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authorRobert Adams2012-11-27 05:37:06 -0800
committerRobert Adams2012-11-27 10:03:49 -0800
commit68fe7dff20fb38480a1c760f1347dafac43899c5 (patch)
tree14aeaf2d342f8a7cd6cf4c4a906ec1342e4ae43c /OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
parentBulletSim: implementation of vertical attraction motor. (diff)
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BulletSim: reorganize angular movement routine into separate subroutines enabling external calibration routines and unit testing.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs209
1 files changed, 114 insertions, 95 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index d94abf4..eb4d06a 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -317,7 +317,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
317 m_VhoverEfficiency = 0; 317 m_VhoverEfficiency = 0;
318 m_VhoverTimescale = 0; 318 m_VhoverTimescale = 0;
319 m_VehicleBuoyancy = 0; 319 m_VehicleBuoyancy = 0;
320 320
321 m_linearDeflectionEfficiency = 1; 321 m_linearDeflectionEfficiency = 1;
322 m_linearDeflectionTimescale = 1; 322 m_linearDeflectionTimescale = 1;
323 323
@@ -366,8 +366,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
366 m_bankingMix = 1; 366 m_bankingMix = 1;
367 367
368 m_referenceFrame = Quaternion.Identity; 368 m_referenceFrame = Quaternion.Identity;
369 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY 369 m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
370 | VehicleFlag.HOVER_TERRAIN_ONLY 370 | VehicleFlag.HOVER_TERRAIN_ONLY
371 | VehicleFlag.HOVER_GLOBAL_HEIGHT 371 | VehicleFlag.HOVER_GLOBAL_HEIGHT
372 | VehicleFlag.HOVER_UP_ONLY); 372 | VehicleFlag.HOVER_UP_ONLY);
373 m_flags |= (VehicleFlag.NO_DEFLECTION_UP 373 m_flags |= (VehicleFlag.NO_DEFLECTION_UP
@@ -575,7 +575,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
575 Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass); 575 Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass);
576 BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); 576 BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
577 577
578 VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}", 578 VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}",
579 Prim.LocalID, friction, localInertia, angularDamping); 579 Prim.LocalID, friction, localInertia, angularDamping);
580 } 580 }
581 } 581 }
@@ -759,13 +759,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
759 // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce 759 // (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce
760 // has a decay factor. This says this force should 760 // has a decay factor. This says this force should
761 // be computed with a motor. 761 // be computed with a motor.
762 VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}", 762 VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}",
763 Prim.LocalID, distanceAboveGround, limitMotorUpContribution); 763 Prim.LocalID, distanceAboveGround, limitMotorUpContribution);
764 } 764 }
765 765
766 // ================================================================== 766 // ==================================================================
767 Vector3 newVelocity = linearMotorContribution 767 Vector3 newVelocity = linearMotorContribution
768 + terrainHeightContribution 768 + terrainHeightContribution
769 + hoverContribution 769 + hoverContribution
770 + limitMotorUpContribution; 770 + limitMotorUpContribution;
771 771
@@ -801,7 +801,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
801 } 801 }
802 802
803 VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},primVel={4},totalDown={5}", 803 VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},primVel={4},totalDown={5}",
804 Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, 804 Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector,
805 newVelocity, Prim.Velocity, totalDownForce); 805 newVelocity, Prim.Velocity, totalDownForce);
806 806
807 } // end MoveLinear() 807 } // end MoveLinear()
@@ -850,8 +850,84 @@ namespace OpenSim.Region.Physics.BulletSPlugin
850 VDetailLog("{0},MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); 850 VDetailLog("{0},MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
851 } 851 }
852 852
853 Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction(pTimestep);
854
855 Vector3 deflectionContribution = ComputeAngularDeflection(pTimestep);
856
857 Vector3 bankingContribution = ComputeAngularBanking(pTimestep);
858
859 // ==================================================================
860 m_lastVertAttractor = verticalAttractionContribution;
861
862 // Sum velocities
863 m_lastAngularVelocity = angularMotorContribution
864 + verticalAttractionContribution
865 + bankingContribution
866 + deflectionContribution;
867
868 // ==================================================================
869 //Offset section
870 if (m_linearMotorOffset != Vector3.Zero)
871 {
872 //Offset of linear velocity doesn't change the linear velocity,
873 // but causes a torque to be applied, for example...
874 //
875 // IIIII >>> IIIII
876 // IIIII >>> IIIII
877 // IIIII >>> IIIII
878 // ^
879 // | Applying a force at the arrow will cause the object to move forward, but also rotate
880 //
881 //
882 // The torque created is the linear velocity crossed with the offset
883
884 // TODO: this computation should be in the linear section
885 // because that is where we know the impulse being applied.
886 Vector3 torqueFromOffset = Vector3.Zero;
887 // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse);
888 if (float.IsNaN(torqueFromOffset.X))
889 torqueFromOffset.X = 0;
890 if (float.IsNaN(torqueFromOffset.Y))
891 torqueFromOffset.Y = 0;
892 if (float.IsNaN(torqueFromOffset.Z))
893 torqueFromOffset.Z = 0;
894 torqueFromOffset *= m_vehicleMass;
895 Prim.ApplyTorqueImpulse(torqueFromOffset, true);
896 VDetailLog("{0},BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset);
897 }
898
853 // ================================================================== 899 // ==================================================================
854 Vector3 verticalAttractionContribution = Vector3.Zero; 900 if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
901 {
902 m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
903 Prim.ZeroAngularMotion(true);
904 VDetailLog("{0},MoveAngular,zeroAngularMotion,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
905 }
906 else
907 {
908 // Apply to the body.
909 // The above calculates the absolute angular velocity needed. Angular velocity is massless.
910 // Since we are stuffing the angular velocity directly into the object, the computed
911 // velocity needs to be scaled by the timestep.
912 // Also remove any motion that is on the object so added motion is only from vehicle.
913 Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep)
914 - Prim.ForceRotationalVelocity);
915 // Unscale the force by the angular factor so it overwhelmes the Bullet additions.
916 Prim.ForceRotationalVelocity = applyAngularForce;
917
918 VDetailLog("{0},MoveAngular,done,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}",
919 Prim.LocalID,
920 angularMotorContribution, verticalAttractionContribution,
921 bankingContribution, deflectionContribution,
922 applyAngularForce, m_lastAngularVelocity
923 );
924 }
925 }
926
927 public Vector3 ComputeAngularVerticalAttraction(float pTimestep)
928 {
929 Vector3 ret = Vector3.Zero;
930
855 // If vertical attaction timescale is reasonable and we applied an angular force last time... 931 // If vertical attaction timescale is reasonable and we applied an angular force last time...
856 if (m_verticalAttractionTimescale < 500) 932 if (m_verticalAttractionTimescale < 500)
857 { 933 {
@@ -859,7 +935,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
859 verticalError.Normalize(); 935 verticalError.Normalize();
860 m_verticalAttractionMotor.SetCurrent(verticalError); 936 m_verticalAttractionMotor.SetCurrent(verticalError);
861 m_verticalAttractionMotor.SetTarget(Vector3.UnitZ); 937 m_verticalAttractionMotor.SetTarget(Vector3.UnitZ);
862 verticalAttractionContribution = m_verticalAttractionMotor.Step(pTimestep); 938 ret = m_verticalAttractionMotor.Step(pTimestep);
863 /* 939 /*
864 // Take a vector pointing up and convert it from world to vehicle relative coords. 940 // Take a vector pointing up and convert it from world to vehicle relative coords.
865 Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation; 941 Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation;
@@ -895,15 +971,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin
895 verticalAttractionContribution *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); 971 verticalAttractionContribution *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
896 972
897 VDetailLog("{0},MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}", 973 VDetailLog("{0},MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}",
898 Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib, 974 Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib,
899 m_verticalAttractionEfficiency, efficencySquared, 975 m_verticalAttractionEfficiency, efficencySquared,
900 verticalAttractionContribution); 976 verticalAttractionContribution);
901 */ 977 */
902 978
903 } 979 }
980 return ret;
981 }
982
983 public Vector3 ComputeAngularDeflection(float pTimestep)
984 {
985 Vector3 ret = Vector3.Zero;
904 986
905 // ==================================================================
906 Vector3 deflectionContribution = Vector3.Zero;
907 if (m_angularDeflectionEfficiency != 0) 987 if (m_angularDeflectionEfficiency != 0)
908 { 988 {
909 // Compute a scaled vector that points in the preferred axis (X direction) 989 // Compute a scaled vector that points in the preferred axis (X direction)
@@ -914,24 +994,28 @@ namespace OpenSim.Region.Physics.BulletSPlugin
914 Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(Prim.ForceOrientation, m_referenceFrame); 994 Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(Prim.ForceOrientation, m_referenceFrame);
915 995
916 // Scale by efficiency and timescale 996 // Scale by efficiency and timescale
917 deflectionContribution = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep; 997 ret = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep;
998
999 VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}", Prim.LocalID, preferredAxisOfMotion, ret);
918 1000
919 VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}",
920 Prim.LocalID, preferredAxisOfMotion, deflectionContribution);
921 // This deflection computation is not correct. 1001 // This deflection computation is not correct.
922 deflectionContribution = Vector3.Zero; 1002 ret = Vector3.Zero;
923 } 1003 }
1004 return ret;
1005 }
1006
1007 public Vector3 ComputeAngularBanking(float pTimestep)
1008 {
1009 Vector3 ret = Vector3.Zero;
924 1010
925 // ==================================================================
926 Vector3 bankingContribution = Vector3.Zero;
927 if (m_bankingEfficiency != 0) 1011 if (m_bankingEfficiency != 0)
928 { 1012 {
929 Vector3 dir = Vector3.One * Prim.ForceOrientation; 1013 Vector3 dir = Vector3.One * Prim.ForceOrientation;
930 float mult = (m_bankingMix*m_bankingMix)*-1*(m_bankingMix < 0 ? -1 : 1); 1014 float mult = (m_bankingMix * m_bankingMix) * -1 * (m_bankingMix < 0 ? -1 : 1);
931 //Changes which way it banks in and out of turns 1015 //Changes which way it banks in and out of turns
932 1016
933 //Use the square of the efficiency, as it looks much more how SL banking works 1017 //Use the square of the efficiency, as it looks much more how SL banking works
934 float effSquared = (m_bankingEfficiency*m_bankingEfficiency); 1018 float effSquared = (m_bankingEfficiency * m_bankingEfficiency);
935 if (m_bankingEfficiency < 0) 1019 if (m_bankingEfficiency < 0)
936 effSquared *= -1; //Keep the negative! 1020 effSquared *= -1; //Keep the negative!
937 1021
@@ -953,99 +1037,34 @@ namespace OpenSim.Region.Physics.BulletSPlugin
953 } 1037 }
954 else 1038 else
955 { 1039 {
956 bankingContribution.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4; 1040 ret.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4;
957 } 1041 }
958 1042
959 //If they are colliding, we probably shouldn't shove the prim around... probably 1043 //If they are colliding, we probably shouldn't shove the prim around... probably
960 if (!Prim.IsColliding && Math.Abs(m_angularMotorVelocity.X) > mix) 1044 if (!Prim.IsColliding && Math.Abs(m_angularMotorVelocity.X) > mix)
961 { 1045 {
962 float angVelZ = m_angularMotorVelocity.X*-1; 1046 float angVelZ = m_angularMotorVelocity.X * -1;
963 /*if(angVelZ > mix) 1047 /*if(angVelZ > mix)
964 angVelZ = mix; 1048 angVelZ = mix;
965 else if(angVelZ < -mix) 1049 else if(angVelZ < -mix)
966 angVelZ = -mix;*/ 1050 angVelZ = -mix;*/
967 //This controls how fast and how far the banking occurs 1051 //This controls how fast and how far the banking occurs
968 Vector3 bankingRot = new Vector3(angVelZ*(effSquared*mult), 0, 0); 1052 Vector3 bankingRot = new Vector3(angVelZ * (effSquared * mult), 0, 0);
969 if (bankingRot.X > 3) 1053 if (bankingRot.X > 3)
970 bankingRot.X = 3; 1054 bankingRot.X = 3;
971 else if (bankingRot.X < -3) 1055 else if (bankingRot.X < -3)
972 bankingRot.X = -3; 1056 bankingRot.X = -3;
973 bankingRot *= Prim.ForceOrientation; 1057 bankingRot *= Prim.ForceOrientation;
974 bankingContribution += bankingRot; 1058 ret += bankingRot;
975 } 1059 }
976 m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency; 1060 m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency;
977 VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}", 1061 VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}",
978 Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, bankingContribution); 1062 Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, ret);
979 }
980
981 // ==================================================================
982 m_lastVertAttractor = verticalAttractionContribution;
983
984 // Sum velocities
985 m_lastAngularVelocity = angularMotorContribution
986 + verticalAttractionContribution
987 + bankingContribution
988 + deflectionContribution;
989
990 // ==================================================================
991 //Offset section
992 if (m_linearMotorOffset != Vector3.Zero)
993 {
994 //Offset of linear velocity doesn't change the linear velocity,
995 // but causes a torque to be applied, for example...
996 //
997 // IIIII >>> IIIII
998 // IIIII >>> IIIII
999 // IIIII >>> IIIII
1000 // ^
1001 // | Applying a force at the arrow will cause the object to move forward, but also rotate
1002 //
1003 //
1004 // The torque created is the linear velocity crossed with the offset
1005
1006 // TODO: this computation should be in the linear section
1007 // because that is where we know the impulse being applied.
1008 Vector3 torqueFromOffset = Vector3.Zero;
1009 // torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse);
1010 if (float.IsNaN(torqueFromOffset.X))
1011 torqueFromOffset.X = 0;
1012 if (float.IsNaN(torqueFromOffset.Y))
1013 torqueFromOffset.Y = 0;
1014 if (float.IsNaN(torqueFromOffset.Z))
1015 torqueFromOffset.Z = 0;
1016 torqueFromOffset *= m_vehicleMass;
1017 Prim.ApplyTorqueImpulse(torqueFromOffset, true);
1018 VDetailLog("{0},BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset);
1019 }
1020
1021 // ==================================================================
1022 if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
1023 {
1024 m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
1025 Prim.ZeroAngularMotion(true);
1026 VDetailLog("{0},MoveAngular,zeroAngularMotion,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
1027 }
1028 else
1029 {
1030 // Apply to the body.
1031 // The above calculates the absolute angular velocity needed. Angular velocity is massless.
1032 // Since we are stuffing the angular velocity directly into the object, the computed
1033 // velocity needs to be scaled by the timestep.
1034 // Also remove any motion that is on the object so added motion is only from vehicle.
1035 Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep)
1036 - Prim.ForceRotationalVelocity);
1037 // Unscale the force by the angular factor so it overwhelmes the Bullet additions.
1038 Prim.ForceRotationalVelocity = applyAngularForce;
1039
1040 VDetailLog("{0},MoveAngular,done,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}",
1041 Prim.LocalID,
1042 angularMotorContribution, verticalAttractionContribution,
1043 bankingContribution, deflectionContribution,
1044 applyAngularForce, m_lastAngularVelocity
1045 );
1046 } 1063 }
1064 return ret;
1047 } 1065 }
1048 1066
1067
1049 // This is from previous instantiations of XXXDynamics.cs. 1068 // This is from previous instantiations of XXXDynamics.cs.
1050 // Applies roll reference frame. 1069 // Applies roll reference frame.
1051 // TODO: is this the right way to separate the code to do this operation? 1070 // TODO: is this the right way to separate the code to do this operation?