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authorRobert Adams2012-11-27 10:02:29 -0800
committerRobert Adams2012-11-27 10:04:00 -0800
commit8e459a03467ffa45145f90ea764854deaf2615ed (patch)
treed60781c77f6d15bcf1de05aab8c5126855eaccc8
parentBulletSim: fix terrain mesh generation for problem with regions that have une... (diff)
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BulletSim: reorganize linear movement routine into separate subroutines enabling external calibration routines and unit tests.
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs137
1 files changed, 79 insertions, 58 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index eb4d06a..74eb9ab 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -630,13 +630,64 @@ namespace OpenSim.Region.Physics.BulletSPlugin
630 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; 630 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
631 Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy); 631 Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy);
632 632
633 // Current vehicle position
634 Vector3 pos = Prim.ForcePosition; 633 Vector3 pos = Prim.ForcePosition;
634 float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
635
636 Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep, ref pos, terrainHeight);
637
638 Vector3 hoverContribution = ComputeLinearHover(pTimestep, ref pos, terrainHeight);
639
640 ComputeLinearBlockingEndPoint(pTimestep, ref pos);
641
642 Vector3 limitMotorUpContribution = ComputeLinearMotorUp(pTimestep, pos, terrainHeight);
643
644 // ==================================================================
645 Vector3 newVelocity = linearMotorContribution
646 + terrainHeightContribution
647 + hoverContribution
648 + limitMotorUpContribution;
649
650 // If not changing some axis, reduce out velocity
651 if ((m_flags & (VehicleFlag.NO_X)) != 0)
652 newVelocity.X = 0;
653 if ((m_flags & (VehicleFlag.NO_Y)) != 0)
654 newVelocity.Y = 0;
655 if ((m_flags & (VehicleFlag.NO_Z)) != 0)
656 newVelocity.Z = 0;
657
658 // ==================================================================
659 // Clamp REALLY high or low velocities
660 float newVelocityLengthSq = newVelocity.LengthSquared();
661 if (newVelocityLengthSq > 1e6f)
662 {
663 newVelocity /= newVelocity.Length();
664 newVelocity *= 1000f;
665 }
666 else if (newVelocityLengthSq < 1e-6f)
667 newVelocity = Vector3.Zero;
635 668
636 // ================================================================== 669 // ==================================================================
637 Vector3 terrainHeightContribution = Vector3.Zero; 670 // Stuff new linear velocity into the vehicle
671 Prim.ForceVelocity = newVelocity;
672 // Prim.ApplyForceImpulse((m_newVelocity - Prim.Velocity) * m_vehicleMass, false); // DEBUG DEBUG
673
674 // Other linear forces are applied as forces.
675 Vector3 totalDownForce = grav * m_vehicleMass;
676 if (totalDownForce != Vector3.Zero)
677 {
678 Prim.AddForce(totalDownForce, false);
679 }
680
681 VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},primVel={4},totalDown={5}",
682 Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector,
683 newVelocity, Prim.Velocity, totalDownForce);
684
685 } // end MoveLinear()
686
687 public Vector3 ComputeLinearTerrainHeightCorrection(float pTimestep, ref Vector3 pos, float terrainHeight)
688 {
689 Vector3 ret = Vector3.Zero;
638 // If below the terrain, move us above the ground a little. 690 // If below the terrain, move us above the ground a little.
639 float terrainHeight = Prim.PhysicsScene.TerrainManager.GetTerrainHeightAtXYZ(pos);
640 // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset. 691 // Taking the rotated size doesn't work here because m_prim.Size is the size of the root prim and not the linkset.
641 // TODO: Add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass. 692 // TODO: Add a m_prim.LinkSet.Size similar to m_prim.LinkSet.Mass.
642 // Vector3 rotatedSize = m_prim.Size * m_prim.ForceOrientation; 693 // Vector3 rotatedSize = m_prim.Size * m_prim.ForceOrientation;
@@ -648,10 +699,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
648 Prim.ForcePosition = pos; 699 Prim.ForcePosition = pos;
649 VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos); 700 VDetailLog("{0},MoveLinear,terrainHeight,terrainHeight={1},pos={2}", Prim.LocalID, terrainHeight, pos);
650 } 701 }
702 return ret;
703 }
704
705 public Vector3 ComputeLinearHover(float pTimestep, ref Vector3 pos, float terrainHeight)
706 {
707 Vector3 ret = Vector3.Zero;
651 708
652 // ==================================================================
653 Vector3 hoverContribution = Vector3.Zero;
654 // Check if hovering
655 // m_VhoverEfficiency: 0=bouncy, 1=totally damped 709 // m_VhoverEfficiency: 0=bouncy, 1=totally damped
656 // m_VhoverTimescale: time to achieve height 710 // m_VhoverTimescale: time to achieve height
657 if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) 711 if ((m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0)
@@ -692,24 +746,29 @@ namespace OpenSim.Region.Physics.BulletSPlugin
692 // Replace Vertical speed with correction figure if significant 746 // Replace Vertical speed with correction figure if significant
693 if (verticalError > 0.01f) 747 if (verticalError > 0.01f)
694 { 748 {
695 hoverContribution = new Vector3(0f, 0f, verticalCorrectionVelocity); 749 ret = new Vector3(0f, 0f, verticalCorrectionVelocity);
696 //KF: m_VhoverEfficiency is not yet implemented 750 //KF: m_VhoverEfficiency is not yet implemented
697 } 751 }
698 else if (verticalError < -0.01) 752 else if (verticalError < -0.01)
699 { 753 {
700 hoverContribution = new Vector3(0f, 0f, -verticalCorrectionVelocity); 754 ret = new Vector3(0f, 0f, -verticalCorrectionVelocity);
701 } 755 }
702 } 756 }
703 757
704 VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", 758 VDetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}",
705 Prim.LocalID, pos, hoverContribution, m_VhoverHeight, m_VhoverTargetHeight); 759 Prim.LocalID, pos, ret, m_VhoverHeight, m_VhoverTargetHeight);
706 } 760 }
707 761
708 // ================================================================== 762 return ret;
763 }
764
765 public bool ComputeLinearBlockingEndPoint(float pTimestep, ref Vector3 pos)
766 {
767 bool changed = false;
768
709 Vector3 posChange = pos - m_lastPositionVector; 769 Vector3 posChange = pos - m_lastPositionVector;
710 if (m_BlockingEndPoint != Vector3.Zero) 770 if (m_BlockingEndPoint != Vector3.Zero)
711 { 771 {
712 bool changed = false;
713 if (pos.X >= (m_BlockingEndPoint.X - (float)1)) 772 if (pos.X >= (m_BlockingEndPoint.X - (float)1))
714 { 773 {
715 pos.X -= posChange.X + 1; 774 pos.X -= posChange.X + 1;
@@ -742,9 +801,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
742 Prim.LocalID, m_BlockingEndPoint, posChange, pos); 801 Prim.LocalID, m_BlockingEndPoint, posChange, pos);
743 } 802 }
744 } 803 }
804 return changed;
805 }
745 806
746 // ================================================================== 807 public Vector3 ComputeLinearMotorUp(float pTimestep, Vector3 pos, float terrainHeight)
747 Vector3 limitMotorUpContribution = Vector3.Zero; 808 {
809 Vector3 ret = Vector3.Zero;
748 if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0) 810 if ((m_flags & (VehicleFlag.LIMIT_MOTOR_UP)) != 0)
749 { 811 {
750 // If the vehicle is motoring into the sky, get it going back down. 812 // If the vehicle is motoring into the sky, get it going back down.
@@ -753,58 +815,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin
753 { 815 {
754 // downForce = new Vector3(0, 0, (-distanceAboveGround / m_bankingTimescale) * pTimestep); 816 // downForce = new Vector3(0, 0, (-distanceAboveGround / m_bankingTimescale) * pTimestep);
755 // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale); 817 // downForce = new Vector3(0, 0, -distanceAboveGround / m_bankingTimescale);
756 limitMotorUpContribution = new Vector3(0, 0, -distanceAboveGround); 818 ret = new Vector3(0, 0, -distanceAboveGround);
757 } 819 }
758 // TODO: this calculation is all wrong. From the description at 820 // TODO: this calculation is all wrong. From the description at
759 // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce 821 // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce
760 // has a decay factor. This says this force should 822 // has a decay factor. This says this force should
761 // be computed with a motor. 823 // be computed with a motor.
762 VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}", 824 VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}",
763 Prim.LocalID, distanceAboveGround, limitMotorUpContribution); 825 Prim.LocalID, distanceAboveGround, ret);
764 } 826 }
765 827 return ret;
766 // ================================================================== 828 }
767 Vector3 newVelocity = linearMotorContribution
768 + terrainHeightContribution
769 + hoverContribution
770 + limitMotorUpContribution;
771
772 // If not changing some axis, reduce out velocity
773 if ((m_flags & (VehicleFlag.NO_X)) != 0)
774 newVelocity.X = 0;
775 if ((m_flags & (VehicleFlag.NO_Y)) != 0)
776 newVelocity.Y = 0;
777 if ((m_flags & (VehicleFlag.NO_Z)) != 0)
778 newVelocity.Z = 0;
779
780 // ==================================================================
781 // Clamp REALLY high or low velocities
782 float newVelocityLengthSq = newVelocity.LengthSquared();
783 if (newVelocityLengthSq > 1e6f)
784 {
785 newVelocity /= newVelocity.Length();
786 newVelocity *= 1000f;
787 }
788 else if (newVelocityLengthSq < 1e-6f)
789 newVelocity = Vector3.Zero;
790
791 // ==================================================================
792 // Stuff new linear velocity into the vehicle
793 Prim.ForceVelocity = newVelocity;
794 // Prim.ApplyForceImpulse((m_newVelocity - Prim.Velocity) * m_vehicleMass, false); // DEBUG DEBUG
795
796 // Other linear forces are applied as forces.
797 Vector3 totalDownForce = grav * m_vehicleMass;
798 if (totalDownForce != Vector3.Zero)
799 {
800 Prim.AddForce(totalDownForce, false);
801 }
802
803 VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},primVel={4},totalDown={5}",
804 Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector,
805 newVelocity, Prim.Velocity, totalDownForce);
806
807 } // end MoveLinear()
808 829
809 // ======================================================================= 830 // =======================================================================
810 // ======================================================================= 831 // =======================================================================