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authorRobert Adams2013-06-21 10:46:21 -0700
committerRobert Adams2013-06-21 10:46:21 -0700
commit74539659f6f9be557dbd07fdefa1adae1c59ce87 (patch)
tree740ce0d07ebd2575b331361c4d4198f727b27f1f /OpenSim/Region/Physics
parentBulletSim: Implementation of Linear Deflection, it is a partial help for the ... (diff)
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BulletSim: move new linear deflection code to own routine.
Remove VehicleForwardVelocity changed storage since the value will be modified as movement is processed.
Diffstat (limited to 'OpenSim/Region/Physics')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs64
1 files changed, 35 insertions, 29 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 51207f1..07e87d1 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -707,7 +707,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
707 private Vector3 m_knownRotationalVelocity; 707 private Vector3 m_knownRotationalVelocity;
708 private Vector3 m_knownRotationalForce; 708 private Vector3 m_knownRotationalForce;
709 private Vector3 m_knownRotationalImpulse; 709 private Vector3 m_knownRotationalImpulse;
710 private Vector3 m_knownForwardVelocity; // vehicle relative forward speed
711 710
712 private const int m_knownChangedPosition = 1 << 0; 711 private const int m_knownChangedPosition = 1 << 0;
713 private const int m_knownChangedVelocity = 1 << 1; 712 private const int m_knownChangedVelocity = 1 << 1;
@@ -719,7 +718,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
719 private const int m_knownChangedRotationalImpulse = 1 << 7; 718 private const int m_knownChangedRotationalImpulse = 1 << 7;
720 private const int m_knownChangedTerrainHeight = 1 << 8; 719 private const int m_knownChangedTerrainHeight = 1 << 8;
721 private const int m_knownChangedWaterLevel = 1 << 9; 720 private const int m_knownChangedWaterLevel = 1 << 9;
722 private const int m_knownChangedForwardVelocity = 1 <<10;
723 721
724 public void ForgetKnownVehicleProperties() 722 public void ForgetKnownVehicleProperties()
725 { 723 {
@@ -923,12 +921,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
923 { 921 {
924 get 922 get
925 { 923 {
926 if ((m_knownHas & m_knownChangedForwardVelocity) == 0) 924 return VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation));
927 {
928 m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation));
929 m_knownHas |= m_knownChangedForwardVelocity;
930 }
931 return m_knownForwardVelocity;
932 } 925 }
933 } 926 }
934 private float VehicleForwardSpeed 927 private float VehicleForwardSpeed
@@ -981,6 +974,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
981 { 974 {
982 ComputeLinearVelocity(pTimestep); 975 ComputeLinearVelocity(pTimestep);
983 976
977 ComputeLinearDeflection(pTimestep);
978
984 ComputeLinearTerrainHeightCorrection(pTimestep); 979 ComputeLinearTerrainHeightCorrection(pTimestep);
985 980
986 ComputeLinearHover(pTimestep); 981 ComputeLinearHover(pTimestep);
@@ -1026,14 +1021,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1026 { 1021 {
1027 // Step the motor from the current value. Get the correction needed this step. 1022 // Step the motor from the current value. Get the correction needed this step.
1028 Vector3 origVelW = VehicleVelocity; // DEBUG 1023 Vector3 origVelW = VehicleVelocity; // DEBUG
1029 Vector3 currentVelV = VehicleVelocity * Quaternion.Inverse(VehicleOrientation); 1024 Vector3 currentVelV = VehicleForwardVelocity;
1030 Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV); 1025 Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV);
1031 1026
1032 //Compute Linear deflection. 1027 // Friction reduces vehicle motion based on absolute speed. Slow vehicle down by friction.
1033 Vector3 linearDeflectionFactorV = ComputeLinearDeflection(m_linearDeflectionEfficiency, currentVelV, pTimestep);
1034 linearMotorCorrectionV += linearDeflectionFactorV;
1035
1036 // Friction reduces vehicle motion
1037 Vector3 frictionFactorV = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep); 1028 Vector3 frictionFactorV = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep);
1038 linearMotorCorrectionV -= (currentVelV * frictionFactorV); 1029 linearMotorCorrectionV -= (currentVelV * frictionFactorV);
1039 1030
@@ -1050,11 +1041,38 @@ 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
1044 VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}",
1045 ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV,
1046 linearMotorVelocityW, VehicleVelocity, frictionFactorV);
1047 }
1053 1048
1049 //Given a Deflection Effiency and a Velocity, Returns a Velocity that is Partially Deflected onto the X Axis
1050 //Clamped so that a DeflectionTimescale of less then 1 does not increase force over original velocity
1051 private void ComputeLinearDeflection(float pTimestep)
1052 {
1053 Vector3 linearDeflectionV = Vector3.Zero;
1054 Vector3 velocityV = VehicleForwardVelocity;
1054 1055
1055 VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6},LinearDeflec={7}", 1056 // Velocity in Y and Z dimensions is movement to the side or turning.
1056 ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, 1057 // Compute deflection factor from the to the side and rotational velocity
1057 linearMotorVelocityW, VehicleVelocity, frictionFactorV, linearDeflectionFactorV); 1058 linearDeflectionV.Y = SortedClampInRange(0, (velocityV.Y * m_linearDeflectionEfficiency) / m_linearDeflectionTimescale, velocityV.Y);
1059 linearDeflectionV.Z = SortedClampInRange(0, (velocityV.Z * m_linearDeflectionEfficiency) / m_linearDeflectionTimescale, velocityV.Z);
1060
1061 // Velocity to the side and around is corrected and moved into the forward direction
1062 linearDeflectionV.X += Math.Abs(linearDeflectionV.Y);
1063 linearDeflectionV.X += Math.Abs(linearDeflectionV.Z);
1064
1065 // Scale the deflection to the fractional simulation time
1066 linearDeflectionV *= pTimestep;
1067
1068 // Subtract the sideways and rotational velocity deflection factors while adding the correction forward
1069 linearDeflectionV *= new Vector3(1,-1,-1);
1070
1071 // Correciont is vehicle relative. Convert to world coordinates and add to the velocity
1072 VehicleVelocity += linearDeflectionV * VehicleOrientation;
1073
1074 VDetailLog("{0}, MoveLinear,LinearDeflection,linDefEff={1},linDefTS={2},linDeflectionV={3}",
1075 ControllingPrim.LocalID, m_linearDeflectionEfficiency, m_linearDeflectionTimescale, linearDeflectionV);
1058 } 1076 }
1059 1077
1060 public void ComputeLinearTerrainHeightCorrection(float pTimestep) 1078 public void ComputeLinearTerrainHeightCorrection(float pTimestep)
@@ -1655,19 +1673,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1655 } 1673 }
1656 return frictionFactor; 1674 return frictionFactor;
1657 } 1675 }
1658 //Given a Deflection Effiency and a Velocity, Returns a Velocity that is Partially Deflected onto the X Axis
1659 //Clamped so that a DeflectionTimescale of less then 1 does not increase force over original velocity
1660 private Vector3 ComputeLinearDeflection(float DeflectionEfficiency,Vector3 Velocity,float pTimestep)
1661 {
1662 Vector3 LinearDeflection = Vector3.Zero;
1663 LinearDeflection.Y = SortedClampInRange(0, (Velocity.Y * DeflectionEfficiency) / m_linearDeflectionTimescale, Velocity.Y);
1664 LinearDeflection.Z = SortedClampInRange(0, (Velocity.Z * DeflectionEfficiency) / m_linearDeflectionTimescale, Velocity.Z);
1665 LinearDeflection.X += Math.Abs(LinearDeflection.Y);
1666 LinearDeflection.X += Math.Abs(LinearDeflection.Z);
1667 LinearDeflection *= pTimestep;
1668 return LinearDeflection*=new Vector3(1,-1,-1);
1669 1676
1670 }
1671 private float SortedClampInRange(float clampa, float val, float clampb) 1677 private float SortedClampInRange(float clampa, float val, float clampb)
1672 { 1678 {
1673 if (clampa > clampb) 1679 if (clampa > clampb)