From 66692f90e3b70ccdec8c148342578cd54acc4406 Mon Sep 17 00:00:00 2001 From: Kitto Flora Date: Thu, 21 Jan 2010 14:39:11 -0500 Subject: ChODE Object Linear Motion update --- OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs | 187 ++++++++++++---------- OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs | 2 +- 2 files changed, 102 insertions(+), 87 deletions(-) (limited to 'OpenSim') diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs index ef2dccc..9e145ec 100644 --- a/OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs +++ b/OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs @@ -82,13 +82,6 @@ namespace OpenSim.Region.Physics.OdePlugin private IntPtr m_body = IntPtr.Zero; // 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 @@ -103,15 +96,15 @@ namespace OpenSim.Region.Physics.OdePlugin // LIMIT_ROLL_ONLY // 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, for max limiting - private Vector3 m_dir = Vector3.Zero; // velocity applied to body - private Vector3 m_linearFrictionTimescale = Vector3.Zero; - private float m_linearMotorDecayTimescale = 0; - private float m_linearMotorTimescale = 0; - private Vector3 m_lastLinearVelocityVector = Vector3.Zero; - // private bool m_LinearMotorSetLastFrame = false; - // private Vector3 m_linearMotorOffset = Vector3.Zero; + private Vector3 m_linearMotorDirection = Vector3.Zero; // (was m_linearMotorDirectionLASTSET) the (local) Velocity + //requested by LSL + private float m_linearMotorTimescale = 0; // Motor Attack rate set by LSL + private float m_linearMotorDecayTimescale = 0; // Motor Decay rate set by LSL + private Vector3 m_linearFrictionTimescale = Vector3.Zero; // General Friction set by LSL + + private Vector3 m_lLinMotorDVel = Vector3.Zero; // decayed motor + private Vector3 m_lLinObjectVel = Vector3.Zero; // local frame object velocity + private Vector3 m_wLinObjectVel = Vector3.Zero; // world frame object velocity //Angular properties private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor @@ -241,7 +234,7 @@ namespace OpenSim.Region.Physics.OdePlugin break; case Vehicle.LINEAR_MOTOR_DIRECTION: m_linearMotorDirection = new Vector3(pValue, pValue, pValue); - m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue); + UpdateLinDecay(); break; case Vehicle.LINEAR_MOTOR_OFFSET: // m_linearMotorOffset = new Vector3(pValue, pValue, pValue); @@ -273,9 +266,8 @@ namespace OpenSim.Region.Physics.OdePlugin m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); break; case Vehicle.LINEAR_MOTOR_DIRECTION: - 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 + m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); // velocity requested by LSL, for max limiting + UpdateLinDecay(); break; case Vehicle.LINEAR_MOTOR_OFFSET: // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); @@ -304,7 +296,7 @@ namespace OpenSim.Region.Physics.OdePlugin case Vehicle.TYPE_SLED: m_linearFrictionTimescale = new Vector3(30, 1, 1000); m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); - m_linearMotorDirection = Vector3.Zero; +// m_lLinMotorVel = Vector3.Zero; m_linearMotorTimescale = 1000; m_linearMotorDecayTimescale = 120; m_angularMotorDirection = Vector3.Zero; @@ -330,7 +322,7 @@ namespace OpenSim.Region.Physics.OdePlugin case Vehicle.TYPE_CAR: m_linearFrictionTimescale = new Vector3(100, 2, 1000); m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); - m_linearMotorDirection = Vector3.Zero; +// m_lLinMotorVel = Vector3.Zero; m_linearMotorTimescale = 1; m_linearMotorDecayTimescale = 60; m_angularMotorDirection = Vector3.Zero; @@ -357,7 +349,7 @@ namespace OpenSim.Region.Physics.OdePlugin case Vehicle.TYPE_BOAT: m_linearFrictionTimescale = new Vector3(10, 3, 2); m_angularFrictionTimescale = new Vector3(10,10,10); - m_linearMotorDirection = Vector3.Zero; +// m_lLinMotorVel = Vector3.Zero; m_linearMotorTimescale = 5; m_linearMotorDecayTimescale = 60; m_angularMotorDirection = Vector3.Zero; @@ -385,7 +377,7 @@ namespace OpenSim.Region.Physics.OdePlugin case Vehicle.TYPE_AIRPLANE: m_linearFrictionTimescale = new Vector3(200, 10, 5); m_angularFrictionTimescale = new Vector3(20, 20, 20); - m_linearMotorDirection = Vector3.Zero; +// m_lLinMotorVel = Vector3.Zero; m_linearMotorTimescale = 2; m_linearMotorDecayTimescale = 60; m_angularMotorDirection = Vector3.Zero; @@ -412,7 +404,6 @@ namespace OpenSim.Region.Physics.OdePlugin case Vehicle.TYPE_BALLOON: m_linearFrictionTimescale = new Vector3(5, 5, 5); m_angularFrictionTimescale = new Vector3(10, 10, 10); - m_linearMotorDirection = Vector3.Zero; m_linearMotorTimescale = 5; m_linearMotorDecayTimescale = 60; m_angularMotorDirection = Vector3.Zero; @@ -453,7 +444,7 @@ namespace OpenSim.Region.Physics.OdePlugin if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE) return; frcount++; // used to limit debug comment output - if (frcount > 100) + if (frcount > 24) frcount = 0; MoveLinear(pTimestep, pParentScene); @@ -463,63 +454,90 @@ namespace OpenSim.Region.Physics.OdePlugin 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_lLinMotorDVel = Vector3.Zero; + m_lLinObjectVel = Vector3.Zero; + m_wLinObjectVel = Vector3.Zero; m_angularMotorDirection = Vector3.Zero; m_angularMotorVelocity = Vector3.Zero; m_lastAngularVelocity = Vector3.Zero; } + + private void UpdateLinDecay() + { + if (Math.Abs(m_linearMotorDirection.X) > Math.Abs(m_lLinMotorDVel.X)) m_lLinMotorDVel.X = m_linearMotorDirection.X; + if (Math.Abs(m_linearMotorDirection.Y) > Math.Abs(m_lLinMotorDVel.Y)) m_lLinMotorDVel.Y = m_linearMotorDirection.Y; + if (Math.Abs(m_linearMotorDirection.Z) > Math.Abs(m_lLinMotorDVel.Z)) m_lLinMotorDVel.Z = m_linearMotorDirection.Z; + } // else let the motor decay on its own private void MoveLinear(float pTimestep, OdeScene _pParentScene) { - if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant - { - if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); + Vector3 acceleration = new Vector3(0f, 0f, 0f); - // add drive to body - 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)) - m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X; - if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y)) - m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y; - if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z)) - m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z; - - // decay applied velocity - Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep))); - //Console.WriteLine("decay: " + decayfraction); - m_linearMotorDirection -= m_linearMotorDirection * decayfraction * m_linearDecayFactor; - //Console.WriteLine("actual: " + m_linearMotorDirection); - } - else - { // requested is not significant - // if what remains of applied is small, zero it. - if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f)) - m_lastLinearVelocityVector = Vector3.Zero; - } - - - // convert requested object velocity to world-referenced vector - m_dir = m_lastLinearVelocityVector; d.Quaternion rot = d.BodyGetQuaternion(Body); Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object - m_dir *= rotq; // apply obj rotation to velocity vector + Quaternion irotq = Quaternion.Inverse(rotq); + d.Vector3 velnow = d.BodyGetLinearVel(Body); // this is in world frame + Vector3 vel_now = new Vector3(velnow.X, velnow.Y, velnow.Z); + acceleration = vel_now - m_wLinObjectVel; + m_lLinObjectVel = vel_now * irotq; + + if (m_linearMotorDecayTimescale < 300.0f) //setting of 300 or more disables decay rate + { + if ( Vector3.Mag(m_lLinMotorDVel) < 1.0f) + { + float decayfactor = m_linearMotorDecayTimescale/pTimestep; + Vector3 decayAmount = (m_lLinMotorDVel/decayfactor); + m_lLinMotorDVel -= decayAmount; + } + else + { + float decayfactor = 3.0f - (0.57f * (float)Math.Log((double)(m_linearMotorDecayTimescale))); + Vector3 decel = Vector3.Normalize(m_lLinMotorDVel) * decayfactor * pTimestep; + m_lLinMotorDVel -= decel; + } + if (m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) + { + m_lLinMotorDVel = Vector3.Zero; + } + else + { + if (Math.Abs(m_lLinMotorDVel.X) < Math.Abs(m_lLinObjectVel.X)) m_lLinObjectVel.X = m_lLinMotorDVel.X; + if (Math.Abs(m_lLinMotorDVel.Y) < Math.Abs(m_lLinObjectVel.Y)) m_lLinObjectVel.Y = m_lLinMotorDVel.Y; + if (Math.Abs(m_lLinMotorDVel.Z) < Math.Abs(m_lLinObjectVel.Z)) m_lLinObjectVel.Z = m_lLinMotorDVel.Z; + } + } - // add Gravity and Buoyancy - // KF: So far I have found no good method to combine a script-requested - // .Z velocity and gravity. Therefore only 0g will used script-requested - // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only. + if ( (! m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (! m_lLinObjectVel.ApproxEquals(Vector3.Zero, 0.01f)) ) + { + if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); + if (m_linearMotorTimescale < 300.0f) + { + Vector3 attack_error = m_lLinMotorDVel - m_lLinObjectVel; + float linfactor = m_linearMotorTimescale/pTimestep; + Vector3 attackAmount = (attack_error/linfactor) * 1.3f; + m_lLinObjectVel += attackAmount; + } + if (m_linearFrictionTimescale.X < 300.0f) + { + float fricfactor = m_linearFrictionTimescale.X / pTimestep; + float fricX = m_lLinObjectVel.X / fricfactor; + m_lLinObjectVel.X -= fricX; + } + if (m_linearFrictionTimescale.Y < 300.0f) + { + float fricfactor = m_linearFrictionTimescale.Y / pTimestep; + float fricY = m_lLinObjectVel.Y / fricfactor; + m_lLinObjectVel.Y -= fricY; + } + if (m_linearFrictionTimescale.Z < 300.0f) + { + float fricfactor = m_linearFrictionTimescale.Z / pTimestep; + float fricZ = m_lLinObjectVel.Z / fricfactor; + m_lLinObjectVel.Z -= fricZ; + } + } + m_wLinObjectVel = m_lLinObjectVel * rotq; + // Add Gravity and Buoyancy Vector3 grav = Vector3.Zero; if(m_VehicleBuoyancy < 1.0f) { @@ -528,10 +546,7 @@ namespace OpenSim.Region.Physics.OdePlugin d.Mass objMass; d.BodyGetMass(Body, out objMass); // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; - grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy); - // Preserve the current Z velocity - d.Vector3 vel_now = d.BodyGetLinearVel(Body); - m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity + grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy); // Applied later as a force } // else its 1.0, no gravity. // Check if hovering @@ -567,24 +582,24 @@ namespace OpenSim.Region.Physics.OdePlugin { d.Mass objMass; d.BodyGetMass(Body, out objMass); - m_dir.Z = - ( (herr0 * pTimestep * 50.0f) / m_VhoverTimescale); + m_wLinObjectVel.Z = - ( (herr0 * pTimestep * 50.0f) / m_VhoverTimescale); //KF: m_VhoverEfficiency is not yet implemented } else { - m_dir.Z = 0f; + m_wLinObjectVel.Z = 0f; } } - + else + { // not hovering, Gravity rules + m_wLinObjectVel.Z = vel_now.Z; +//if(frcount == 0) Console.WriteLine(" Z {0} a.Z {1}", m_wLinObjectVel.Z, acceleration.Z); + } // Apply velocity - d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z); + d.BodySetLinearVel(Body, m_wLinObjectVel.X, m_wLinObjectVel.Y, m_wLinObjectVel.Z); // apply gravity force d.BodyAddForce(Body, grav.X, grav.Y, grav.Z); - - - // apply friction - Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); - m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount * m_linearFrictionFactor; +//if(frcount == 0) Console.WriteLine("Grav {0}", grav); } // end MoveLinear() private void MoveAngular(float pTimestep) @@ -633,7 +648,7 @@ namespace OpenSim.Region.Physics.OdePlugin if(m_verticalAttractionTimescale < 300) { - float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep); + float VAservo = 0.0167f / (m_verticalAttractionTimescale * pTimestep); // get present body rotation d.Quaternion rot = d.BodyGetQuaternion(Body); Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); diff --git a/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs b/OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs index 60786d4..deb6164 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 DateTime m_lastframe = DateTime.UtcNow; private float[] _watermap; private bool m_filterCollisions = true; -- cgit v1.1