Merge branch 'master' into connector_plugin

1 files changed, 82 insertions, 14 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index 480da2c..851d508 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -1,3 +1,30 @@
+/*
+ * Copyright (c) Contributors, http://opensimulator.org/
+ * See CONTRIBUTORS.TXT for a full list of copyright holders.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions are met:
+ *     * Redistributions of source code must retain the above copyright
+ *       notice, this list of conditions and the following disclaimer.
+ *     * Redistributions in binary form must reproduce the above copyright
+ *       notice, this list of conditions and the following disclaimer in the
+ *       documentation and/or other materials provided with the distribution.
+ *     * Neither the name of the OpenSimulator Project nor the
+ *       names of its contributors may be used to endorse or promote products
+ *       derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
+ * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+ * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
+ * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+ * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+ * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ */
 using System;
 using System.Collections.Generic;
 using System.Text;
@@ -7,6 +34,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 {
 public abstract class BSMotor
 {
+    // Timescales and other things can be turned off by setting them to 'infinite'.
+    public const float Infinite = 12345f;
+    public readonly static Vector3 InfiniteVector = new Vector3(BSMotor.Infinite, BSMotor.Infinite, BSMotor.Infinite);
+
     public BSMotor(string useName)
     {
         UseName = useName;
@@ -15,7 +46,9 @@ public abstract class BSMotor
     public virtual void Reset() { }
     public virtual void Zero() { }
 
+    // A name passed at motor creation for easily identifyable debugging messages.
     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)
@@ -30,10 +63,23 @@ public abstract class BSMotor
     }
 }
 // Can all the incremental stepping be replaced with motor classes?
+
+// Motor which moves CurrentValue to TargetValue over TimeScale seconds.
+// The TargetValue is decays in TargetValueDecayTimeScale and
+//     the CurrentValue will be held back by FrictionTimeScale.
+// TimeScale and TargetDelayTimeScale may be 'infinite' which means go decay.
+
+// For instance, if something is moving at speed X and the desired speed is Y,
+//    CurrentValue is X and TargetValue is Y. As the motor is stepped, new
+//    values of CurrentValue are returned that approach the TargetValue.
+// The feature of decaying TargetValue is so vehicles will eventually
+//    come to a stop rather than run forever. This can be disabled by
+//    setting TargetValueDecayTimescale to 'infinite'.
+// The change from CurrentValue to TargetValue is linear over TimeScale seconds.
 public class BSVMotor : BSMotor
 {
-    public Vector3 FrameOfReference { get; set; }
-    public Vector3 Offset { get; set; }
+    // public Vector3 FrameOfReference { get; set; }
+    // public Vector3 Offset { get; set; }
 
     public float TimeScale { get; set; }
     public float TargetValueDecayTimeScale { get; set; }
@@ -46,8 +92,9 @@ public class BSVMotor : BSMotor
     public BSVMotor(string useName)
         : base(useName)
     {
-        TimeScale = TargetValueDecayTimeScale = Efficiency = 1f;
-        FrictionTimescale = Vector3.Zero;
+        TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
+        Efficiency = 1f;
+        FrictionTimescale = BSMotor.InfiniteVector;
         CurrentValue = TargetValue = Vector3.Zero;
     }
     public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) 
@@ -67,6 +114,14 @@ public class BSVMotor : BSMotor
     {
         TargetValue = target;
     }
+
+    // A form of stepping that does not take the time quantum into account.
+    // The caller must do the right thing later.
+    public Vector3 Step()
+    {
+        return Step(1f);
+    }
+
     public Vector3 Step(float timeStep)
     {
         Vector3 returnCurrent = Vector3.Zero;
@@ -78,23 +133,36 @@ public class BSVMotor : BSMotor
             // Addition =  (desiredVector - currentAppliedVector) / secondsItShouldTakeToComplete
             Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep;
             CurrentValue += addAmount;
+
             returnCurrent = CurrentValue;
 
-            // The desired value reduces to zero when also reduces the difference with current.
-            float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
-            TargetValue *= (1f - decayFactor);
+            // The desired value reduces to zero which also reduces the difference with current.
+            // If the decay time is infinite, don't decay at all.
+            float decayFactor = 0f;
+            if (TargetValueDecayTimeScale != BSMotor.Infinite)
+            {
+                decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
+                TargetValue *= (1f - decayFactor);
+            }
 
             Vector3 frictionFactor = Vector3.Zero;
-            frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
-            CurrentValue *= (Vector3.One - frictionFactor);
+            if (FrictionTimescale != BSMotor.InfiniteVector)
+            {
+                // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
+                // Individual friction components can be 'infinite' so compute each separately.
+                frictionFactor.X = FrictionTimescale.X == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.X) * timeStep;
+                frictionFactor.Y = FrictionTimescale.Y == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Y) * timeStep;
+                frictionFactor.Z = FrictionTimescale.Z == BSMotor.Infinite ? 0f : (1f / FrictionTimescale.Z) * timeStep;
+                CurrentValue *= (Vector3.One - frictionFactor);
+            }
 
-            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,
+            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}",
+                                BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
                                 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, 
+            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},curr={2},target={3},add={4},decay={5},frict={6},ret={7}",
+                                    BSScene.DetailLogZero, UseName, CurrentValue, TargetValue,
                                     addAmount, decayFactor, frictionFactor, returnCurrent);
         }
         else
@@ -103,7 +171,7 @@ public class BSVMotor : BSMotor
             CurrentValue = Vector3.Zero;
             TargetValue = Vector3.Zero;
 
-            MDetailLog("{0},BSVMotor.Step,zero,{1},curr={2},target={3},ret={4}",
+            MDetailLog("{0},  BSVMotor.Step,zero,{1},curr={2},target={3},ret={4}",
                                     BSScene.DetailLogZero, UseName, TargetValue, CurrentValue, returnCurrent);
 
         }