From 70d24a654b8eb0257ca927327d51bd0e47f85259 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 7 Jul 2013 05:46:24 -0700 Subject: BulletSim: rename position and orientation variables to remove the inconsistant use of Raw* and _* conventions. --- .../Region/Physics/BulletSPlugin/BSCharacter.cs | 78 +++++++++----------- .../Region/Physics/BulletSPlugin/BSPhysObject.cs | 4 +- OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs | 84 ++++++++++------------ 3 files changed, 71 insertions(+), 95 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs index 5ef6992..c9e3ca0 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs @@ -43,12 +43,10 @@ public sealed class BSCharacter : BSPhysObject private OMV.Vector3 _size; private bool _grabbed; private bool _selected; - private OMV.Vector3 _position; private float _mass; private float _avatarVolume; private float _collisionScore; private OMV.Vector3 _acceleration; - private OMV.Quaternion _orientation; private int _physicsActorType; private bool _isPhysical; private bool _flying; @@ -70,10 +68,10 @@ public sealed class BSCharacter : BSPhysObject : base(parent_scene, localID, avName, "BSCharacter") { _physicsActorType = (int)ActorTypes.Agent; - _position = pos; + RawPosition = pos; _flying = isFlying; - _orientation = OMV.Quaternion.Identity; + RawOrientation = OMV.Quaternion.Identity; RawVelocity = OMV.Vector3.Zero; _buoyancy = ComputeBuoyancyFromFlying(isFlying); Friction = BSParam.AvatarStandingFriction; @@ -133,7 +131,7 @@ public sealed class BSCharacter : BSPhysObject PhysScene.PE.RemoveObjectFromWorld(PhysScene.World, PhysBody); ZeroMotion(true); - ForcePosition = _position; + ForcePosition = RawPosition; // Set the velocity if (m_moveActor != null) @@ -272,38 +270,33 @@ public sealed class BSCharacter : BSPhysObject public override void LockAngularMotion(OMV.Vector3 axis) { return; } - public override OMV.Vector3 RawPosition - { - get { return _position; } - set { _position = value; } - } public override OMV.Vector3 Position { get { // Don't refetch the position because this function is called a zillion times - // _position = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID); - return _position; + // RawPosition = PhysicsScene.PE.GetObjectPosition(Scene.World, LocalID); + return RawPosition; } set { - _position = value; + RawPosition = value; PhysScene.TaintedObject("BSCharacter.setPosition", delegate() { - DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},BSCharacter.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); PositionSanityCheck(); - ForcePosition = _position; + ForcePosition = RawPosition; }); } } public override OMV.Vector3 ForcePosition { get { - _position = PhysScene.PE.GetPosition(PhysBody); - return _position; + RawPosition = PhysScene.PE.GetPosition(PhysBody); + return RawPosition; } set { - _position = value; + RawPosition = value; if (PhysBody.HasPhysicalBody) { - PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); } } } @@ -331,16 +324,16 @@ public sealed class BSCharacter : BSPhysObject float terrainHeight = PhysScene.TerrainManager.GetTerrainHeightAtXYZ(RawPosition); if (Position.Z < terrainHeight) { - DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, _position, terrainHeight); - _position.Z = terrainHeight + BSParam.AvatarBelowGroundUpCorrectionMeters; + DetailLog("{0},BSCharacter.PositionSanityCheck,adjustForUnderGround,pos={1},terrain={2}", LocalID, RawPosition, terrainHeight); + RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, terrainHeight + BSParam.AvatarBelowGroundUpCorrectionMeters); ret = true; } if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { - float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(_position); + float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition); if (Position.Z < waterHeight) { - _position.Z = waterHeight; + RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, waterHeight); ret = true; } } @@ -360,8 +353,8 @@ public sealed class BSCharacter : BSPhysObject // just assign to "Position" because of potential call loops. PhysScene.TaintedObject(inTaintTime, "BSCharacter.PositionSanityCheck", delegate() { - DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, _position, _orientation); - ForcePosition = _position; + DetailLog("{0},BSCharacter.PositionSanityCheck,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); + ForcePosition = RawPosition; }); ret = true; } @@ -466,19 +459,14 @@ public sealed class BSCharacter : BSPhysObject get { return _acceleration; } set { _acceleration = value; } } - public override OMV.Quaternion RawOrientation - { - get { return _orientation; } - set { _orientation = value; } - } public override OMV.Quaternion Orientation { - get { return _orientation; } + get { return RawOrientation; } set { // Orientation is set zillions of times when an avatar is walking. It's like // the viewer doesn't trust us. - if (_orientation != value) + if (RawOrientation != value) { - _orientation = value; + RawOrientation = value; PhysScene.TaintedObject("BSCharacter.setOrientation", delegate() { // Bullet assumes we know what we are doing when forcing orientation @@ -486,10 +474,10 @@ public sealed class BSCharacter : BSPhysObject // This forces rotation to be only around the Z axis and doesn't change any of the other axis. // This keeps us from flipping the capsule over which the veiwer does not understand. float oRoll, oPitch, oYaw; - _orientation.GetEulerAngles(out oRoll, out oPitch, out oYaw); + RawOrientation.GetEulerAngles(out oRoll, out oPitch, out oYaw); OMV.Quaternion trimmedOrientation = OMV.Quaternion.CreateFromEulers(0f, 0f, oYaw); // DetailLog("{0},BSCharacter.setOrientation,taint,val={1},valDir={2},conv={3},convDir={4}", - // LocalID, _orientation, OMV.Vector3.UnitX * _orientation, + // LocalID, RawOrientation, OMV.Vector3.UnitX * RawOrientation, // trimmedOrientation, OMV.Vector3.UnitX * trimmedOrientation); ForceOrientation = trimmedOrientation; }); @@ -501,16 +489,16 @@ public sealed class BSCharacter : BSPhysObject { get { - _orientation = PhysScene.PE.GetOrientation(PhysBody); - return _orientation; + RawOrientation = PhysScene.PE.GetOrientation(PhysBody); + return RawOrientation; } set { - _orientation = value; + RawOrientation = value; if (PhysBody.HasPhysicalBody) { - // _position = PhysicsScene.PE.GetPosition(BSBody); - PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); + // RawPosition = PhysicsScene.PE.GetPosition(BSBody); + PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); } } } @@ -723,9 +711,9 @@ public sealed class BSCharacter : BSPhysObject { // Don't change position if standing on a stationary object. if (!IsStationary) - _position = entprop.Position; + RawPosition = entprop.Position; - _orientation = entprop.Rotation; + RawOrientation = entprop.Rotation; // Smooth velocity. OpenSimulator is VERY sensitive to changes in velocity of the avatar // and will send agent updates to the clients if velocity changes by more than @@ -740,8 +728,8 @@ public sealed class BSCharacter : BSPhysObject // Do some sanity checking for the avatar. Make sure it's above ground and inbounds. if (PositionSanityCheck(true)) { - DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, _position); - entprop.Position = _position; + DetailLog("{0},BSCharacter.UpdateProperties,updatePosForSanity,pos={1}", LocalID, RawPosition); + entprop.Position = RawPosition; } // remember the current and last set values @@ -755,7 +743,7 @@ public sealed class BSCharacter : BSPhysObject // base.RequestPhysicsterseUpdate(); DetailLog("{0},BSCharacter.UpdateProperties,call,pos={1},orient={2},vel={3},accel={4},rotVel={5}", - LocalID, _position, _orientation, RawVelocity, _acceleration, _rotationalVelocity); + LocalID, RawPosition, RawOrientation, RawVelocity, _acceleration, _rotationalVelocity); } } } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs index 738e2d0..a41eaf8 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPhysObject.cs @@ -197,10 +197,10 @@ public abstract class BSPhysObject : PhysicsActor // Update the physical location and motion of the object. Called with data from Bullet. public abstract void UpdateProperties(EntityProperties entprop); - public abstract OMV.Vector3 RawPosition { get; set; } + public virtual OMV.Vector3 RawPosition { get; set; } public abstract OMV.Vector3 ForcePosition { get; set; } - public abstract OMV.Quaternion RawOrientation { get; set; } + public virtual OMV.Quaternion RawOrientation { get; set; } public abstract OMV.Quaternion ForceOrientation { get; set; } public OMV.Vector3 RawVelocity { get; set; } diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs index ce4c3da..d43448e 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs @@ -51,12 +51,8 @@ public class BSPrim : BSPhysObject private bool _isSelected; private bool _isVolumeDetect; - // _position is what the simulator thinks the positions of the prim is. - private OMV.Vector3 _position; - private float _mass; // the mass of this object private OMV.Vector3 _acceleration; - private OMV.Quaternion _orientation; private int _physicsActorType; private bool _isPhysical; private bool _flying; @@ -88,10 +84,10 @@ public class BSPrim : BSPhysObject { // m_log.DebugFormat("{0}: BSPrim creation of {1}, id={2}", LogHeader, primName, localID); _physicsActorType = (int)ActorTypes.Prim; - _position = pos; + RawPosition = pos; _size = size; Scale = size; // prims are the size the user wants them to be (different for BSCharactes). - _orientation = rotation; + RawOrientation = rotation; _buoyancy = 0f; RawVelocity = OMV.Vector3.Zero; _rotationalVelocity = OMV.Vector3.Zero; @@ -270,46 +266,42 @@ public class BSPrim : BSPhysObject return; } - public override OMV.Vector3 RawPosition - { - get { return _position; } - set { _position = value; } - } public override OMV.Vector3 Position { get { // don't do the GetObjectPosition for root elements because this function is called a zillion times. - // _position = ForcePosition; - return _position; + // RawPosition = ForcePosition; + return RawPosition; } set { // If the position must be forced into the physics engine, use ForcePosition. // All positions are given in world positions. - if (_position == value) + if (RawPosition == value) { - DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, _position, _orientation); + DetailLog("{0},BSPrim.setPosition,call,positionNotChanging,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); return; } - _position = value; + RawPosition = value; PositionSanityCheck(false); PhysScene.TaintedObject("BSPrim.setPosition", delegate() { - DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, _position, _orientation); - ForcePosition = _position; + DetailLog("{0},BSPrim.SetPosition,taint,pos={1},orient={2}", LocalID, RawPosition, RawOrientation); + ForcePosition = RawPosition; }); } } + // NOTE: overloaded by BSPrimDisplaced to handle offset for center-of-gravity. public override OMV.Vector3 ForcePosition { get { - _position = PhysScene.PE.GetPosition(PhysBody); - return _position; + RawPosition = PhysScene.PE.GetPosition(PhysBody); + return RawPosition; } set { - _position = value; + RawPosition = value; if (PhysBody.HasPhysicalBody) { - PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); ActivateIfPhysical(false); } } @@ -343,10 +335,10 @@ public class BSPrim : BSPhysObject float targetHeight = terrainHeight + (Size.Z / 2f); // If the object is below ground it just has to be moved up because pushing will // not get it through the terrain - _position.Z = targetHeight; + RawPosition = new OMV.Vector3(RawPosition.X, RawPosition.Y, targetHeight); if (inTaintTime) { - ForcePosition = _position; + ForcePosition = RawPosition; } // If we are throwing the object around, zero its other forces ZeroMotion(inTaintTime); @@ -355,7 +347,7 @@ public class BSPrim : BSPhysObject if ((CurrentCollisionFlags & CollisionFlags.BS_FLOATS_ON_WATER) != 0) { - float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(_position); + float waterHeight = PhysScene.TerrainManager.GetWaterLevelAtXYZ(RawPosition); // TODO: a floating motor so object will bob in the water if (Math.Abs(RawPosition.Z - waterHeight) > 0.1f) { @@ -364,7 +356,7 @@ public class BSPrim : BSPhysObject // Apply upforce and overcome gravity. OMV.Vector3 correctionForce = upForce - PhysScene.DefaultGravity; - DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, _position, upForce, correctionForce); + DetailLog("{0},BSPrim.PositionSanityCheck,applyForce,pos={1},upForce={2},correctionForce={3}", LocalID, RawPosition, upForce, correctionForce); AddForce(correctionForce, false, inTaintTime); ret = true; } @@ -383,11 +375,11 @@ public class BSPrim : BSPhysObject uint wayOutThere = Constants.RegionSize * Constants.RegionSize; // There have been instances of objects getting thrown way out of bounds and crashing // the border crossing code. - if ( _position.X < -Constants.RegionSize || _position.X > wayOutThere - || _position.Y < -Constants.RegionSize || _position.Y > wayOutThere - || _position.Z < -Constants.RegionSize || _position.Z > wayOutThere) + if ( RawPosition.X < -Constants.RegionSize || RawPosition.X > wayOutThere + || RawPosition.Y < -Constants.RegionSize || RawPosition.Y > wayOutThere + || RawPosition.Z < -Constants.RegionSize || RawPosition.Z > wayOutThere) { - _position = new OMV.Vector3(10, 10, 50); + RawPosition = new OMV.Vector3(10, 10, 50); ZeroMotion(inTaintTime); ret = true; } @@ -713,23 +705,19 @@ public class BSPrim : BSPhysObject get { return _acceleration; } set { _acceleration = value; } } - public override OMV.Quaternion RawOrientation - { - get { return _orientation; } - set { _orientation = value; } - } + public override OMV.Quaternion Orientation { get { - return _orientation; + return RawOrientation; } set { - if (_orientation == value) + if (RawOrientation == value) return; - _orientation = value; + RawOrientation = value; PhysScene.TaintedObject("BSPrim.setOrientation", delegate() { - ForceOrientation = _orientation; + ForceOrientation = RawOrientation; }); } } @@ -738,14 +726,14 @@ public class BSPrim : BSPhysObject { get { - _orientation = PhysScene.PE.GetOrientation(PhysBody); - return _orientation; + RawOrientation = PhysScene.PE.GetOrientation(PhysBody); + return RawOrientation; } set { - _orientation = value; + RawOrientation = value; if (PhysBody.HasPhysicalBody) - PhysScene.PE.SetTranslation(PhysBody, _position, _orientation); + PhysScene.PE.SetTranslation(PhysBody, RawPosition, RawOrientation); } } public override int PhysicsActorType { @@ -889,7 +877,7 @@ public class BSPrim : BSPhysObject // PhysicsScene.PE.ClearAllForces(BSBody); // For good measure, make sure the transform is set through to the motion state - ForcePosition = _position; + ForcePosition = RawPosition; ForceVelocity = RawVelocity; ForceRotationalVelocity = _rotationalVelocity; @@ -1543,8 +1531,8 @@ public class BSPrim : BSPhysObject // DetailLog("{0},BSPrim.UpdateProperties,entry,entprop={1}", LocalID, entprop); // DEBUG DEBUG // Assign directly to the local variables so the normal set actions do not happen - _position = entprop.Position; - _orientation = entprop.Rotation; + RawPosition = entprop.Position; + RawOrientation = entprop.Rotation; // DEBUG DEBUG DEBUG -- smooth velocity changes a bit. The simulator seems to be // very sensitive to velocity changes. if (entprop.Velocity == OMV.Vector3.Zero || !entprop.Velocity.ApproxEquals(RawVelocity, BSParam.UpdateVelocityChangeThreshold)) @@ -1557,13 +1545,13 @@ public class BSPrim : BSPhysObject // The sanity check can change the velocity and/or position. if (PositionSanityCheck(true /* inTaintTime */ )) { - entprop.Position = _position; + entprop.Position = RawPosition; entprop.Velocity = RawVelocity; entprop.RotationalVelocity = _rotationalVelocity; entprop.Acceleration = _acceleration; } - OMV.Vector3 direction = OMV.Vector3.UnitX * _orientation; // DEBUG DEBUG DEBUG + OMV.Vector3 direction = OMV.Vector3.UnitX * RawOrientation; // DEBUG DEBUG DEBUG DetailLog("{0},BSPrim.UpdateProperties,call,entProp={1},dir={2}", LocalID, entprop, direction); // remember the current and last set values -- cgit v1.1 From 6026759406f20cb89cbc62fcfc3af324c61c5ab0 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 7 Jul 2013 05:47:41 -0700 Subject: BulletSim: fix jumping up and down of linksets when center-of-mass was enabled. Didn't effect the physical position but the viewer saw the linkset jumping between its simulator center and its physical center. --- OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs index 35d5a08..2eb1440 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrimDisplaced.cs @@ -23,11 +23,6 @@ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - * - * The quotations from http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial - * are Copyright (c) 2009 Linden Research, Inc and are used under their license - * of Creative Commons Attribution-Share Alike 3.0 - * (http://creativecommons.org/licenses/by-sa/3.0/). */ using System; @@ -115,7 +110,7 @@ public class BSPrimDisplaced : BSPrim public override Vector3 ForcePosition { get { - OMV.Vector3 physPosition = base.ForcePosition; + OMV.Vector3 physPosition = PhysScene.PE.GetPosition(PhysBody); if (PositionDisplacement != OMV.Vector3.Zero) { // If there is some displacement, return the physical position (center-of-mass) @@ -125,6 +120,7 @@ public class BSPrimDisplaced : BSPrim LocalID, physPosition, displacement, physPosition - displacement); physPosition -= displacement; } + RawPosition = physPosition; return physPosition; } set -- cgit v1.1 From bbc40fab620dd61e500d8f74fa1b0d64ecc7c3b6 Mon Sep 17 00:00:00 2001 From: Vegaslon Date: Sat, 6 Jul 2013 12:53:20 -0400 Subject: BulletSim: Different Implementation of Angular Deflection for vehicles, Activates it again and fixes problem with fighting with vertical attractor removing wobble of forward axis. Comments on testing welcome, May require adjustments of this force or other forces after this commit, exact tweaking to come after testing on other hardware. Signed-off-by: Robert Adams --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 31 +++++++++++----------- 1 file changed, 16 insertions(+), 15 deletions(-) (limited to 'OpenSim/Region/Physics/BulletSPlugin') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index c27d3f0..82fe267 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -144,7 +144,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin public void SetupVehicleDebugging() { enableAngularVerticalAttraction = true; - enableAngularDeflection = false; + enableAngularDeflection = true; enableAngularBanking = true; if (BSParam.VehicleDebuggingEnable) { @@ -173,7 +173,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin switch (pParam) { case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: - m_angularDeflectionEfficiency = Math.Max(pValue, 0.01f); + m_angularDeflectionEfficiency = ClampInRange(0f, pValue, 1f); break; case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); @@ -1512,11 +1512,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // in that direction. // TODO: implement reference frame. public void ComputeAngularDeflection() - { - // Since angularMotorUp and angularDeflection are computed independently, they will calculate - // approximately the same X or Y correction. When added together (when contributions are combined) - // this creates an over-correction and then wabbling as the target is overshot. - // TODO: rethink how the different correction computations inter-relate. + { if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2) { @@ -1531,10 +1527,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin // The direction the vehicle is pointing Vector3 pointingDirection = Vector3.UnitX * VehicleOrientation; - pointingDirection.Normalize(); + //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); + predictedPointingDirection.Normalize(); // The difference between what is and what should be. - Vector3 deflectionError = movingDirection - pointingDirection; + // Vector3 deflectionError = movingDirection - predictedPointingDirection; + Vector3 deflectionError = Vector3.Cross(movingDirection, predictedPointingDirection); // Don't try to correct very large errors (not our job) // if (Math.Abs(deflectionError.X) > PIOverFour) deflectionError.X = PIOverTwo * Math.Sign(deflectionError.X); @@ -1547,15 +1547,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ret = m_angularDeflectionCorrectionMotor(1f, deflectionError); // Scale the correction by recovery timescale and efficiency - deflectContributionV = (-deflectionError) * m_angularDeflectionEfficiency; - deflectContributionV /= m_angularDeflectionTimescale; - - VehicleRotationalVelocity += deflectContributionV * VehicleOrientation; + // Not modeling a spring so clamp the scale to no more then the arc + 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); - VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3}", - ControllingPrim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale); + VDetailLog("{0}, MoveAngular,Deflection,fwdSpd={1},defEff={2},defTS={3},PredictedPointingDir={4}", + ControllingPrim.LocalID, VehicleForwardSpeed, m_angularDeflectionEfficiency, m_angularDeflectionTimescale, predictedPointingDirection); } } -- cgit v1.1