1000);
+                    pValue.Z = ClampInRange(-1000, pValue.Z, 1000);
                     m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
                     break;
                 case Vehicle.BLOCK_EXIT:
+                    // Not sure the correct range to limit this variable
+                    pValue.X = ClampInRange(-10000, pValue.X, 10000);
+                    pValue.Y = ClampInRange(-10000, pValue.Y, 10000);
+                    pValue.Z = ClampInRange(-10000, pValue.Z, 10000);
                     m_BlockingEndPoint = new Vector3(pValue.X, pValue.Y, pValue.Z);
                     break;
             }
@@ -915,7 +945,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         {
             get
             {
-                return VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation));
+                return VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleFrameOrientation));
             }
         }
 
@@ -926,6 +956,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 return VehicleForwardVelocity.X;
             }
         }
+        private Quaternion VehicleFrameOrientation
+        {
+            get
+            {
+                return VehicleOrientation * m_referenceFrame;
+            }
+        }
 
         #endregion // Known vehicle value functions
 
@@ -1011,8 +1048,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 VDetailLog("{0},  MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}",
                             ControllingPrim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySquared, VehicleVelocity);
             }
-            else if (newVelocityLengthSq < 0.001f)
+            else if (newVelocityLengthSq < BSParam.VehicleMinLinearVelocitySquared)
+            {
+                Vector3 origVelW = VehicleVelocity;         // DEBUG DEBUG
+                VDetailLog("{0},  MoveLinear,clampMin,origVelW={1},lenSq={2}",
+                            ControllingPrim.LocalID, origVelW, newVelocityLengthSq);
                 VehicleVelocity = Vector3.Zero;
+            }
 
             VDetailLog("{0},  MoveLinear,done,isColl={1},newVel={2}", ControllingPrim.LocalID, ControllingPrim.HasSomeCollision, VehicleVelocity );
 
@@ -1030,7 +1072,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             linearMotorCorrectionV -= (currentVelV * frictionFactorV);
 
             // Motor is vehicle coordinates. Rotate it to world coordinates
-            Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation;
+            Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleFrameOrientation;
 
             // If we're a ground vehicle, don't add any upward Z movement
             if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
@@ -1072,7 +1114,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 linearDeflectionV *= new Vector3(1, -1, -1);
 
                 // Correction is vehicle relative. Convert to world coordinates.
-                Vector3 linearDeflectionW = linearDeflectionV * VehicleOrientation;
+                Vector3 linearDeflectionW = linearDeflectionV * VehicleFrameOrientation;
 
                 // Optionally, if not colliding, don't effect world downward velocity. Let falling things fall.
                 if (BSParam.VehicleLinearDeflectionNotCollidingNoZ && !m_controllingPrim.HasSomeCollision)
@@ -1106,7 +1148,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         {
             // m_VhoverEfficiency: 0=bouncy, 1=totally damped
             // m_VhoverTimescale: time to achieve height
-            if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
+            if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0 && (m_VhoverHeight > 0) && (m_VhoverTimescale < 300))
             {
                 // We should hover, get the target height
                 if ((m_flags & VehicleFlag.HOVER_WATER_ONLY) != 0)
@@ -1368,7 +1410,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         {
             // The user wants this many radians per second angular change?
             Vector3 origVehicleRotationalVelocity = VehicleRotationalVelocity;      // DEBUG DEBUG
-            Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation);
+            Vector3 currentAngularV = VehicleRotationalVelocity * Quaternion.Inverse(VehicleFrameOrientation);
             Vector3 angularMotorContributionV = m_angularMotor.Step(pTimestep, currentAngularV);
 
             // ==================================================================
@@ -1389,7 +1431,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep);
             angularMotorContributionV -= (currentAngularV * frictionFactorW);
 
-            Vector3 angularMotorContributionW = angularMotorContributionV * VehicleOrientation;
+            Vector3 angularMotorContributionW = angularMotorContributionV * VehicleFrameOrientation;
             VehicleRotationalVelocity += angularMotorContributionW;
 
             VDetailLog("{0},  MoveAngular,angularTurning,curAngVelV={1},origVehRotVel={2},vehRotVel={3},frictFact={4}, angContribV={5},angContribW={6}",
@@ -1410,7 +1452,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // If vertical attaction timescale is reasonable
             if (BSParam.VehicleEnableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
             {
-                Vector3 vehicleUpAxis = Vector3.UnitZ * VehicleOrientation;
+                Vector3 vehicleUpAxis = Vector3.UnitZ * VehicleFrameOrientation;
                 switch (BSParam.VehicleAngularVerticalAttractionAlgorithm)
                 {
                     case 0:
@@ -1429,6 +1471,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                             // This is only half the distance to the target so it will take 2 seconds to complete the turn.
                             Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ);
 
+                            if ((m_flags & VehicleFlag.LIMIT_ROLL_ONLY) != 0)
+                            {
+                                Vector3 vehicleForwardAxis = Vector3.UnitX * VehicleFrameOrientation;
+                                torqueVector = ProjectVector(torqueVector, vehicleForwardAxis);
+                            }
+
                             // Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared
                             Vector3 vertContributionV = torqueVector * verticalAttractionSpeed * verticalAttractionSpeed;
 
@@ -1450,13 +1498,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
                             // Create a rotation that is only the vehicle's rotation around Z
                             Vector3 currentEulerW = Vector3.Zero;
-                            VehicleOrientation.GetEulerAngles(out currentEulerW.X, out currentEulerW.Y, out currentEulerW.Z);
+                            VehicleFrameOrientation.GetEulerAngles(out currentEulerW.X, out currentEulerW.Y, out currentEulerW.Z);
                             Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEulerW.Z);
 
                             // Create the axis that is perpendicular to the up vector and the rotated up vector.
-                            Vector3 differenceAxisW = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation);
+                            Vector3 differenceAxisW = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleFrameOrientation);
                             // Compute the angle between those to vectors.
-                            double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation)));
+                            double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleFrameOrientation)));
                             // 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical
 
                             // Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied.
@@ -1489,7 +1537,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                             Vector3 origRotVelW = VehicleRotationalVelocity;        // DEBUG DEBUG
 
                             // Take a vector pointing up and convert it from world to vehicle relative coords.
-                            Vector3 verticalError = Vector3.Normalize(Vector3.UnitZ * VehicleOrientation);
+                            Vector3 verticalError = Vector3.Normalize(Vector3.UnitZ * VehicleFrameOrientation);
 
                             // If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
                             //    is now:
@@ -1520,7 +1568,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                             vertContributionV /= m_verticalAttractionTimescale;
 
                             // Rotate the vehicle rotation to the world coordinates.
-                            VehicleRotationalVelocity += (vertContributionV * VehicleOrientation);
+                            VehicleRotationalVelocity += (vertContributionV * VehicleFrameOrientation);
 
                             VDetailLog("{0},  MoveAngular,verticalAttraction,,upAxis={1},origRotVW={2},vertError={3},unscaledV={4},eff={5},ts={6},vertContribV={7}",
                                             ControllingPrim.LocalID,
@@ -1561,7 +1609,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 movingDirection *= Math.Sign(VehicleForwardSpeed);
 
                 // The direction the vehicle is pointing
-                Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation;
+                Vector3 pointingDirection = Vector3.UnitX * VehicleFrameOrientation;
                 //Predict where the Vehicle will be pointing after AngularVelocity change is applied. This will keep
                 //   from overshooting and allow this correction to merge with the Vertical Attraction peacefully.
                 Vector3 predictedPointingDirection = pointingDirection * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f);
@@ -1586,7 +1634,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 deflectContributionV = (-deflectionError) * ClampInRange(0, m_angularDeflectionEfficiency/m_angularDeflectionTimescale,1f);
                 //deflectContributionV /= m_angularDeflectionTimescale;
 
-               // VehicleRotationalVelocity += deflectContributionV * VehicleOrientation;
                 VehicleRotationalVelocity += deflectContributionV;
                 VDetailLog("{0},  MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
                     ControllingPrim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContributionV);
@@ -1635,7 +1682,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented.
                 // As the vehicle rolls to the right or left, the Y value will increase from
                 //     zero (straight up) to 1 or -1 (full tilt right  or left)
-                Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation;
+                Vector3 rollComponents = Vector3.UnitZ * VehicleFrameOrientation;
 
                 // Figure out the yaw value for this much roll.
                 float yawAngle = m_angularMotorDirection.X * m_bankingEfficiency;
@@ -1644,7 +1691,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
                 // TODO: the banking effect should not go to infinity but what to limit it to?
                 //     And what should happen when this is being added to a user defined yaw that is already PI*4?
-                mixedYawAngle = ClampInRange(-12, mixedYawAngle, 12);
+                mixedYawAngle = ClampInRange(-FourPI, mixedYawAngle, FourPI);
 
                 // Build the force vector to change rotation from what it is to what it should be
                 bankingContributionV.Z = -mixedYawAngle;
@@ -1652,7 +1699,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // Don't do it all at once. Fudge because 1 second is too fast with most user defined roll as PI*4.
                 bankingContributionV /= m_bankingTimescale * BSParam.VehicleAngularBankingTimescaleFudge;
 
-                //VehicleRotationalVelocity += bankingContributionV * VehicleOrientation;
                 VehicleRotationalVelocity += bankingContributionV;
 
 
@@ -1730,6 +1776,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
         }
 
+        //Given a Vector and a unit vector will return the amount of the vector is on the same axis as the unit.
+        private Vector3 ProjectVector(Vector3 vector, Vector3 onNormal)
+        {
+            float vectorDot = Vector3.Dot(vector, onNormal);
+            return onNormal * vectorDot;
+
+        }
+
         private float ClampInRange(float low, float val, float high)
         {
             return Math.Max(low, Math.Min(val, high));