diff options
author | Robert Adams | 2012-12-02 23:39:17 -0800 |
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committer | Robert Adams | 2012-12-03 07:59:56 -0800 |
commit | 41f1c5b7f712ed9c093ce421b39460c7711aece4 (patch) | |
tree | 7972aaece55d5e174a4e6db552b54156130ab892 /OpenSim/Region/Physics/BulletSPlugin | |
parent | BulletSim: add stubs for generalization of preStep actions. Will eventually r... (diff) | |
download | opensim-SC_OLD-41f1c5b7f712ed9c093ce421b39460c7711aece4.zip opensim-SC_OLD-41f1c5b7f712ed9c093ce421b39460c7711aece4.tar.gz opensim-SC_OLD-41f1c5b7f712ed9c093ce421b39460c7711aece4.tar.bz2 opensim-SC_OLD-41f1c5b7f712ed9c093ce421b39460c7711aece4.tar.xz |
BulletSim: rework angular corrections to remove any hybrid code and compute absolute collections.
Diffstat (limited to '')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 204 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 17 | ||||
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 | ||||
-rwxr-xr-x | OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | 1 |
4 files changed, 115 insertions, 111 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 4d067cf..525aac4 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | |||
@@ -98,7 +98,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
98 | private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate | 98 | private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate |
99 | private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate | 99 | private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate |
100 | private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate | 100 | private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate |
101 | private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body | 101 | private Vector3 m_lastAngularCorrection = Vector3.Zero; |
102 | private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body | 102 | private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body |
103 | 103 | ||
104 | //Deflection properties | 104 | //Deflection properties |
@@ -111,6 +111,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
111 | private float m_bankingEfficiency = 0; | 111 | private float m_bankingEfficiency = 0; |
112 | private float m_bankingMix = 0; | 112 | private float m_bankingMix = 0; |
113 | private float m_bankingTimescale = 0; | 113 | private float m_bankingTimescale = 0; |
114 | private Vector3 m_lastBanking = Vector3.Zero; | ||
114 | 115 | ||
115 | //Hover and Buoyancy properties | 116 | //Hover and Buoyancy properties |
116 | private float m_VhoverHeight = 0f; | 117 | private float m_VhoverHeight = 0f; |
@@ -152,7 +153,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
152 | m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); | 153 | m_angularDeflectionTimescale = Math.Max(pValue, 0.01f); |
153 | break; | 154 | break; |
154 | case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: | 155 | case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: |
155 | m_angularMotorDecayTimescale = Math.Max(0.01f, Math.Min(pValue,120)); | 156 | m_angularMotorDecayTimescale = ClampInRange(0.01f, pValue, 120); |
156 | m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale; | 157 | m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale; |
157 | break; | 158 | break; |
158 | case Vehicle.ANGULAR_MOTOR_TIMESCALE: | 159 | case Vehicle.ANGULAR_MOTOR_TIMESCALE: |
@@ -240,9 +241,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
240 | break; | 241 | break; |
241 | case Vehicle.ANGULAR_MOTOR_DIRECTION: | 242 | case Vehicle.ANGULAR_MOTOR_DIRECTION: |
242 | // Limit requested angular speed to 2 rps= 4 pi rads/sec | 243 | // Limit requested angular speed to 2 rps= 4 pi rads/sec |
243 | pValue.X = Math.Max(-12.56f, Math.Min(pValue.X, 12.56f)); | 244 | pValue.X = ClampInRange(-12.56f, pValue.X, 12.56f); |
244 | pValue.Y = Math.Max(-12.56f, Math.Min(pValue.Y, 12.56f)); | 245 | pValue.Y = ClampInRange(-12.56f, pValue.Y, 12.56f); |
245 | pValue.Z = Math.Max(-12.56f, Math.Min(pValue.Z, 12.56f)); | 246 | pValue.Z = ClampInRange(-12.56f, pValue.Z, 12.56f); |
246 | m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); | 247 | m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); |
247 | m_angularMotor.SetTarget(m_angularMotorDirection); | 248 | m_angularMotor.SetTarget(m_angularMotorDirection); |
248 | break; | 249 | break; |
@@ -328,6 +329,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
328 | m_bankingEfficiency = 0; | 329 | m_bankingEfficiency = 0; |
329 | m_bankingTimescale = 1000; | 330 | m_bankingTimescale = 1000; |
330 | m_bankingMix = 1; | 331 | m_bankingMix = 1; |
332 | m_lastBanking = Vector3.Zero; | ||
331 | 333 | ||
332 | m_referenceFrame = Quaternion.Identity; | 334 | m_referenceFrame = Quaternion.Identity; |
333 | m_flags = (VehicleFlag)0; | 335 | m_flags = (VehicleFlag)0; |
@@ -362,6 +364,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
362 | m_bankingEfficiency = 0; | 364 | m_bankingEfficiency = 0; |
363 | m_bankingTimescale = 10; | 365 | m_bankingTimescale = 10; |
364 | m_bankingMix = 1; | 366 | m_bankingMix = 1; |
367 | m_lastBanking = Vector3.Zero; | ||
365 | 368 | ||
366 | m_referenceFrame = Quaternion.Identity; | 369 | m_referenceFrame = Quaternion.Identity; |
367 | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | 370 | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
@@ -400,6 +403,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
400 | m_bankingEfficiency = -0.2f; | 403 | m_bankingEfficiency = -0.2f; |
401 | m_bankingMix = 1; | 404 | m_bankingMix = 1; |
402 | m_bankingTimescale = 1; | 405 | m_bankingTimescale = 1; |
406 | m_lastBanking = Vector3.Zero; | ||
403 | 407 | ||
404 | m_referenceFrame = Quaternion.Identity; | 408 | m_referenceFrame = Quaternion.Identity; |
405 | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | 409 | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
@@ -438,6 +442,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
438 | m_bankingEfficiency = -0.3f; | 442 | m_bankingEfficiency = -0.3f; |
439 | m_bankingMix = 0.8f; | 443 | m_bankingMix = 0.8f; |
440 | m_bankingTimescale = 1; | 444 | m_bankingTimescale = 1; |
445 | m_lastBanking = Vector3.Zero; | ||
441 | 446 | ||
442 | m_referenceFrame = Quaternion.Identity; | 447 | m_referenceFrame = Quaternion.Identity; |
443 | m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | 448 | m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY |
@@ -476,6 +481,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
476 | m_bankingEfficiency = 1; | 481 | m_bankingEfficiency = 1; |
477 | m_bankingMix = 0.7f; | 482 | m_bankingMix = 0.7f; |
478 | m_bankingTimescale = 2; | 483 | m_bankingTimescale = 2; |
484 | m_lastBanking = Vector3.Zero; | ||
479 | 485 | ||
480 | m_referenceFrame = Quaternion.Identity; | 486 | m_referenceFrame = Quaternion.Identity; |
481 | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | 487 | m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY |
@@ -514,6 +520,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
514 | m_bankingEfficiency = 0; | 520 | m_bankingEfficiency = 0; |
515 | m_bankingMix = 0.7f; | 521 | m_bankingMix = 0.7f; |
516 | m_bankingTimescale = 5; | 522 | m_bankingTimescale = 5; |
523 | m_lastBanking = Vector3.Zero; | ||
524 | |||
517 | m_referenceFrame = Quaternion.Identity; | 525 | m_referenceFrame = Quaternion.Identity; |
518 | 526 | ||
519 | m_referenceFrame = Quaternion.Identity; | 527 | m_referenceFrame = Quaternion.Identity; |
@@ -627,12 +635,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
627 | { | 635 | { |
628 | if (m_knownChanged != 0) | 636 | if (m_knownChanged != 0) |
629 | { | 637 | { |
630 | if ((m_knownChanged & m_knownChangedPosition) != 0) Prim.ForcePosition = VehiclePosition; | 638 | if ((m_knownChanged & m_knownChangedPosition) != 0) |
631 | if ((m_knownChanged & m_knownChangedOrientation) != 0) Prim.ForceOrientation = VehicleOrientation; | 639 | Prim.ForcePosition = VehiclePosition; |
632 | if ((m_knownChanged & m_knownChangedVelocity) != 0) Prim.ForceVelocity = VehicleVelocity; | 640 | if ((m_knownChanged & m_knownChangedOrientation) != 0) |
633 | if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) Prim.ForceRotationalVelocity = VehicleRotationalVelocity; | 641 | Prim.ForceOrientation = VehicleOrientation; |
634 | // If we set one of the values (ie, the physics engine doesn't do it) we must make sure there | 642 | if ((m_knownChanged & m_knownChangedVelocity) != 0) |
635 | // is an UpdateProperties event to send the changes up to the simulator. | 643 | Prim.ForceVelocity = VehicleVelocity; |
644 | if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) | ||
645 | Prim.ForceRotationalVelocity = VehicleRotationalVelocity; | ||
646 | // If we set one of the values (ie, the physics engine didn't do it) we must force | ||
647 | // an UpdateProperties event to send the changes up to the simulator. | ||
636 | BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); | 648 | BulletSimAPI.PushUpdate2(Prim.PhysBody.ptr); |
637 | } | 649 | } |
638 | } | 650 | } |
@@ -957,9 +969,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
957 | // ======================================================================= | 969 | // ======================================================================= |
958 | // ======================================================================= | 970 | // ======================================================================= |
959 | // Apply the effect of the angular motor. | 971 | // Apply the effect of the angular motor. |
972 | // The 'contribution' is how much angular correction each function wants. | ||
973 | // All the contributions are added together and the orientation of the vehicle | ||
974 | // is changed by all the contributed corrections. | ||
960 | private void MoveAngular(float pTimestep) | 975 | private void MoveAngular(float pTimestep) |
961 | { | 976 | { |
962 | Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); | 977 | Vector3 angularMotorContribution = m_angularMotor.Step(); |
963 | 978 | ||
964 | // ================================================================== | 979 | // ================================================================== |
965 | // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : | 980 | // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : |
@@ -974,22 +989,41 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
974 | VDetailLog("{0}, MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); | 989 | VDetailLog("{0}, MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); |
975 | } | 990 | } |
976 | 991 | ||
977 | Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction(pTimestep); | 992 | Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction(); |
978 | 993 | ||
979 | Vector3 deflectionContribution = ComputeAngularDeflection(pTimestep); | 994 | Vector3 deflectionContribution = ComputeAngularDeflection(); |
980 | 995 | ||
981 | Vector3 bankingContribution = ComputeAngularBanking(pTimestep); | 996 | Vector3 bankingContribution = ComputeAngularBanking(angularMotorContribution.Z); |
982 | 997 | ||
983 | // ================================================================== | 998 | // ================================================================== |
984 | m_lastVertAttractor = verticalAttractionContribution; | 999 | m_lastVertAttractor = verticalAttractionContribution; |
985 | 1000 | ||
986 | // Sum velocities | 1001 | // Sum corrections |
987 | m_lastAngularVelocity = angularMotorContribution | 1002 | m_lastAngularCorrection = angularMotorContribution |
988 | + verticalAttractionContribution | 1003 | + verticalAttractionContribution |
989 | + deflectionContribution | 1004 | + deflectionContribution |
990 | + bankingContribution; | 1005 | + bankingContribution; |
991 | 1006 | ||
992 | // ================================================================== | 1007 | // ================================================================== |
1008 | // The correction is applied to the current orientation. | ||
1009 | // Any angular velocity on the vehicle is not us so zero the current value. | ||
1010 | VehicleRotationalVelocity = Vector3.Zero; | ||
1011 | if (!m_lastAngularCorrection.ApproxEquals(Vector3.Zero, 0.01f)) | ||
1012 | { | ||
1013 | Vector3 scaledCorrection = m_lastAngularCorrection * pTimestep; | ||
1014 | Quaternion quatCorrection = Quaternion.CreateFromEulers(scaledCorrection); | ||
1015 | |||
1016 | VehicleOrientation = Quaternion.Add(VehicleOrientation, quatCorrection); | ||
1017 | |||
1018 | VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},scaledCorr={6}", | ||
1019 | Prim.LocalID, | ||
1020 | angularMotorContribution, verticalAttractionContribution, | ||
1021 | bankingContribution, deflectionContribution, | ||
1022 | m_lastAngularCorrection, scaledCorrection | ||
1023 | ); | ||
1024 | } | ||
1025 | |||
1026 | // ================================================================== | ||
993 | //Offset section | 1027 | //Offset section |
994 | if (m_linearMotorOffset != Vector3.Zero) | 1028 | if (m_linearMotorOffset != Vector3.Zero) |
995 | { | 1029 | { |
@@ -1020,50 +1054,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1020 | VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); | 1054 | VDetailLog("{0}, BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset); |
1021 | } | 1055 | } |
1022 | 1056 | ||
1023 | // ================================================================== | ||
1024 | if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) | ||
1025 | { | ||
1026 | // TODO: zeroing is good but it also sets values in unmanaged code. Remove the stores when idle. | ||
1027 | VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID); | ||
1028 | VehicleRotationalVelocity = Vector3.Zero; | ||
1029 | Prim.ZeroAngularMotion(true); | ||
1030 | } | ||
1031 | else | ||
1032 | { | ||
1033 | // Apply to the body. | ||
1034 | // The above calculates the absolute angular velocity needed. Angular velocity is massless. | ||
1035 | // Since we are stuffing the angular velocity directly into the object, the computed | ||
1036 | // velocity needs to be scaled by the timestep. | ||
1037 | // Also remove any motion that is on the object so added motion is only from vehicle. | ||
1038 | Vector3 setAngularVelocity = ((m_lastAngularVelocity * pTimestep) - VehicleRotationalVelocity); | ||
1039 | VehicleRotationalVelocity = setAngularVelocity; | ||
1040 | |||
1041 | VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},setAngVelocity={6}", | ||
1042 | Prim.LocalID, | ||
1043 | angularMotorContribution, verticalAttractionContribution, | ||
1044 | bankingContribution, deflectionContribution, | ||
1045 | m_lastAngularVelocity, setAngularVelocity | ||
1046 | ); | ||
1047 | } | ||
1048 | } | 1057 | } |
1049 | 1058 | ||
1050 | public Vector3 ComputeAngularVerticalAttraction(float pTimestep) | 1059 | public Vector3 ComputeAngularVerticalAttraction() |
1051 | { | 1060 | { |
1052 | Vector3 ret = Vector3.Zero; | 1061 | Vector3 ret = Vector3.Zero; |
1053 | 1062 | ||
1054 | // If vertical attaction timescale is reasonable and we applied an angular force last time... | 1063 | // If vertical attaction timescale is reasonable and we applied an angular force last time... |
1055 | if (m_verticalAttractionTimescale < 500) | 1064 | if (m_verticalAttractionTimescale < 500) |
1056 | { | 1065 | { |
1057 | /* | ||
1058 | Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; | ||
1059 | verticalError.Normalize(); | ||
1060 | m_verticalAttractionMotor.SetCurrent(verticalError); | ||
1061 | m_verticalAttractionMotor.SetTarget(Vector3.UnitZ); | ||
1062 | ret = m_verticalAttractionMotor.Step(pTimestep); | ||
1063 | */ | ||
1064 | // Take a vector pointing up and convert it from world to vehicle relative coords. | 1066 | // Take a vector pointing up and convert it from world to vehicle relative coords. |
1065 | Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; | 1067 | Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; |
1066 | verticalError.Normalize(); | 1068 | // verticalError.Normalize(); |
1067 | 1069 | ||
1068 | // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) | 1070 | // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) |
1069 | // is now leaning to one side (rotated around the X axis) and the Y value will | 1071 | // is now leaning to one side (rotated around the X axis) and the Y value will |
@@ -1087,56 +1089,63 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1087 | // scale by the time scale and timestep | 1089 | // scale by the time scale and timestep |
1088 | Vector3 unscaledContrib = ret; | 1090 | Vector3 unscaledContrib = ret; |
1089 | ret /= m_verticalAttractionTimescale; | 1091 | ret /= m_verticalAttractionTimescale; |
1090 | ret *= pTimestep; | 1092 | // This returns the angular correction desired. Timestep is added later. |
1093 | // ret *= pTimestep; | ||
1091 | 1094 | ||
1092 | // apply efficiency | 1095 | // apply efficiency |
1093 | Vector3 preEfficiencyContrib = ret; | 1096 | Vector3 preEfficiencyContrib = ret; |
1097 | // TODO: implement efficiency. | ||
1094 | // Effenciency squared seems to give a more realistic effect | 1098 | // Effenciency squared seems to give a more realistic effect |
1095 | float efficencySquared = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency; | 1099 | float efficencySquared = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency; |
1096 | ret *= efficencySquared; | 1100 | // ret *= efficencySquared; |
1097 | 1101 | ||
1098 | VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}", | 1102 | VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}", |
1099 | Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib, | 1103 | Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib, |
1100 | m_verticalAttractionEfficiency, efficencySquared, | 1104 | m_verticalAttractionEfficiency, efficencySquared, |
1101 | ret); | 1105 | ret); |
1102 | |||
1103 | } | 1106 | } |
1104 | return ret; | 1107 | return ret; |
1105 | } | 1108 | } |
1106 | 1109 | ||
1107 | public Vector3 ComputeAngularDeflection(float pTimestep) | 1110 | // Return the angular correction to correct the direction the vehicle is pointing to be |
1111 | // the direction is should want to be pointing. | ||
1112 | public Vector3 ComputeAngularDeflection() | ||
1108 | { | 1113 | { |
1109 | Vector3 ret = Vector3.Zero; | 1114 | Vector3 ret = Vector3.Zero; |
1110 | 1115 | ||
1111 | if (m_angularDeflectionEfficiency != 0) | 1116 | if (m_angularDeflectionEfficiency != 0) |
1112 | { | 1117 | { |
1113 | // Compute a scaled vector that points in the preferred axis (X direction) | 1118 | // Where the vehicle should want to point relative to the vehicle |
1114 | Vector3 scaledDefaultDirection = | 1119 | Vector3 preferredDirection = Vector3.UnitX * m_referenceFrame; |
1115 | new Vector3((pTimestep * 10 * (m_angularDeflectionEfficiency / m_angularDeflectionTimescale)), 0, 0); | 1120 | |
1116 | // Adding the current vehicle orientation and reference frame displaces the orientation to the frame. | 1121 | // Where the vehicle is pointing relative to the vehicle. |
1117 | // Rotate the scaled default axix relative to the actual vehicle direction giving where it should point. | 1122 | Vector3 currentDirection = Vector3.UnitX * Quaternion.Add(VehicleOrientation, m_referenceFrame); |
1118 | Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(VehicleOrientation, m_referenceFrame); | ||
1119 | 1123 | ||
1120 | // Scale by efficiency and timescale | 1124 | // Difference between where vehicle is pointing and where it should wish to point |
1121 | ret = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep; | 1125 | Vector3 directionCorrection = preferredDirection - currentDirection; |
1122 | 1126 | ||
1123 | VDetailLog("{0}, MoveAngular,Deflection,perfAxis={1},deflection={2}", Prim.LocalID, preferredAxisOfMotion, ret); | 1127 | // Scale the correction by recovery timescale and efficiency |
1128 | ret = directionCorrection * m_angularDeflectionEfficiency / m_angularDeflectionTimescale; | ||
1124 | 1129 | ||
1125 | // This deflection computation is not correct. | 1130 | VDetailLog("{0}, MoveAngular,Deflection,perfDir={1},currentDir={2},dirCorrection={3},ret={4}", |
1126 | ret = Vector3.Zero; | 1131 | Prim.LocalID, preferredDirection, currentDirection, directionCorrection, ret); |
1127 | } | 1132 | } |
1128 | return ret; | 1133 | return ret; |
1129 | } | 1134 | } |
1130 | 1135 | ||
1131 | public Vector3 ComputeAngularBanking(float pTimestep) | 1136 | // Return an angular change to tip the vehicle (around X axis) when turning (turned around Z). |
1137 | // Remembers the last banking value calculated and returns the difference needed this tick. | ||
1138 | // TurningFactor is rate going left or right (pos=left, neg=right, scale=0..1). | ||
1139 | public Vector3 ComputeAngularBanking(float turningFactor) | ||
1132 | { | 1140 | { |
1133 | Vector3 ret = Vector3.Zero; | 1141 | Vector3 ret = Vector3.Zero; |
1142 | Vector3 computedBanking = Vector3.Zero; | ||
1134 | 1143 | ||
1135 | if (m_bankingEfficiency != 0) | 1144 | if (m_bankingEfficiency != 0) |
1136 | { | 1145 | { |
1137 | Vector3 dir = Vector3.One * VehicleOrientation; | 1146 | Vector3 currentDirection = Vector3.UnitX * VehicleOrientation; |
1147 | |||
1138 | float mult = (m_bankingMix * m_bankingMix) * -1 * (m_bankingMix < 0 ? -1 : 1); | 1148 | float mult = (m_bankingMix * m_bankingMix) * -1 * (m_bankingMix < 0 ? -1 : 1); |
1139 | //Changes which way it banks in and out of turns | ||
1140 | 1149 | ||
1141 | //Use the square of the efficiency, as it looks much more how SL banking works | 1150 | //Use the square of the efficiency, as it looks much more how SL banking works |
1142 | float effSquared = (m_bankingEfficiency * m_bankingEfficiency); | 1151 | float effSquared = (m_bankingEfficiency * m_bankingEfficiency); |
@@ -1144,51 +1153,27 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1144 | effSquared *= -1; //Keep the negative! | 1153 | effSquared *= -1; //Keep the negative! |
1145 | 1154 | ||
1146 | float mix = Math.Abs(m_bankingMix); | 1155 | float mix = Math.Abs(m_bankingMix); |
1147 | if (m_angularMotorVelocity.X == 0) | 1156 | // TODO: Must include reference frame. |
1148 | { | 1157 | float forwardSpeed = VehicleVelocity.X; |
1149 | // The vehicle is stopped | ||
1150 | /*if (!parent.Orientation.ApproxEquals(this.m_referenceFrame, 0.25f)) | ||
1151 | { | ||
1152 | Vector3 axisAngle; | ||
1153 | float angle; | ||
1154 | parent.Orientation.GetAxisAngle(out axisAngle, out angle); | ||
1155 | Vector3 rotatedVel = parent.Velocity * parent.Orientation; | ||
1156 | if ((rotatedVel.X < 0 && axisAngle.Y > 0) || (rotatedVel.X > 0 && axisAngle.Y < 0)) | ||
1157 | m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (1f) * 10; | ||
1158 | else | ||
1159 | m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (-1f) * 10; | ||
1160 | }*/ | ||
1161 | } | ||
1162 | else | ||
1163 | { | ||
1164 | ret.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4; | ||
1165 | } | ||
1166 | 1158 | ||
1167 | //If they are colliding, we probably shouldn't shove the prim around... probably | 1159 | if (!Prim.IsColliding && forwardSpeed > mix) |
1168 | if (!Prim.IsColliding && Math.Abs(m_angularMotorVelocity.X) > mix) | ||
1169 | { | 1160 | { |
1170 | float angVelZ = m_angularMotorVelocity.X * -1; | 1161 | computedBanking.X = ClampInRange(-3f, turningFactor * (effSquared * mult), 3f); |
1171 | /*if(angVelZ > mix) | ||
1172 | angVelZ = mix; | ||
1173 | else if(angVelZ < -mix) | ||
1174 | angVelZ = -mix;*/ | ||
1175 | //This controls how fast and how far the banking occurs | ||
1176 | Vector3 bankingRot = new Vector3(angVelZ * (effSquared * mult), 0, 0); | ||
1177 | if (bankingRot.X > 3) | ||
1178 | bankingRot.X = 3; | ||
1179 | else if (bankingRot.X < -3) | ||
1180 | bankingRot.X = -3; | ||
1181 | bankingRot *= VehicleOrientation; | ||
1182 | ret += bankingRot; | ||
1183 | } | 1162 | } |
1184 | m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency; | 1163 | |
1185 | VDetailLog("{0}, MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}", | 1164 | // 'computedBanking' is now how much banking that should be happening. |
1186 | Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, ret); | 1165 | ret = computedBanking - m_lastBanking; |
1166 | |||
1167 | // Scale the correction by timescale and efficiency | ||
1168 | ret /= m_bankingTimescale * m_bankingEfficiency; | ||
1169 | |||
1170 | VDetailLog("{0}, MoveAngular,Banking,computedB={1},lastB={2},bEff={3},effSq={4},mult={5},mix={6},banking={7}", | ||
1171 | Prim.LocalID, computedBanking, m_lastBanking, m_bankingEfficiency, effSquared, mult, mix, ret); | ||
1187 | } | 1172 | } |
1173 | m_lastBanking = computedBanking; | ||
1188 | return ret; | 1174 | return ret; |
1189 | } | 1175 | } |
1190 | 1176 | ||
1191 | |||
1192 | // This is from previous instantiations of XXXDynamics.cs. | 1177 | // This is from previous instantiations of XXXDynamics.cs. |
1193 | // Applies roll reference frame. | 1178 | // Applies roll reference frame. |
1194 | // TODO: is this the right way to separate the code to do this operation? | 1179 | // TODO: is this the right way to separate the code to do this operation? |
@@ -1229,6 +1214,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1229 | 1214 | ||
1230 | } | 1215 | } |
1231 | 1216 | ||
1217 | private float ClampInRange(float low, float val, float high) | ||
1218 | { | ||
1219 | return Math.Max(low, Math.Min(val, high)); | ||
1220 | } | ||
1221 | |||
1232 | // Invoke the detailed logger and output something if it's enabled. | 1222 | // Invoke the detailed logger and output something if it's enabled. |
1233 | private void VDetailLog(string msg, params Object[] args) | 1223 | private void VDetailLog(string msg, params Object[] args) |
1234 | { | 1224 | { |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs index e9f1549..851d508 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | |||
@@ -63,10 +63,23 @@ public abstract class BSMotor | |||
63 | } | 63 | } |
64 | } | 64 | } |
65 | // Can all the incremental stepping be replaced with motor classes? | 65 | // Can all the incremental stepping be replaced with motor classes? |
66 | |||
67 | // Motor which moves CurrentValue to TargetValue over TimeScale seconds. | ||
68 | // The TargetValue is decays in TargetValueDecayTimeScale and | ||
69 | // the CurrentValue will be held back by FrictionTimeScale. | ||
70 | // TimeScale and TargetDelayTimeScale may be 'infinite' which means go decay. | ||
71 | |||
72 | // For instance, if something is moving at speed X and the desired speed is Y, | ||
73 | // CurrentValue is X and TargetValue is Y. As the motor is stepped, new | ||
74 | // values of CurrentValue are returned that approach the TargetValue. | ||
75 | // The feature of decaying TargetValue is so vehicles will eventually | ||
76 | // come to a stop rather than run forever. This can be disabled by | ||
77 | // setting TargetValueDecayTimescale to 'infinite'. | ||
78 | // The change from CurrentValue to TargetValue is linear over TimeScale seconds. | ||
66 | public class BSVMotor : BSMotor | 79 | public class BSVMotor : BSMotor |
67 | { | 80 | { |
68 | public Vector3 FrameOfReference { get; set; } | 81 | // public Vector3 FrameOfReference { get; set; } |
69 | public Vector3 Offset { get; set; } | 82 | // public Vector3 Offset { get; set; } |
70 | 83 | ||
71 | public float TimeScale { get; set; } | 84 | public float TimeScale { get; set; } |
72 | public float TargetValueDecayTimeScale { get; set; } | 85 | public float TargetValueDecayTimeScale { get; set; } |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs index 17cc7b4..f72bd74 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | |||
@@ -501,7 +501,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
501 | 501 | ||
502 | try | 502 | try |
503 | { | 503 | { |
504 | // if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG | 504 | if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG |
505 | if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); | 505 | if (PhysicsLogging.Enabled) beforeTime = Util.EnvironmentTickCount(); |
506 | 506 | ||
507 | numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, | 507 | numSubSteps = BulletSimAPI.PhysicsStep2(World.ptr, timeStep, m_maxSubSteps, m_fixedTimeStep, |
@@ -510,7 +510,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters | |||
510 | if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); | 510 | if (PhysicsLogging.Enabled) simTime = Util.EnvironmentTickCountSubtract(beforeTime); |
511 | DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}", | 511 | DetailLog("{0},Simulate,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}", |
512 | DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); | 512 | DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps, updatedEntityCount, collidersCount); |
513 | // if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG | 513 | if (VehicleLoggingEnabled) DumpVehicles(); // DEBUG |
514 | } | 514 | } |
515 | catch (Exception e) | 515 | catch (Exception e) |
516 | { | 516 | { |
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt index ca71313..68f25fc 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt +++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt | |||
@@ -28,6 +28,7 @@ Small physical objects do not interact correctly | |||
28 | Add material type linkage and input all the material property definitions. | 28 | Add material type linkage and input all the material property definitions. |
29 | Skeleton classes and table are in the sources but are not filled or used. | 29 | Skeleton classes and table are in the sources but are not filled or used. |
30 | Add PID motor for avatar movement (slow to stop, ...) | 30 | Add PID motor for avatar movement (slow to stop, ...) |
31 | Implement function efficiency for lineaar and angular motion. | ||
31 | 32 | ||
32 | After getting off a vehicle, the root prim is phantom (can be walked through) | 33 | After getting off a vehicle, the root prim is phantom (can be walked through) |
33 | Need to force a position update for the root prim after compound shape destruction | 34 | Need to force a position update for the root prim after compound shape destruction |