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authorRobert Adams2013-05-06 13:29:19 -0700
committerRobert Adams2013-05-06 13:32:26 -0700
commit045aaa838ac0a6e129ff1d8ec65053508df1d51a (patch)
treedd164b3b646725d5a5f1ea9b1aebafb68a512059 /OpenSim/Region/Physics/BulletSPlugin
parentBulletSim: simplify parameter specification by reducing the number of (diff)
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BulletSim: remove friction calcuation from BSMotor and move linear and
angular friction computation into linear and angular movement code. The friction wasn't being applied properly. This will make it so vehicles don't drift as much and the drift is tunable by changing the friction timescales.
Diffstat (limited to 'OpenSim/Region/Physics/BulletSPlugin')
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs1
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs1
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs1
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs2
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs2
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs44
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSMotors.cs63
7 files changed, 47 insertions, 67 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
index 4e067b5..ac8c30c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
@@ -118,7 +118,6 @@ public class BSActorAvatarMove : BSActor
118 m_velocityMotor = new BSVMotor("BSCharacter.Velocity", 118 m_velocityMotor = new BSVMotor("BSCharacter.Velocity",
119 0.2f, // time scale 119 0.2f, // time scale
120 BSMotor.Infinite, // decay time scale 120 BSMotor.Infinite, // decay time scale
121 BSMotor.InfiniteVector, // friction timescale
122 1f // efficiency 121 1f // efficiency
123 ); 122 );
124 // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages. 123 // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
index 3630ca8..8a79809 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
@@ -102,7 +102,6 @@ public class BSActorHover : BSActor
102 m_hoverMotor = new BSFMotor("BSActorHover", 102 m_hoverMotor = new BSFMotor("BSActorHover",
103 m_controllingPrim.HoverTau, // timeScale 103 m_controllingPrim.HoverTau, // timeScale
104 BSMotor.Infinite, // decay time scale 104 BSMotor.Infinite, // decay time scale
105 BSMotor.Infinite, // friction timescale
106 1f // efficiency 105 1f // efficiency
107 ); 106 );
108 m_hoverMotor.SetTarget(ComputeCurrentHoverHeight()); 107 m_hoverMotor.SetTarget(ComputeCurrentHoverHeight());
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
index 1b598fd..75ff24e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
@@ -105,7 +105,6 @@ public class BSActorMoveToTarget : BSActor
105 m_targetMotor = new BSVMotor("BSActorMoveToTargget.Activate", 105 m_targetMotor = new BSVMotor("BSActorMoveToTargget.Activate",
106 m_controllingPrim.MoveToTargetTau, // timeScale 106 m_controllingPrim.MoveToTargetTau, // timeScale
107 BSMotor.Infinite, // decay time scale 107 BSMotor.Infinite, // decay time scale
108 BSMotor.InfiniteVector, // friction timescale
109 1f // efficiency 108 1f // efficiency
110 ); 109 );
111 m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages. 110 m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
index c0f40fd..96fa0b6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
@@ -101,7 +101,7 @@ public class BSActorSetForce : BSActor
101 if (m_forceMotor == null) 101 if (m_forceMotor == null)
102 { 102 {
103 // A fake motor that might be used someday 103 // A fake motor that might be used someday
104 m_forceMotor = new BSFMotor("setForce", 1f, 1f, 1f, 1f); 104 m_forceMotor = new BSFMotor("setForce", 1f, 1f, 1f);
105 105
106 m_physicsScene.BeforeStep += Mover; 106 m_physicsScene.BeforeStep += Mover;
107 } 107 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
index b3806e1..65098e1 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
@@ -101,7 +101,7 @@ public class BSActorSetTorque : BSActor
101 if (m_torqueMotor == null) 101 if (m_torqueMotor == null)
102 { 102 {
103 // A fake motor that might be used someday 103 // A fake motor that might be used someday
104 m_torqueMotor = new BSFMotor("setTorque", 1f, 1f, 1f, 1f); 104 m_torqueMotor = new BSFMotor("setTorque", 1f, 1f, 1f);
105 105
106 m_physicsScene.BeforeStep += Mover; 106 m_physicsScene.BeforeStep += Mover;
107 } 107 }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 0dd2aa5..272a162 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -235,7 +235,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
235 // set all of the components to the same value 235 // set all of the components to the same value
236 case Vehicle.ANGULAR_FRICTION_TIMESCALE: 236 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
237 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); 237 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
238 m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
239 break; 238 break;
240 case Vehicle.ANGULAR_MOTOR_DIRECTION: 239 case Vehicle.ANGULAR_MOTOR_DIRECTION:
241 m_angularMotorDirection = new Vector3(pValue, pValue, pValue); 240 m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
@@ -244,7 +243,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
244 break; 243 break;
245 case Vehicle.LINEAR_FRICTION_TIMESCALE: 244 case Vehicle.LINEAR_FRICTION_TIMESCALE:
246 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); 245 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
247 m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
248 break; 246 break;
249 case Vehicle.LINEAR_MOTOR_DIRECTION: 247 case Vehicle.LINEAR_MOTOR_DIRECTION:
250 m_linearMotorDirection = new Vector3(pValue, pValue, pValue); 248 m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
@@ -265,7 +263,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
265 { 263 {
266 case Vehicle.ANGULAR_FRICTION_TIMESCALE: 264 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
267 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); 265 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
268 m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
269 break; 266 break;
270 case Vehicle.ANGULAR_MOTOR_DIRECTION: 267 case Vehicle.ANGULAR_MOTOR_DIRECTION:
271 // Limit requested angular speed to 2 rps= 4 pi rads/sec 268 // Limit requested angular speed to 2 rps= 4 pi rads/sec
@@ -278,7 +275,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
278 break; 275 break;
279 case Vehicle.LINEAR_FRICTION_TIMESCALE: 276 case Vehicle.LINEAR_FRICTION_TIMESCALE:
280 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); 277 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
281 m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
282 break; 278 break;
283 case Vehicle.LINEAR_MOTOR_DIRECTION: 279 case Vehicle.LINEAR_MOTOR_DIRECTION:
284 m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); 280 m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
@@ -559,14 +555,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
559 break; 555 break;
560 } 556 }
561 557
562 m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, 558 m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, m_linearMotorDecayTimescale, 1f);
563 m_linearMotorDecayTimescale, m_linearFrictionTimescale,
564 1f);
565 m_linearMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging) 559 m_linearMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
566 560
567 m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, 561 m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, m_angularMotorDecayTimescale, 1f);
568 m_angularMotorDecayTimescale, m_angularFrictionTimescale,
569 1f);
570 m_angularMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging) 562 m_angularMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
571 563
572 /* Not implemented 564 /* Not implemented
@@ -574,7 +566,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
574 BSMotor.Infinite, BSMotor.InfiniteVector, 566 BSMotor.Infinite, BSMotor.InfiniteVector,
575 m_verticalAttractionEfficiency); 567 m_verticalAttractionEfficiency);
576 // Z goes away and we keep X and Y 568 // Z goes away and we keep X and Y
577 m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f);
578 m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging) 569 m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
579 */ 570 */
580 571
@@ -1050,8 +1041,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1050 // Add this correction to the velocity to make it faster/slower. 1041 // Add this correction to the velocity to make it faster/slower.
1051 VehicleVelocity += linearMotorVelocityW; 1042 VehicleVelocity += linearMotorVelocityW;
1052 1043
1053 VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5}", 1044 // Friction reduces vehicle motion
1054 ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity); 1045 Vector3 frictionFactor = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep);
1046 VehicleVelocity -= (VehicleVelocity * frictionFactor);
1047
1048 VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}",
1049 ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV,
1050 linearMotorVelocityW, VehicleVelocity, frictionFactor);
1055 } 1051 }
1056 1052
1057 public void ComputeLinearTerrainHeightCorrection(float pTimestep) 1053 public void ComputeLinearTerrainHeightCorrection(float pTimestep)
@@ -1342,6 +1338,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1342 // } 1338 // }
1343 1339
1344 VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation; 1340 VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation;
1341
1342 // Reduce any velocity by friction.
1343 Vector3 frictionFactor = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep);
1344 VehicleRotationalVelocity -= (VehicleRotationalVelocity * frictionFactor);
1345
1345 VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", ControllingPrim.LocalID, angularMotorContributionV); 1346 VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", ControllingPrim.LocalID, angularMotorContributionV);
1346 } 1347 }
1347 1348
@@ -1629,6 +1630,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1629 1630
1630 } 1631 }
1631 1632
1633 // Given a friction vector (reduction in seconds) and a timestep, return the factor to reduce
1634 // some value by to apply this friction.
1635 private Vector3 ComputeFrictionFactor(Vector3 friction, float pTimestep)
1636 {
1637 Vector3 frictionFactor = Vector3.Zero;
1638 if (friction != BSMotor.InfiniteVector)
1639 {
1640 // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
1641 // Individual friction components can be 'infinite' so compute each separately.
1642 frictionFactor.X = (friction.X == BSMotor.Infinite) ? 0f : (1f / friction.X);
1643 frictionFactor.Y = (friction.Y == BSMotor.Infinite) ? 0f : (1f / friction.Y);
1644 frictionFactor.Z = (friction.Z == BSMotor.Infinite) ? 0f : (1f / friction.Z);
1645 frictionFactor *= pTimestep;
1646 }
1647 return frictionFactor;
1648 }
1649
1632 private float ClampInRange(float low, float val, float high) 1650 private float ClampInRange(float low, float val, float high)
1633 { 1651 {
1634 return Math.Max(low, Math.Min(val, high)); 1652 return Math.Max(low, Math.Min(val, high));
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index 0128d8d..ef662b5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -65,13 +65,11 @@ public abstract class BSMotor
65} 65}
66 66
67// Motor which moves CurrentValue to TargetValue over TimeScale seconds. 67// Motor which moves CurrentValue to TargetValue over TimeScale seconds.
68// The TargetValue decays in TargetValueDecayTimeScale and 68// The TargetValue decays in TargetValueDecayTimeScale.
69// the CurrentValue will be held back by FrictionTimeScale.
70// This motor will "zero itself" over time in that the targetValue will 69// This motor will "zero itself" over time in that the targetValue will
71// decay to zero and the currentValue will follow it to that zero. 70// decay to zero and the currentValue will follow it to that zero.
72// The overall effect is for the returned correction value to go from large 71// The overall effect is for the returned correction value to go from large
73// values (the total difference between current and target minus friction) 72// values to small and eventually zero values.
74// to small and eventually zero values.
75// TimeScale and TargetDelayTimeScale may be 'infinite' which means no decay. 73// TimeScale and TargetDelayTimeScale may be 'infinite' which means no decay.
76 74
77// For instance, if something is moving at speed X and the desired speed is Y, 75// For instance, if something is moving at speed X and the desired speed is Y,
@@ -88,7 +86,6 @@ public class BSVMotor : BSMotor
88 86
89 public virtual float TimeScale { get; set; } 87 public virtual float TimeScale { get; set; }
90 public virtual float TargetValueDecayTimeScale { get; set; } 88 public virtual float TargetValueDecayTimeScale { get; set; }
91 public virtual Vector3 FrictionTimescale { get; set; }
92 public virtual float Efficiency { get; set; } 89 public virtual float Efficiency { get; set; }
93 90
94 public virtual float ErrorZeroThreshold { get; set; } 91 public virtual float ErrorZeroThreshold { get; set; }
@@ -111,16 +108,14 @@ public class BSVMotor : BSMotor
111 { 108 {
112 TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite; 109 TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
113 Efficiency = 1f; 110 Efficiency = 1f;
114 FrictionTimescale = BSMotor.InfiniteVector;
115 CurrentValue = TargetValue = Vector3.Zero; 111 CurrentValue = TargetValue = Vector3.Zero;
116 ErrorZeroThreshold = 0.001f; 112 ErrorZeroThreshold = 0.001f;
117 } 113 }
118 public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) 114 public BSVMotor(string useName, float timeScale, float decayTimeScale, float efficiency)
119 : this(useName) 115 : this(useName)
120 { 116 {
121 TimeScale = timeScale; 117 TimeScale = timeScale;
122 TargetValueDecayTimeScale = decayTimeScale; 118 TargetValueDecayTimeScale = decayTimeScale;
123 FrictionTimescale = frictionTimeScale;
124 Efficiency = efficiency; 119 Efficiency = efficiency;
125 CurrentValue = TargetValue = Vector3.Zero; 120 CurrentValue = TargetValue = Vector3.Zero;
126 } 121 }
@@ -165,26 +160,11 @@ public class BSVMotor : BSMotor
165 TargetValue *= (1f - decayFactor); 160 TargetValue *= (1f - decayFactor);
166 } 161 }
167 162
168 // The amount we can correct the error is reduced by the friction
169 Vector3 frictionFactor = Vector3.Zero;
170 if (FrictionTimescale != BSMotor.InfiniteVector)
171 {
172 // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
173 // Individual friction components can be 'infinite' so compute each separately.
174 frictionFactor.X = (FrictionTimescale.X == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.X);
175 frictionFactor.Y = (FrictionTimescale.Y == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Y);
176 frictionFactor.Z = (FrictionTimescale.Z == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Z);
177 frictionFactor *= timeStep;
178 CurrentValue *= (Vector3.One - frictionFactor);
179 }
180
181 MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}", 163 MDetailLog("{0}, BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
182 BSScene.DetailLogZero, UseName, origCurrVal, origTarget, 164 BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
183 timeStep, error, correction); 165 timeStep, error, correction);
184 MDetailLog("{0}, BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}", 166 MDetailLog("{0}, BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},tgt={4},curr={5}",
185 BSScene.DetailLogZero, UseName, 167 BSScene.DetailLogZero, UseName, TargetValueDecayTimeScale, decayFactor, TargetValue, CurrentValue);
186 TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor,
187 TargetValue, CurrentValue);
188 } 168 }
189 else 169 else
190 { 170 {
@@ -235,9 +215,9 @@ public class BSVMotor : BSMotor
235 // maximum number of outputs to generate. 215 // maximum number of outputs to generate.
236 int maxOutput = 50; 216 int maxOutput = 50;
237 MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName); 217 MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName);
238 MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},frictTS={4},eff={5},curr={6},tgt={7}", 218 MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},eff={4},curr={5},tgt={6}",
239 BSScene.DetailLogZero, UseName, 219 BSScene.DetailLogZero, UseName,
240 TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency, 220 TimeScale, TargetValueDecayTimeScale, Efficiency,
241 CurrentValue, TargetValue); 221 CurrentValue, TargetValue);
242 222
243 LastError = BSMotor.InfiniteVector; 223 LastError = BSMotor.InfiniteVector;
@@ -254,8 +234,8 @@ public class BSVMotor : BSMotor
254 234
255 public override string ToString() 235 public override string ToString()
256 { 236 {
257 return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4},frictTS={5}>", 237 return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4}>",
258 UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale, FrictionTimescale); 238 UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale);
259 } 239 }
260} 240}
261 241
@@ -265,7 +245,6 @@ public class BSFMotor : BSMotor
265{ 245{
266 public virtual float TimeScale { get; set; } 246 public virtual float TimeScale { get; set; }
267 public virtual float TargetValueDecayTimeScale { get; set; } 247 public virtual float TargetValueDecayTimeScale { get; set; }
268 public virtual float FrictionTimescale { get; set; }
269 public virtual float Efficiency { get; set; } 248 public virtual float Efficiency { get; set; }
270 249
271 public virtual float ErrorZeroThreshold { get; set; } 250 public virtual float ErrorZeroThreshold { get; set; }
@@ -283,12 +262,11 @@ public class BSFMotor : BSMotor
283 return (err >= -ErrorZeroThreshold && err <= ErrorZeroThreshold); 262 return (err >= -ErrorZeroThreshold && err <= ErrorZeroThreshold);
284 } 263 }
285 264
286 public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency) 265 public BSFMotor(string useName, float timeScale, float decayTimescale, float efficiency)
287 : base(useName) 266 : base(useName)
288 { 267 {
289 TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite; 268 TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
290 Efficiency = 1f; 269 Efficiency = 1f;
291 FrictionTimescale = BSMotor.Infinite;
292 CurrentValue = TargetValue = 0f; 270 CurrentValue = TargetValue = 0f;
293 ErrorZeroThreshold = 0.01f; 271 ErrorZeroThreshold = 0.01f;
294 } 272 }
@@ -331,24 +309,11 @@ public class BSFMotor : BSMotor
331 TargetValue *= (1f - decayFactor); 309 TargetValue *= (1f - decayFactor);
332 } 310 }
333 311
334 // The amount we can correct the error is reduced by the friction
335 float frictionFactor = 0f;
336 if (FrictionTimescale != BSMotor.Infinite)
337 {
338 // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
339 // Individual friction components can be 'infinite' so compute each separately.
340 frictionFactor = 1f / FrictionTimescale;
341 frictionFactor *= timeStep;
342 CurrentValue *= (1f - frictionFactor);
343 }
344
345 MDetailLog("{0}, BSFMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}", 312 MDetailLog("{0}, BSFMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
346 BSScene.DetailLogZero, UseName, origCurrVal, origTarget, 313 BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
347 timeStep, error, correction); 314 timeStep, error, correction);
348 MDetailLog("{0}, BSFMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}", 315 MDetailLog("{0}, BSFMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},tgt={4},curr={5}",
349 BSScene.DetailLogZero, UseName, 316 BSScene.DetailLogZero, UseName, TargetValueDecayTimeScale, decayFactor, TargetValue, CurrentValue);
350 TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor,
351 TargetValue, CurrentValue);
352 } 317 }
353 else 318 else
354 { 319 {
@@ -390,8 +355,8 @@ public class BSFMotor : BSMotor
390 355
391 public override string ToString() 356 public override string ToString()
392 { 357 {
393 return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4},frictTS={5}>", 358 return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4}>",
394 UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale, FrictionTimescale); 359 UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale);
395 } 360 }
396 361
397} 362}