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authorMelanie2013-03-17 23:07:12 +0000
committerMelanie2013-03-17 23:07:12 +0000
commit46a81b3527f300336d8cf4d8e26537bac89d037e (patch)
tree6bb4fd61eb2f734ebc46afbb547555296e9a22d7 /OpenSim/Region
parentMake the LSL memory functions virtual so script engines can override them if ... (diff)
parentBulletSim: add INI parameter for angular banking timescale fudge parameter. (diff)
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Merge branch 'master' of melanie@opensimulator.org:/var/git/opensim
Diffstat (limited to 'OpenSim/Region')
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs31
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSParam.cs7
2 files changed, 22 insertions, 16 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index d347159..38596fa 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -143,7 +143,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
143 { 143 {
144 enableAngularVerticalAttraction = true; 144 enableAngularVerticalAttraction = true;
145 enableAngularDeflection = false; 145 enableAngularDeflection = false;
146 enableAngularBanking = false; 146 enableAngularBanking = true;
147 if (BSParam.VehicleDebuggingEnabled) 147 if (BSParam.VehicleDebuggingEnabled)
148 { 148 {
149 enableAngularVerticalAttraction = true; 149 enableAngularVerticalAttraction = true;
@@ -1280,11 +1280,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1280 // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement 1280 // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
1281 // TODO: This is here because this is where ODE put it but documentation says it 1281 // TODO: This is here because this is where ODE put it but documentation says it
1282 // is a linear effect. Where should this check go? 1282 // is a linear effect. Where should this check go?
1283 if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) 1283 //if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
1284 { 1284 // {
1285 angularMotorContributionV.X = 0f; 1285 // angularMotorContributionV.X = 0f;
1286 angularMotorContributionV.Y = 0f; 1286 // angularMotorContributionV.Y = 0f;
1287 } 1287 // }
1288 1288
1289 VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation; 1289 VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation;
1290 VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContributionV); 1290 VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContributionV);
@@ -1437,24 +1437,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1437 // As the vehicle rolls to the right or left, the Y value will increase from 1437 // As the vehicle rolls to the right or left, the Y value will increase from
1438 // zero (straight up) to 1 or -1 (full tilt right or left) 1438 // zero (straight up) to 1 or -1 (full tilt right or left)
1439 Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation; 1439 Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation;
1440
1441 // Figure out the yaw value for this much roll.
1442 // Squared because that seems to give a good value
1443 float yawAngle = (float)Math.Asin(rollComponents.Y * rollComponents.Y) * m_bankingEfficiency;
1444 1440
1441 // Figure out the yaw value for this much roll.
1442 float yawAngle = m_angularMotorDirection.X * m_bankingEfficiency;
1445 // actual error = static turn error + dynamic turn error 1443 // actual error = static turn error + dynamic turn error
1446 float mixedYawAngle = yawAngle * (1f - m_bankingMix) + yawAngle * m_bankingMix * VehicleForwardSpeed; 1444 float mixedYawAngle =(yawAngle * (1f - m_bankingMix)) + ((yawAngle * m_bankingMix) * VehicleForwardSpeed);
1447 1445
1448 // TODO: the banking effect should not go to infinity but what to limit it to? 1446 // TODO: the banking effect should not go to infinity but what to limit it to?
1449 mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f); 1447 // And what should happen when this is being added to a user defined yaw that is already PI*4?
1448 mixedYawAngle = ClampInRange(-12, mixedYawAngle, 12);
1450 1449
1451 // Build the force vector to change rotation from what it is to what it should be 1450 // Build the force vector to change rotation from what it is to what it should be
1452 bankingContributionV.Z = -mixedYawAngle; 1451 bankingContributionV.Z = -mixedYawAngle;
1453 1452
1454 // Don't do it all at once. 1453 // Don't do it all at once. Fudge because 1 second is too fast with most user defined roll as PI*4.
1455 bankingContributionV /= m_bankingTimescale; 1454 bankingContributionV /= m_bankingTimescale * BSParam.VehicleAngularBankingTimescaleFudge;
1456 1455
1457 VehicleRotationalVelocity += bankingContributionV * VehicleOrientation; 1456 //VehicleRotationalVelocity += bankingContributionV * VehicleOrientation;
1457 VehicleRotationalVelocity += bankingContributionV;
1458
1458 1459
1459 VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}", 1460 VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}",
1460 Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV); 1461 Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV);
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 2af8468..77bdacb 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -123,6 +123,7 @@ public static class BSParam
123 public static Vector3 VehicleLinearFactor { get; private set; } 123 public static Vector3 VehicleLinearFactor { get; private set; }
124 public static Vector3 VehicleAngularFactor { get; private set; } 124 public static Vector3 VehicleAngularFactor { get; private set; }
125 public static float VehicleGroundGravityFudge { get; private set; } 125 public static float VehicleGroundGravityFudge { get; private set; }
126 public static float VehicleAngularBankingTimescaleFudge { get; private set; }
126 public static bool VehicleDebuggingEnabled { get; private set; } 127 public static bool VehicleDebuggingEnabled { get; private set; }
127 128
128 // Linkset implementation parameters 129 // Linkset implementation parameters
@@ -543,10 +544,14 @@ public static class BSParam
543 0.0f, 544 0.0f,
544 (s) => { return VehicleRestitution; }, 545 (s) => { return VehicleRestitution; },
545 (s,v) => { VehicleRestitution = v; } ), 546 (s,v) => { VehicleRestitution = v; } ),
546 new ParameterDefn<float>("VehicleGroundGravityFudge", "Factor to multiple gravity if a ground vehicle is probably on the ground (0.0 - 1.0)", 547 new ParameterDefn<float>("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
547 0.2f, 548 0.2f,
548 (s) => { return VehicleGroundGravityFudge; }, 549 (s) => { return VehicleGroundGravityFudge; },
549 (s,v) => { VehicleGroundGravityFudge = v; } ), 550 (s,v) => { VehicleGroundGravityFudge = v; } ),
551 new ParameterDefn<float>("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.",
552 60.0f,
553 (s) => { return VehicleAngularBankingTimescaleFudge; },
554 (s,v) => { VehicleAngularBankingTimescaleFudge = v; } ),
550 new ParameterDefn<bool>("VehicleDebuggingEnable", "Turn on/off vehicle debugging", 555 new ParameterDefn<bool>("VehicleDebuggingEnable", "Turn on/off vehicle debugging",
551 false, 556 false,
552 (s) => { return VehicleDebuggingEnabled; }, 557 (s) => { return VehicleDebuggingEnabled; },