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author | Robert Adams | 2013-03-25 15:19:55 -0700 |
---|---|---|
committer | Robert Adams | 2013-03-25 15:40:46 -0700 |
commit | 285dc554ece0b504cb549193096f84c9c0cfe89f (patch) | |
tree | f7fd4ae7e36e5797d27210aa922a316265828ebd /OpenSim/Region | |
parent | BulletSim: small tweaks and formatting in the parameter fetching code. (diff) | |
download | opensim-SC_OLD-285dc554ece0b504cb549193096f84c9c0cfe89f.zip opensim-SC_OLD-285dc554ece0b504cb549193096f84c9c0cfe89f.tar.gz opensim-SC_OLD-285dc554ece0b504cb549193096f84c9c0cfe89f.tar.bz2 opensim-SC_OLD-285dc554ece0b504cb549193096f84c9c0cfe89f.tar.xz |
BulletSim: new algorithm for vertical attraction which uses quaternion
arithmetic to compute the shortest path between the current tilt
and vertical.
Diffstat (limited to 'OpenSim/Region')
-rw-r--r-- | OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 48 |
1 files changed, 45 insertions, 3 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 5549984..65df741 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | |||
@@ -321,7 +321,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
321 | } | 321 | } |
322 | } | 322 | } |
323 | 323 | ||
324 | internal void ProcessTypeChange(Vehicle pType) | 324 | public void ProcessTypeChange(Vehicle pType) |
325 | { | 325 | { |
326 | VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType); | 326 | VDetailLog("{0},ProcessTypeChange,type={1}", Prim.LocalID, pType); |
327 | // Set Defaults For Type | 327 | // Set Defaults For Type |
@@ -1301,14 +1301,52 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1301 | // efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay. | 1301 | // efficiency of 1.0 will cause the spring to reach its equilibrium with exponential decay. |
1302 | public void ComputeAngularVerticalAttraction() | 1302 | public void ComputeAngularVerticalAttraction() |
1303 | { | 1303 | { |
1304 | |||
1304 | // If vertical attaction timescale is reasonable | 1305 | // If vertical attaction timescale is reasonable |
1305 | if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff) | 1306 | if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff) |
1306 | { | 1307 | { |
1308 | // Possible solution derived from a discussion at: | ||
1309 | // http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no | ||
1310 | |||
1311 | // Create a rotation that is only the vehicle's rotation around Z | ||
1312 | Vector3 currentEuler = Vector3.Zero; | ||
1313 | VehicleOrientation.GetEulerAngles(out currentEuler.X, out currentEuler.Y, out currentEuler.Z); | ||
1314 | Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEuler.Z); | ||
1315 | |||
1316 | // Create the axis that is perpendicular to the up vector and the rotated up vector. | ||
1317 | Vector3 differenceAxis = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation); | ||
1318 | // Compute the angle between those to vectors. | ||
1319 | double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation))); | ||
1320 | // 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical | ||
1321 | |||
1322 | // Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied. | ||
1323 | // TODO: add 'efficiency'. | ||
1324 | differenceAngle /= m_verticalAttractionTimescale; | ||
1325 | |||
1326 | // Create the quaterian representing the correction angle | ||
1327 | Quaternion correctionRotation = Quaternion.CreateFromAxisAngle(differenceAxis, (float)differenceAngle); | ||
1328 | |||
1329 | // Turn that quaternion into Euler values to make it into velocities to apply. | ||
1330 | Vector3 vertContributionV = Vector3.Zero; | ||
1331 | correctionRotation.GetEulerAngles(out vertContributionV.X, out vertContributionV.Y, out vertContributionV.Z); | ||
1332 | vertContributionV *= -1f; | ||
1333 | |||
1334 | VehicleRotationalVelocity += vertContributionV; | ||
1335 | |||
1336 | VDetailLog("{0}, MoveAngular,verticalAttraction,diffAxis={1},diffAng={2},corrRot={3},contrib={4}", | ||
1337 | Prim.LocalID, | ||
1338 | differenceAxis, | ||
1339 | differenceAngle, | ||
1340 | correctionRotation, | ||
1341 | vertContributionV); | ||
1342 | |||
1343 | // =================================================================== | ||
1344 | /* | ||
1307 | Vector3 vertContributionV = Vector3.Zero; | 1345 | Vector3 vertContributionV = Vector3.Zero; |
1308 | Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG | 1346 | Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG |
1309 | 1347 | ||
1310 | // Take a vector pointing up and convert it from world to vehicle relative coords. | 1348 | // Take a vector pointing up and convert it from world to vehicle relative coords. |
1311 | Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; | 1349 | Vector3 verticalError = Vector3.Normalize(Vector3.UnitZ * VehicleOrientation); |
1312 | 1350 | ||
1313 | // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) | 1351 | // If vertical attraction correction is needed, the vector that was pointing up (UnitZ) |
1314 | // is now: | 1352 | // is now: |
@@ -1334,13 +1372,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin | |||
1334 | // 'vertContrbution' is now the necessary angular correction to correct tilt in one second. | 1372 | // 'vertContrbution' is now the necessary angular correction to correct tilt in one second. |
1335 | // Correction happens over a number of seconds. | 1373 | // Correction happens over a number of seconds. |
1336 | Vector3 unscaledContribVerticalErrorV = vertContributionV; // DEBUG DEBUG | 1374 | Vector3 unscaledContribVerticalErrorV = vertContributionV; // DEBUG DEBUG |
1375 | |||
1376 | // The correction happens over the user's time period | ||
1337 | vertContributionV /= m_verticalAttractionTimescale; | 1377 | vertContributionV /= m_verticalAttractionTimescale; |
1338 | 1378 | ||
1339 | VehicleRotationalVelocity += vertContributionV; | 1379 | // Rotate the vehicle rotation to the world coordinates. |
1380 | VehicleRotationalVelocity += (vertContributionV * VehicleOrientation); | ||
1340 | 1381 | ||
1341 | VDetailLog("{0}, MoveAngular,verticalAttraction,,origRotVW={1},vertError={2},unscaledV={3},eff={4},ts={5},vertContribV={6}", | 1382 | VDetailLog("{0}, MoveAngular,verticalAttraction,,origRotVW={1},vertError={2},unscaledV={3},eff={4},ts={5},vertContribV={6}", |
1342 | Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV, | 1383 | Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV, |
1343 | m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV); | 1384 | m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV); |
1385 | */ | ||
1344 | } | 1386 | } |
1345 | } | 1387 | } |
1346 | 1388 | ||