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author | Kitto Flora | 2010-02-12 15:56:21 -0500 |
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committer | Kitto Flora | 2010-02-12 15:56:21 -0500 |
commit | 9568718addfd8e5d4094a456127ca469987f1f7a (patch) | |
tree | 8b700d1db70ea9736c38ba5caa770e8c41a8f9ff | |
parent | Merge branch 'master' of ssh://3dhosting.de/var/git/careminster (diff) | |
download | opensim-SC_OLD-9568718addfd8e5d4094a456127ca469987f1f7a.zip opensim-SC_OLD-9568718addfd8e5d4094a456127ca469987f1f7a.tar.gz opensim-SC_OLD-9568718addfd8e5d4094a456127ca469987f1f7a.tar.bz2 opensim-SC_OLD-9568718addfd8e5d4094a456127ca469987f1f7a.tar.xz |
Angular motor adjustments
-rw-r--r-- | OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs | 48 |
1 files changed, 26 insertions, 22 deletions
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs index 4eb3313..55d6945 100644 --- a/OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs +++ b/OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs | |||
@@ -224,6 +224,8 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
224 | // These are vector properties but the engine lets you use a single float value to | 224 | // These are vector properties but the engine lets you use a single float value to |
225 | // set all of the components to the same value | 225 | // set all of the components to the same value |
226 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: | 226 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: |
227 | if (pValue > 30f) pValue = 30f; | ||
228 | if (pValue < 0.1f) pValue = 0.1f; | ||
227 | m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); | 229 | m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); |
228 | break; | 230 | break; |
229 | case Vehicle.ANGULAR_MOTOR_DIRECTION: | 231 | case Vehicle.ANGULAR_MOTOR_DIRECTION: |
@@ -250,6 +252,12 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
250 | switch (pParam) | 252 | switch (pParam) |
251 | { | 253 | { |
252 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: | 254 | case Vehicle.ANGULAR_FRICTION_TIMESCALE: |
255 | if (pValue.X > 30f) pValue.X = 30f; | ||
256 | if (pValue.X < 0.1f) pValue.X = 0.1f; | ||
257 | if (pValue.Y > 30f) pValue.Y = 30f; | ||
258 | if (pValue.Y < 0.1f) pValue.Y = 0.1f; | ||
259 | if (pValue.Z > 30f) pValue.Z = 30f; | ||
260 | if (pValue.Z < 0.1f) pValue.Z = 0.1f; | ||
253 | m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); | 261 | m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); |
254 | break; | 262 | break; |
255 | case Vehicle.ANGULAR_MOTOR_DIRECTION: | 263 | case Vehicle.ANGULAR_MOTOR_DIRECTION: |
@@ -306,7 +314,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
306 | { | 314 | { |
307 | case Vehicle.TYPE_SLED: | 315 | case Vehicle.TYPE_SLED: |
308 | m_linearFrictionTimescale = new Vector3(30, 1, 1000); | 316 | m_linearFrictionTimescale = new Vector3(30, 1, 1000); |
309 | m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); | 317 | m_angularFrictionTimescale = new Vector3(30, 30, 30); |
310 | // m_lLinMotorVel = Vector3.Zero; | 318 | // m_lLinMotorVel = Vector3.Zero; |
311 | m_linearMotorTimescale = 1000; | 319 | m_linearMotorTimescale = 1000; |
312 | m_linearMotorDecayTimescale = 120; | 320 | m_linearMotorDecayTimescale = 120; |
@@ -333,7 +341,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
333 | break; | 341 | break; |
334 | case Vehicle.TYPE_CAR: | 342 | case Vehicle.TYPE_CAR: |
335 | m_linearFrictionTimescale = new Vector3(100, 2, 1000); | 343 | m_linearFrictionTimescale = new Vector3(100, 2, 1000); |
336 | m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); | 344 | m_angularFrictionTimescale = new Vector3(30, 30, 30); // was 1000, but sl max frict time is 30. |
337 | // m_lLinMotorVel = Vector3.Zero; | 345 | // m_lLinMotorVel = Vector3.Zero; |
338 | m_linearMotorTimescale = 1; | 346 | m_linearMotorTimescale = 1; |
339 | m_linearMotorDecayTimescale = 60; | 347 | m_linearMotorDecayTimescale = 60; |
@@ -548,6 +556,7 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
548 | if (m_linearFrictionTimescale.Z < 300.0f) | 556 | if (m_linearFrictionTimescale.Z < 300.0f) |
549 | { | 557 | { |
550 | float fricfactor = m_linearFrictionTimescale.Z / pTimestep; | 558 | float fricfactor = m_linearFrictionTimescale.Z / pTimestep; |
559 | //if(frcount == 0) Console.WriteLine("Zfric={0}", fricfactor); | ||
551 | float fricZ = m_lLinObjectVel.Z / fricfactor; | 560 | float fricZ = m_lLinObjectVel.Z / fricfactor; |
552 | m_lLinObjectVel.Z -= fricZ; | 561 | m_lLinObjectVel.Z -= fricZ; |
553 | } | 562 | } |
@@ -639,7 +648,6 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
639 | */ | 648 | */ |
640 | //if(frcount == 0) Console.WriteLine("MoveAngular "); | 649 | //if(frcount == 0) Console.WriteLine("MoveAngular "); |
641 | 650 | ||
642 | //#### | ||
643 | // Get what the body is doing, this includes 'external' influences | 651 | // Get what the body is doing, this includes 'external' influences |
644 | d.Vector3 angularObjectVel = d.BodyGetAngularVel(Body); | 652 | d.Vector3 angularObjectVel = d.BodyGetAngularVel(Body); |
645 | Vector3 angObjectVel = new Vector3(angularObjectVel.X, angularObjectVel.Y, angularObjectVel.Z); | 653 | Vector3 angObjectVel = new Vector3(angularObjectVel.X, angularObjectVel.Y, angularObjectVel.Z); |
@@ -652,9 +660,18 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
652 | // Decay Angular Motor 2. | 660 | // Decay Angular Motor 2. |
653 | if (m_angularMotorDecayTimescale < 300.0f) | 661 | if (m_angularMotorDecayTimescale < 300.0f) |
654 | { | 662 | { |
655 | float decayfactor = m_angularMotorDecayTimescale/pTimestep; // df = Dec / pts | 663 | //#### |
656 | Vector3 decayAmount = (m_angularMotorDVel/decayfactor); // v-da = v-Dvel / df = v-Dvel * pts / Dec | 664 | if ( Vector3.Mag(m_angularMotorDVel) < 1.0f) |
657 | m_angularMotorDVel -= decayAmount; // v-Dvel = v-Dvel - (v-Dvel / df = v-Dvel * pts / Dec) | 665 | { |
666 | float decayfactor = (m_angularMotorDecayTimescale)/pTimestep; | ||
667 | Vector3 decayAmount = (m_angularMotorDVel/decayfactor); | ||
668 | m_angularMotorDVel -= decayAmount; | ||
669 | } | ||
670 | else | ||
671 | { | ||
672 | Vector3 decel = Vector3.Normalize(m_angularMotorDVel) * pTimestep / m_angularMotorDecayTimescale; | ||
673 | m_angularMotorDVel -= decel; | ||
674 | } | ||
658 | 675 | ||
659 | if (m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) | 676 | if (m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) |
660 | { | 677 | { |
@@ -743,22 +760,9 @@ namespace OpenSim.Region.Physics.OdePlugin | |||
743 | //if(frcount == 0) Console.WriteLine("V2+= {0}", angObjectVel); | 760 | //if(frcount == 0) Console.WriteLine("V2+= {0}", angObjectVel); |
744 | } | 761 | } |
745 | 762 | ||
746 | if (m_angularFrictionTimescale.X < 300.0f) | 763 | angObjectVel.X -= angObjectVel.X / (m_angularFrictionTimescale.X * 0.7f / pTimestep); |
747 | { | 764 | angObjectVel.Y -= angObjectVel.Y / (m_angularFrictionTimescale.Y * 0.7f / pTimestep); |
748 | float fricfactor = m_angularFrictionTimescale.X / pTimestep; | 765 | angObjectVel.Z -= angObjectVel.Z / (m_angularFrictionTimescale.Z * 0.7f / pTimestep); |
749 | angObjectVel.X -= angObjectVel.X / fricfactor; | ||
750 | } | ||
751 | if (m_angularFrictionTimescale.Y < 300.0f) | ||
752 | { | ||
753 | float fricfactor = m_angularFrictionTimescale.Y / pTimestep; | ||
754 | angObjectVel.Y -= angObjectVel.Y / fricfactor; | ||
755 | } | ||
756 | if (m_angularFrictionTimescale.Z < 300.0f) | ||
757 | { | ||
758 | float fricfactor = m_angularFrictionTimescale.Z / pTimestep; | ||
759 | angObjectVel.Z -= angObjectVel.Z / fricfactor; | ||
760 | Console.WriteLine("z fric"); | ||
761 | } | ||
762 | } // else no signif. motion | 766 | } // else no signif. motion |
763 | 767 | ||
764 | //if(frcount == 0) Console.WriteLine("Dmotor {0} Obj {1}", m_angularMotorDVel, angObjectVel); | 768 | //if(frcount == 0) Console.WriteLine("Dmotor {0} Obj {1}", m_angularMotorDVel, angObjectVel); |