From 3f901d313bfd11070d5260f867c8a73c14f2d109 Mon Sep 17 00:00:00 2001 From: Kitto Flora Date: Thu, 31 Dec 2009 16:07:36 -0500 Subject: Vehicle Linear parameter adjustments --- OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs | 40 ++++++++++++--- OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs | 12 +++-- OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs | 61 +++++++++++++---------- 3 files changed, 75 insertions(+), 38 deletions(-) (limited to 'OpenSim') diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs index 78b15be..ef2dccc 100644 --- a/OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs +++ b/OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs @@ -83,6 +83,12 @@ namespace OpenSim.Region.Physics.OdePlugin // private IntPtr m_jointGroup = IntPtr.Zero; // private IntPtr m_aMotor = IntPtr.Zero; + // Correction factors, to match Sl + private static float m_linearVelocityFactor = 0.9f; + private static float m_linearAttackFactor = 0.4f; + private static float m_linearDecayFactor = 0.5f; + private static float m_linearFrictionFactor = 1.2f; + // Vehicle properties private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind @@ -98,7 +104,7 @@ namespace OpenSim.Region.Physics.OdePlugin // Linear properties private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time - private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL + private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL, for max limiting private Vector3 m_dir = Vector3.Zero; // velocity applied to body private Vector3 m_linearFrictionTimescale = Vector3.Zero; private float m_linearMotorDecayTimescale = 0; @@ -267,8 +273,9 @@ namespace OpenSim.Region.Physics.OdePlugin m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); break; case Vehicle.LINEAR_MOTOR_DIRECTION: - m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); - m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); + pValue *= m_linearVelocityFactor; + m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); // velocity requested by LSL, decayed by time + m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); // velocity requested by LSL, for max limiting break; case Vehicle.LINEAR_MOTOR_OFFSET: // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); @@ -453,6 +460,17 @@ namespace OpenSim.Region.Physics.OdePlugin MoveAngular(pTimestep); }// end Step + internal void Halt() + { // Kill all motions, when non-physical + m_linearMotorDirection = Vector3.Zero; + m_linearMotorDirectionLASTSET = Vector3.Zero; + m_dir = Vector3.Zero; + m_lastLinearVelocityVector = Vector3.Zero; + m_angularMotorDirection = Vector3.Zero; + m_angularMotorVelocity = Vector3.Zero; + m_lastAngularVelocity = Vector3.Zero; + } + private void MoveLinear(float pTimestep, OdeScene _pParentScene) { if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant @@ -460,9 +478,15 @@ namespace OpenSim.Region.Physics.OdePlugin if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // add drive to body - Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); - m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector? - + float linfactor = m_linearMotorTimescale/pTimestep; + // Linear accel + Vector3 addAmount1 = (m_linearMotorDirection/linfactor) * 0.8f; + // Differential accel + Vector3 addAmount2 = ((m_linearMotorDirection - m_lastLinearVelocityVector)/linfactor) * 1.6f; + // SL correction + Vector3 addAmount = (addAmount1 + addAmount2) * m_linearAttackFactor; + m_lastLinearVelocityVector += addAmount; // lastLinearVelocityVector is the current body velocity vector +//if(frcount == 0) Console.WriteLine("AL {0} + AD {1} AS{2} V {3}", addAmount1, addAmount2, addAmount, m_lastLinearVelocityVector); // This will work temporarily, but we really need to compare speed on an axis // KF: Limit body velocity to applied velocity? if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X)) @@ -475,7 +499,7 @@ namespace OpenSim.Region.Physics.OdePlugin // decay applied velocity Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep))); //Console.WriteLine("decay: " + decayfraction); - m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f; + m_linearMotorDirection -= m_linearMotorDirection * decayfraction * m_linearDecayFactor; //Console.WriteLine("actual: " + m_linearMotorDirection); } else @@ -560,7 +584,7 @@ namespace OpenSim.Region.Physics.OdePlugin // apply friction Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); - m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; + m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount * m_linearFrictionFactor; } // end MoveLinear() private void MoveAngular(float pTimestep) diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs index 0179240..6e6b44f 100644 --- a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs +++ b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs @@ -2296,11 +2296,15 @@ Console.WriteLine(" JointCreateFixed"); public override bool IsPhysical { get { return m_isphysical; } - set { + set + { m_isphysical = value; - if (!m_isphysical) // Zero the remembered last velocity - m_lastVelocity = Vector3.Zero; - } + if (!m_isphysical) + { // Zero the remembered last velocity + m_lastVelocity = Vector3.Zero; + if (m_vehicle.Type != Vehicle.TYPE_NONE) m_vehicle.Halt(); + } + } } public void setPrimForRemoval() diff --git a/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs index f48649e..60786d4 100644 --- a/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs +++ b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs @@ -229,7 +229,7 @@ namespace OpenSim.Region.Physics.OdePlugin public int bodyFramesAutoDisable = 20; - + protected DateTime m_lastframe = DateTime.UtcNow; private float[] _watermap; private bool m_filterCollisions = true; @@ -2639,13 +2639,20 @@ namespace OpenSim.Region.Physics.OdePlugin { if (framecount >= int.MaxValue) framecount = 0; - //if (m_worldOffset != Vector3.Zero) // return 0; framecount++; - - float fps = 0; + + DateTime now = DateTime.UtcNow; + TimeSpan SinceLastFrame = now - m_lastframe; + m_lastframe = now; + float realtime = (float)SinceLastFrame.TotalSeconds; +// Console.WriteLine("ts={0} rt={1}", timeStep, realtime); + timeStep = realtime; + + // float fps = 1.0f / realtime; + float fps = 0.0f; // number of ODE steps in this Simulate step //m_log.Info(timeStep.ToString()); step_time += timeStep; @@ -2691,11 +2698,11 @@ namespace OpenSim.Region.Physics.OdePlugin // Figure out the Frames Per Second we're going at. //(step_time == 0.004f, there's 250 of those per second. Times the step time/step size - fps = (step_time / ODE_STEPSIZE) * 1000; + // fps = (step_time / ODE_STEPSIZE) * 1000; // HACK: Using a time dilation of 1.0 to debug rubberbanding issues //m_timeDilation = Math.Min((step_time / ODE_STEPSIZE) / (0.09375f / ODE_STEPSIZE), 1.0f); - step_time = 0.09375f; + // step_time = 0.09375f; while (step_time > 0.0f) { @@ -2716,7 +2723,7 @@ namespace OpenSim.Region.Physics.OdePlugin foreach (OdeCharacter character in _taintedActors) { - character.ProcessTaints(timeStep); + character.ProcessTaints(ODE_STEPSIZE); processedtaints = true; //character.m_collisionscore = 0; @@ -2725,7 +2732,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (processedtaints) _taintedActors.Clear(); } - } + } // end lock _taintedActors // Modify other objects in the scene. processedtaints = false; @@ -2742,7 +2749,7 @@ namespace OpenSim.Region.Physics.OdePlugin else { //Console.WriteLine("Simulate calls ProcessTaints"); - prim.ProcessTaints(timeStep); + prim.ProcessTaints(ODE_STEPSIZE); } processedtaints = true; prim.m_collisionscore = 0; @@ -2767,7 +2774,8 @@ namespace OpenSim.Region.Physics.OdePlugin foreach (PhysicsJoint joint in pendingJoints) { //DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams); - string[] jointParams = joint.RawParams.Split(" ".ToCharArray(), System.StringSplitOptions.RemoveEmptyEntries); + string[] jointParams = joint.RawParams.Split(" ".ToCharArray(), + System.StringSplitOptions.RemoveEmptyEntries); List jointBodies = new List(); bool allJointBodiesAreReady = true; foreach (string jointParam in jointParams) @@ -2934,13 +2942,13 @@ namespace OpenSim.Region.Physics.OdePlugin //DoJointErrorMessage(successfullyProcessedJoint, "done"); } } - } + } // end SupportsNINJAJoints if (processedtaints) //Console.WriteLine("Simulate calls Clear of _taintedPrim list"); - _taintedPrimH.Clear(); + _taintedPrimH.Clear(); // ??? if this only ??? _taintedPrimL.Clear(); - } + } // end lock _taintedPrimLock // Move characters lock (_characters) @@ -2949,7 +2957,7 @@ namespace OpenSim.Region.Physics.OdePlugin foreach (OdeCharacter actor in _characters) { if (actor != null) - actor.Move(timeStep, defects); + actor.Move(ODE_STEPSIZE, defects); } if (0 != defects.Count) { @@ -2958,7 +2966,7 @@ namespace OpenSim.Region.Physics.OdePlugin RemoveCharacter(defect); } } - } + } // end lock _characters // Move other active objects lock (_activeprims) @@ -2966,9 +2974,9 @@ namespace OpenSim.Region.Physics.OdePlugin foreach (OdePrim prim in _activeprims) { prim.m_collisionscore = 0; - prim.Move(timeStep); + prim.Move(ODE_STEPSIZE); } - } + } // end lock _activeprims //if ((framecount % m_randomizeWater) == 0) // randomizeWater(waterlevel); @@ -2976,7 +2984,7 @@ namespace OpenSim.Region.Physics.OdePlugin //int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests(); m_rayCastManager.ProcessQueuedRequests(); - collision_optimized(timeStep); + collision_optimized(ODE_STEPSIZE); lock (_collisionEventPrim) { @@ -2998,7 +3006,7 @@ namespace OpenSim.Region.Physics.OdePlugin break; } } - } + } // end lock _collisionEventPrim //if (m_global_contactcount > 5) //{ @@ -3009,8 +3017,9 @@ namespace OpenSim.Region.Physics.OdePlugin d.WorldQuickStep(world, ODE_STEPSIZE); d.JointGroupEmpty(contactgroup); + fps++; //ode.dunlock(world); - } + } // end try catch (Exception e) { m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e); @@ -3025,7 +3034,7 @@ namespace OpenSim.Region.Physics.OdePlugin //fps = 0; //} //} - } + } // end while (step_time > 0.0f) lock (_characters) { @@ -3090,7 +3099,7 @@ namespace OpenSim.Region.Physics.OdePlugin } } } - } + } // end lock _activeprims //DumpJointInfo(); @@ -3111,10 +3120,10 @@ namespace OpenSim.Region.Physics.OdePlugin } d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix); } - } - - return fps; - } + } // end lock OdeLock + + return fps * 1000.0f; //NB This is a FRAME COUNT, not a time! AND is divide by 1000 in SimStatusReporter! + } // end Simulate public override void GetResults() { -- cgit v1.1