aboutsummaryrefslogtreecommitdiffstatshomepage
diff options
context:
space:
mode:
authorRobert Adams2012-11-07 15:28:06 -0800
committerRobert Adams2012-11-07 15:28:06 -0800
commit67d5dbbb49fa44e433bc6f5448f1b3e16c242524 (patch)
tree8bdda0851dff353bbb82dc48675835dfdbf0e1e2
parentBulletSim: update the DLLs and SOs (diff)
downloadopensim-SC_OLD-67d5dbbb49fa44e433bc6f5448f1b3e16c242524.zip
opensim-SC_OLD-67d5dbbb49fa44e433bc6f5448f1b3e16c242524.tar.gz
opensim-SC_OLD-67d5dbbb49fa44e433bc6f5448f1b3e16c242524.tar.bz2
opensim-SC_OLD-67d5dbbb49fa44e433bc6f5448f1b3e16c242524.tar.xz
BulletSim: add classes for physics motors. Eventually these will replace the manual code for vehicles and add PID functionality to avatar movement.
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSMotors.cs104
1 files changed, 104 insertions, 0 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
new file mode 100755
index 0000000..bc6e4c4
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -0,0 +1,104 @@
1using System;
2using System.Collections.Generic;
3using System.Text;
4using OpenMetaverse;
5
6namespace OpenSim.Region.Physics.BulletSPlugin
7{
8public abstract class BSMotor
9{
10 public virtual void Reset() { }
11 public virtual void Zero() { }
12}
13// Can all the incremental stepping be replaced with motor classes?
14public class BSVMotor : BSMotor
15{
16 public Vector3 FrameOfReference { get; set; }
17 public Vector3 Offset { get; set; }
18
19 public float TimeScale { get; set; }
20 public float TargetValueDecayTimeScale { get; set; }
21 public Vector3 CurrentValueReductionTimescale { get; set; }
22 public float Efficiency { get; set; }
23
24 public Vector3 TargetValue { get; private set; }
25 public Vector3 CurrentValue { get; private set; }
26
27
28
29 BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)
30 {
31 TimeScale = timeScale;
32 TargetValueDecayTimeScale = decayTimeScale;
33 CurrentValueReductionTimescale = frictionTimeScale;
34 Efficiency = efficiency;
35 }
36 public void SetCurrent(Vector3 current)
37 {
38 CurrentValue = current;
39 }
40 public void SetTarget(Vector3 target)
41 {
42 TargetValue = target;
43 }
44 public Vector3 Step(float timeStep)
45 {
46 if (CurrentValue.LengthSquared() > 0.001f)
47 {
48 // Vector3 origDir = Target; // DEBUG
49 // Vector3 origVel = CurrentValue; // DEBUG
50
51 // Add (desiredVelocity - currentAppliedVelocity) / howLongItShouldTakeToComplete
52 Vector3 addAmount = (TargetValue - CurrentValue)/(TargetValue) * timeStep;
53 CurrentValue += addAmount;
54
55 float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
56 TargetValue *= (1f - decayFactor);
57
58 Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep;
59 CurrentValue *= (Vector3.One - frictionFactor);
60 }
61 else
62 {
63 // if what remains of direction is very small, zero it.
64 TargetValue = Vector3.Zero;
65 CurrentValue = Vector3.Zero;
66
67 // VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);
68 }
69 return CurrentValue;
70 }
71}
72
73public class BSFMotor : BSMotor
74{
75 public float TimeScale { get; set; }
76 public float DecayTimeScale { get; set; }
77 public float Friction { get; set; }
78 public float Efficiency { get; set; }
79
80 public float Target { get; private set; }
81 public float CurrentValue { get; private set; }
82
83 BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency)
84 {
85 }
86 public void SetCurrent(float target)
87 {
88 }
89 public void SetTarget(float target)
90 {
91 }
92 public float Step(float timeStep)
93 {
94 return 0f;
95 }
96}
97public class BSPIDMotor : BSMotor
98{
99 // TODO: write and use this one
100 BSPIDMotor()
101 {
102 }
103}
104}