BulletSim: add BSVMotor as BSDynamics linear motor.

Properly limit *_MOTOR_DECAY_TIMESCALE to 120 as per specs.
Invode BSDynamics.Refresh() when vehicle type is changed. Previously
   the vehicle properties weren't getting set because the physical
   properties were set before the vehicle type was set.
Add a "use name" to BSMotors for identification while debugging.
Correct current and target confusion in BSVMotor design.
Rename CurrentValueReductionTimescale to FrictionTimescale.
Event more detailed logging.

1 files changed, 32 insertions, 14 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index b8bdd87..68eec2d 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -7,13 +7,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 {
 public abstract class BSMotor
 {
-    public BSMotor()
+    public BSMotor(string useName)
     {
+        UseName = useName;
         PhysicsScene = null;
     }
     public virtual void Reset() { }
     public virtual void Zero() { }
 
+    public string UseName { get; private set; }
     // Used only for outputting debug information. Might not be set so check for null.
     public BSScene PhysicsScene { get; set; }
     protected void MDetailLog(string msg, params Object[] parms)
@@ -35,17 +37,25 @@ public class BSVMotor : BSMotor
 
     public float TimeScale { get; set; }
     public float TargetValueDecayTimeScale { get; set; }
-    public Vector3 CurrentValueReductionTimescale { get; set; }
+    public Vector3 FrictionTimescale { get; set; }
     public float Efficiency { get; set; }
 
     public Vector3 TargetValue { get; private set; }
     public Vector3 CurrentValue { get; private set; }
 
-    BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) : base()
+    public BSVMotor(string useName)
+        : base(useName)
+    {
+        TimeScale = TargetValueDecayTimeScale = Efficiency = 1f;
+        FrictionTimescale = Vector3.Zero;
+        CurrentValue = TargetValue = Vector3.Zero;
+    }
+    public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) 
+        : this(useName)
     {
         TimeScale = timeScale;
         TargetValueDecayTimeScale = decayTimeScale;
-        CurrentValueReductionTimescale = frictionTimeScale;
+        FrictionTimescale = frictionTimeScale;
         Efficiency = efficiency;
         CurrentValue = TargetValue = Vector3.Zero;
     }
@@ -60,10 +70,10 @@ public class BSVMotor : BSMotor
     public Vector3 Step(float timeStep)
     {
         Vector3 returnCurrent = Vector3.Zero;
-        if (CurrentValue.LengthSquared() > 0.001f)
+        if (!CurrentValue.ApproxEquals(TargetValue, 0.01f))
         {
-            // Vector3 origDir = Target;       // DEBUG
-            // Vector3 origVel = CurrentValue;   // DEBUG
+            Vector3 origTarget = TargetValue;       // DEBUG
+            Vector3 origCurrVal = CurrentValue;   // DEBUG
 
             // Add (desiredVector - currentAppliedVector) / howLongItShouldTakeToComplete
             Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep;
@@ -74,11 +84,17 @@ public class BSVMotor : BSMotor
             float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
             TargetValue *= (1f - decayFactor);
 
-            Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep;
+            Vector3 frictionFactor = Vector3.Zero;
+            frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
             CurrentValue *= (Vector3.One - frictionFactor);
 
-            MDetailLog("{0},BSVMotor.Step,nonZero,curr={1},target={2},add={3},decay={4},frict={5},ret={6}",
-                                    BSScene.DetailLogZero, TargetValue, CurrentValue, 
+            MDetailLog("{0},BSVMotor.Step,nonZero,{1},origTarget={2},origCurr={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}",
+                                BSScene.DetailLogZero, UseName, origTarget, origCurrVal,
+                                timeStep, TimeScale, addAmount,
+                                TargetValueDecayTimeScale, decayFactor,
+                                FrictionTimescale, frictionFactor);
+            MDetailLog("{0},BSVMotor.Step,nonZero,{1},curr={2},target={3},add={4},decay={5},frict={6},ret={7}",
+                                    BSScene.DetailLogZero, UseName, TargetValue, CurrentValue, 
                                     addAmount, decayFactor, frictionFactor, returnCurrent);
         }
         else
@@ -87,8 +103,8 @@ public class BSVMotor : BSMotor
             CurrentValue = Vector3.Zero;
             TargetValue = Vector3.Zero;
 
-            MDetailLog("{0},BSVMotor.Step,zero,curr={1},target={2},ret={3}",
-                                    BSScene.DetailLogZero, TargetValue, CurrentValue, returnCurrent);
+            MDetailLog("{0},BSVMotor.Step,zero,{1},curr={2},target={3},ret={4}",
+                                    BSScene.DetailLogZero, UseName, TargetValue, CurrentValue, returnCurrent);
 
         }
         return returnCurrent;
@@ -105,7 +121,8 @@ public class BSFMotor : BSMotor
     public float Target { get; private set; }
     public float CurrentValue { get; private set; }
 
-    BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency) : base()
+    public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency)
+        : base(useName)
     {
     }
     public void SetCurrent(float target)
@@ -122,7 +139,8 @@ public class BSFMotor : BSMotor
 public class BSPIDMotor : BSMotor
 {
     // TODO: write and use this one
-    BSPIDMotor() : base()
+    public BSPIDMotor(string useName)
+        : base(useName)
     {
     }
 }