1 files changed, 104 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
new file mode 100755
index 0000000..bc6e4c4
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -0,0 +1,104 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+using OpenMetaverse;
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public abstract class BSMotor
+{
+    public virtual void Reset() { }
+    public virtual void Zero() { }
+}
+// Can all the incremental stepping be replaced with motor classes?
+public class BSVMotor : BSMotor
+{
+    public Vector3 FrameOfReference { get; set; }
+    public Vector3 Offset { get; set; }
+    public float TimeScale { get; set; }
+    public float TargetValueDecayTimeScale { get; set; }
+    public Vector3 CurrentValueReductionTimescale { get; set; }
+    public float Efficiency { get; set; }
+    public Vector3 TargetValue { get; private set; }
+    public Vector3 CurrentValue { get; private set; }
+    BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)
+    {
+        TimeScale = timeScale;
+        TargetValueDecayTimeScale = decayTimeScale;
+        CurrentValueReductionTimescale = frictionTimeScale;
+        Efficiency = efficiency;
+    }
+    public void SetCurrent(Vector3 current)
+    {
+        CurrentValue = current;
+    }
+    public void SetTarget(Vector3 target)
+    {
+        TargetValue = target;
+    }
+    public Vector3 Step(float timeStep)
+    {
+        if (CurrentValue.LengthSquared() > 0.001f)
+        {
+            // Vector3 origDir = Target;       // DEBUG
+            // Vector3 origVel = CurrentValue;   // DEBUG
+            // Add (desiredVelocity - currentAppliedVelocity) / howLongItShouldTakeToComplete
+            Vector3 addAmount = (TargetValue - CurrentValue)/(TargetValue) * timeStep;
+            CurrentValue += addAmount;
+            float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
+            TargetValue *= (1f - decayFactor);
+            Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep;
+            CurrentValue *= (Vector3.One - frictionFactor);
+        }
+        else
+        {
+            // if what remains of direction is very small, zero it.
+            TargetValue = Vector3.Zero;
+            CurrentValue = Vector3.Zero;
+            // VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);
+        }
+        return CurrentValue;
+    }
+}
+public class BSFMotor : BSMotor
+{
+    public float TimeScale { get; set; }
+    public float DecayTimeScale { get; set; }
+    public float Friction { get; set; }
+    public float Efficiency { get; set; }
+    public float Target { get; private set; }
+    public float CurrentValue { get; private set; }
+    BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency)
+    {
+    }
+    public void SetCurrent(float target)
+    {
+    }
+    public void SetTarget(float target)
+    {
+    }
+    public float Step(float timeStep)
+    {
+        return 0f;
+    }
+}
+public class BSPIDMotor : BSMotor
+{
+    // TODO: write and use this one
+    BSPIDMotor()
+    {
+    }
+}
+}

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs new file mode 100755 index 0000000..bc6e4c4 --- /dev/null +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -0,0 +1,104 @@
	1	using System;
	2	using System.Collections.Generic;
	3	using System.Text;
	4	using OpenMetaverse;
	5
	6	namespace OpenSim.Region.Physics.BulletSPlugin
	7	{
	8	public abstract class BSMotor
	9	{
	10	public virtual void Reset() { }
	11	public virtual void Zero() { }
	12	}
	13	// Can all the incremental stepping be replaced with motor classes?
	14	public class BSVMotor : BSMotor
	15	{
	16	public Vector3 FrameOfReference { get; set; }
	17	public Vector3 Offset { get; set; }
	18
	19	public float TimeScale { get; set; }
	20	public float TargetValueDecayTimeScale { get; set; }
	21	public Vector3 CurrentValueReductionTimescale { get; set; }
	22	public float Efficiency { get; set; }
	23
	24	public Vector3 TargetValue { get; private set; }
	25	public Vector3 CurrentValue { get; private set; }
	26
	27
	28
	29	BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)
	30	{
	31	TimeScale = timeScale;
	32	TargetValueDecayTimeScale = decayTimeScale;
	33	CurrentValueReductionTimescale = frictionTimeScale;
	34	Efficiency = efficiency;
	35	}
	36	public void SetCurrent(Vector3 current)
	37	{
	38	CurrentValue = current;
	39	}
	40	public void SetTarget(Vector3 target)
	41	{
	42	TargetValue = target;
	43	}
	44	public Vector3 Step(float timeStep)
	45	{
	46	if (CurrentValue.LengthSquared() > 0.001f)
	47	{
	48	// Vector3 origDir = Target; // DEBUG
	49	// Vector3 origVel = CurrentValue; // DEBUG
	50
	51	// Add (desiredVelocity - currentAppliedVelocity) / howLongItShouldTakeToComplete
	52	Vector3 addAmount = (TargetValue - CurrentValue)/(TargetValue) * timeStep;
	53	CurrentValue += addAmount;
	54
	55	float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
	56	TargetValue *= (1f - decayFactor);
	57
	58	Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep;
	59	CurrentValue *= (Vector3.One - frictionFactor);
	60	}
	61	else
	62	{
	63	// if what remains of direction is very small, zero it.
	64	TargetValue = Vector3.Zero;
	65	CurrentValue = Vector3.Zero;
	66
	67	// VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);
	68	}
	69	return CurrentValue;
	70	}
	71	}
	72
	73	public class BSFMotor : BSMotor
	74	{
	75	public float TimeScale { get; set; }
	76	public float DecayTimeScale { get; set; }
	77	public float Friction { get; set; }
	78	public float Efficiency { get; set; }
	79
	80	public float Target { get; private set; }
	81	public float CurrentValue { get; private set; }
	82
	83	BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency)
	84	{
	85	}
	86	public void SetCurrent(float target)
	87	{
	88	}
	89	public void SetTarget(float target)
	90	{
	91	}
	92	public float Step(float timeStep)
	93	{
	94	return 0f;
	95	}
	96	}
	97	public class BSPIDMotor : BSMotor
	98	{
	99	// TODO: write and use this one
	100	BSPIDMotor()
	101	{
	102	}
	103	}
	104	}