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authorTeravus Ovares2009-04-17 21:10:54 +0000
committerTeravus Ovares2009-04-17 21:10:54 +0000
commit07c113a766278b1b5c801c6735649ccc7a2dccfb (patch)
treeeb797dbd295e41b0cfcbaaea5bfd83f90cb08ab2 /OpenSim/Region/Physics/OdePlugin
parentadd some stub config to OpenSim.ini.example for freeswitch. This needs (diff)
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* Add Implementation of Linear Motor and Linear friction from the LSL Vehicle API in Physics
Diffstat (limited to 'OpenSim/Region/Physics/OdePlugin')
-rw-r--r--OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs82
1 files changed, 73 insertions, 9 deletions
diff --git a/OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs b/OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs
index 12b623d..b61e1c5 100644
--- a/OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs
+++ b/OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs
@@ -54,7 +54,9 @@ namespace OpenSim.Region.Physics.OdePlugin
54 private IntPtr m_body = IntPtr.Zero; 54 private IntPtr m_body = IntPtr.Zero;
55 private IntPtr m_jointGroup = IntPtr.Zero; 55 private IntPtr m_jointGroup = IntPtr.Zero;
56 private IntPtr m_aMotor = IntPtr.Zero; 56 private IntPtr m_aMotor = IntPtr.Zero;
57 private IntPtr m_lMotor = IntPtr.Zero; 57 private IntPtr m_lMotor1 = IntPtr.Zero;
58 private IntPtr m_lMotor2 = IntPtr.Zero;
59 private IntPtr m_lMotor3 = IntPtr.Zero;
58 60
59 // Vehicle properties 61 // Vehicle properties
60 private Quaternion m_referenceFrame = Quaternion.Identity; 62 private Quaternion m_referenceFrame = Quaternion.Identity;
@@ -80,9 +82,11 @@ namespace OpenSim.Region.Physics.OdePlugin
80 private float m_linearMotorTimescale = 0; 82 private float m_linearMotorTimescale = 0;
81 private float m_verticalAttractionEfficiency = 0; 83 private float m_verticalAttractionEfficiency = 0;
82 private float m_verticalAttractionTimescale = 0; 84 private float m_verticalAttractionTimescale = 0;
83 private Vector3 m_lastVector = Vector3.Zero; 85 private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
84 private VehicleFlag m_flags = (VehicleFlag) 0; 86 private VehicleFlag m_flags = (VehicleFlag) 0;
85 87
88 private bool m_LinearMotorSetLastFrame = false;
89
86 90
87 91
88 92
@@ -169,6 +173,7 @@ namespace OpenSim.Region.Physics.OdePlugin
169 break; 173 break;
170 case Vehicle.LINEAR_MOTOR_DIRECTION: 174 case Vehicle.LINEAR_MOTOR_DIRECTION:
171 m_linearMotorDirection = new Vector3(pValue, pValue, pValue); 175 m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
176 m_LinearMotorSetLastFrame = true;
172 break; 177 break;
173 case Vehicle.LINEAR_MOTOR_OFFSET: 178 case Vehicle.LINEAR_MOTOR_OFFSET:
174 m_linearMotorOffset = new Vector3(pValue, pValue, pValue); 179 m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
@@ -187,6 +192,7 @@ namespace OpenSim.Region.Physics.OdePlugin
187 break; 192 break;
188 case Vehicle.ANGULAR_MOTOR_DIRECTION: 193 case Vehicle.ANGULAR_MOTOR_DIRECTION:
189 m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); 194 m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
195 m_LinearMotorSetLastFrame = true;
190 break; 196 break;
191 case Vehicle.LINEAR_FRICTION_TIMESCALE: 197 case Vehicle.LINEAR_FRICTION_TIMESCALE:
192 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); 198 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
@@ -247,6 +253,25 @@ namespace OpenSim.Region.Physics.OdePlugin
247 253
248 m_body = pBody; 254 m_body = pBody;
249 m_parentScene = pParentScene; 255 m_parentScene = pParentScene;
256 if (m_jointGroup == IntPtr.Zero)
257 m_jointGroup = d.JointGroupCreate(3);
258
259 if (pBody != IntPtr.Zero)
260 {
261
262 if (m_lMotor1 == IntPtr.Zero)
263 {
264 d.BodySetAutoDisableFlag(Body, false);
265 m_lMotor1 = d.JointCreateLMotor(pParentScene.world, m_jointGroup);
266 d.JointSetLMotorNumAxes(m_lMotor1, 1);
267 d.JointAttach(m_lMotor1, Body, IntPtr.Zero);
268 }
269
270 Vector3 dirNorm = m_lastLinearVelocityVector;
271 dirNorm.Normalize();
272 //d.JointSetLMotorAxis(m_lMotor1, 0, 1, dirNorm.X, dirNorm.Y, dirNorm.Z);
273 //d.JointSetLMotorParam(m_lMotor1, (int)dParam.Vel, m_lastLinearVelocityVector.Length());
274 }
250 } 275 }
251 276
252 internal void Reset() 277 internal void Reset()
@@ -439,15 +464,54 @@ namespace OpenSim.Region.Physics.OdePlugin
439 private void LinearMotor(float pTimestep) 464 private void LinearMotor(float pTimestep)
440 { 465 {
441 466
442 /* 467 if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))
443 float decayval = (m_linearMotorDecayTimescale * pTimestep); 468 {
444 m_linearMotorDirection *= decayval; 469 Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
445 m_lastVector += m_linearMotorDirection 470 m_lastLinearVelocityVector += (addAmount*10);
471
472 // This will work temporarily, but we really need to compare speed on an axis
473 if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirection.X))
474 m_lastLinearVelocityVector.X = m_linearMotorDirection.X;
475 if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirection.Y))
476 m_lastLinearVelocityVector.Y = m_linearMotorDirection.Y;
477 if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirection.Z))
478 m_lastLinearVelocityVector.Z = m_linearMotorDirection.Z;
479 //System.Console.WriteLine("add: " + addAmount);
480
481 m_linearMotorDirection -= (m_linearMotorDirection*new Vector3(1, 1, 1)/
482 (m_linearMotorDecayTimescale/pTimestep)) * 0.10f;
483 //Console.WriteLine("actual: " + m_linearMotorDirection);
484 }
485 //System.Console.WriteLine(m_linearMotorDirection + " " + m_lastLinearVelocityVector);
446 486
487 SetMotorProperties();
447 488
448 m_lin 489 Vector3 decayamount = new Vector3(1,1,1)/(m_linearFrictionTimescale/pTimestep);
449 m_lastVector 490 m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
450 * */ 491
492 //m_linearMotorDirection *= decayamount;
493
494 }
495
496 private void SetMotorProperties()
497 {
498 Vector3 dirNorm = m_lastLinearVelocityVector;
499 dirNorm.Normalize();
500
501 d.Mass objMass;
502 d.BodyGetMass(Body, out objMass);
503 d.Quaternion rot = d.BodyGetQuaternion(Body);
504 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
505 dirNorm *= rotq;
506 if (m_lMotor1 != IntPtr.Zero)
507 {
508
509 d.JointSetLMotorAxis(m_lMotor1, 0, 1, dirNorm.X, dirNorm.Y, dirNorm.Z);
510 d.JointSetLMotorParam(m_lMotor1, (int)dParam.Vel, m_linearMotorDirection.Length());
511
512 d.JointSetLMotorParam(m_lMotor1, (int)dParam.FMax, 35f * objMass.mass);
513 }
514
451 } 515 }
452 } 516 }
453} 517}