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authorUbitUmarov2015-11-08 01:47:54 +0000
committerUbitUmarov2015-11-08 01:47:54 +0000
commit185d3bd39eb371c769c9e0958f5e143a1e5c9a47 (patch)
treed22a8d2c0712239c41eddf6d6edeaad4cb7300b1 /OpenSim/Region/PhysicsModules/ubOde
parent fix wrong condition to set low angular velocity as Zero. (diff)
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change maximum angular velocity to a value derived from heartbeat rate and Nyquist.
Diffstat (limited to 'OpenSim/Region/PhysicsModules/ubOde')
-rw-r--r--OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs8
-rw-r--r--OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs10
2 files changed, 11 insertions, 7 deletions
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
index 2752449..1dbf164 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEPrim.cs
@@ -1806,7 +1806,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
1806 d.BodySetAutoDisableSteps(Body, body_autodisable_frames); 1806 d.BodySetAutoDisableSteps(Body, body_autodisable_frames);
1807 d.BodySetAutoDisableAngularThreshold(Body, 0.05f); 1807 d.BodySetAutoDisableAngularThreshold(Body, 0.05f);
1808 d.BodySetAutoDisableLinearThreshold(Body, 0.05f); 1808 d.BodySetAutoDisableLinearThreshold(Body, 0.05f);
1809 d.BodySetDamping(Body, .008f, .005f); 1809 d.BodySetDamping(Body, .004f, .001f);
1810 1810
1811 if (m_targetSpace != IntPtr.Zero) 1811 if (m_targetSpace != IntPtr.Zero)
1812 { 1812 {
@@ -2070,8 +2070,6 @@ namespace OpenSim.Region.PhysicsModule.ubOde
2070 _mass = objdmass.mass; 2070 _mass = objdmass.mass;
2071 } 2071 }
2072 2072
2073
2074
2075 private void FixInertia(Vector3 NewPos) 2073 private void FixInertia(Vector3 NewPos)
2076 { 2074 {
2077 d.Matrix3 primmat = new d.Matrix3(); 2075 d.Matrix3 primmat = new d.Matrix3();
@@ -3135,9 +3133,9 @@ namespace OpenSim.Region.PhysicsModule.ubOde
3135 private void changeangvelocity(Vector3 newAngVel) 3133 private void changeangvelocity(Vector3 newAngVel)
3136 { 3134 {
3137 float len = newAngVel.LengthSquared(); 3135 float len = newAngVel.LengthSquared();
3138 if (len > 144.0f) // limit to 12rad/s 3136 if (len > _parent_scene.maxAngVelocitySQ)
3139 { 3137 {
3140 len = 12.0f / (float)Math.Sqrt(len); 3138 len = _parent_scene.maximumAngularVelocity / (float)Math.Sqrt(len);
3141 newAngVel *= len; 3139 newAngVel *= len;
3142 } 3140 }
3143 3141
diff --git a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
index 2da2603..ebffda2 100644
--- a/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
+++ b/OpenSim/Region/PhysicsModules/ubOde/ODEScene.cs
@@ -216,9 +216,11 @@ namespace OpenSim.Region.PhysicsModule.ubOde
216 private float avMovementDivisorRun = 0.8f; 216 private float avMovementDivisorRun = 0.8f;
217 private float minimumGroundFlightOffset = 3f; 217 private float minimumGroundFlightOffset = 3f;
218 public float maximumMassObject = 10000.01f; 218 public float maximumMassObject = 10000.01f;
219
220 public float geomDefaultDensity = 10.0f; 219 public float geomDefaultDensity = 10.0f;
221 220
221 public float maximumAngularVelocity = 12.0f; // default 12rad/s
222 public float maxAngVelocitySQ = 144f; // squared value
223
222 public float bodyPIDD = 35f; 224 public float bodyPIDD = 35f;
223 public float bodyPIDG = 25; 225 public float bodyPIDG = 25;
224 226
@@ -493,6 +495,10 @@ namespace OpenSim.Region.PhysicsModule.ubOde
493 } 495 }
494 } 496 }
495 497
498 float heartbeat = 1/m_frameWorkScene.MinFrameTime;
499 maximumAngularVelocity = 0.49f * heartbeat *(float)Math.PI;
500 maxAngVelocitySQ = maximumAngularVelocity * maximumAngularVelocity;
501
496 d.WorldSetCFM(world, comumContactCFM); 502 d.WorldSetCFM(world, comumContactCFM);
497 d.WorldSetERP(world, comumContactERP); 503 d.WorldSetERP(world, comumContactERP);
498 504
@@ -502,7 +508,7 @@ namespace OpenSim.Region.PhysicsModule.ubOde
502 d.WorldSetAngularDamping(world, 0.002f); 508 d.WorldSetAngularDamping(world, 0.002f);
503 d.WorldSetAngularDampingThreshold(world, 0f); 509 d.WorldSetAngularDampingThreshold(world, 0f);
504 d.WorldSetLinearDampingThreshold(world, 0f); 510 d.WorldSetLinearDampingThreshold(world, 0f);
505 d.WorldSetMaxAngularSpeed(world, 100f); 511 d.WorldSetMaxAngularSpeed(world, maximumAngularVelocity);
506 512
507 d.WorldSetQuickStepNumIterations(world, m_physicsiterations); 513 d.WorldSetQuickStepNumIterations(world, m_physicsiterations);
508 514