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-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs214
-rw-r--r--OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs19
2 files changed, 152 insertions, 81 deletions
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs
index 14d5caa..55d6945 100644
--- a/OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs
@@ -108,13 +108,14 @@ namespace OpenSim.Region.Physics.OdePlugin
108 108
109 //Angular properties 109 //Angular properties
110 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor 110 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
111 private int m_angularMotorApply = 0; // application frame counter 111
112 private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity 112 private float m_angularMotorTimescale = 0; // motor angular Attack rate set by LSL
113 private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate 113 private float m_angularMotorDecayTimescale = 0; // motor angular Decay rate set by LSL
114 private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate 114 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular Friction set by LSL
115 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate 115
116 private Vector3 m_angularMotorDVel = Vector3.Zero; // decayed angular motor
117// private Vector3 m_angObjectVel = Vector3.Zero; // current body angular velocity
116 private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body 118 private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
117 // private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
118 119
119 //Deflection properties 120 //Deflection properties
120 // private float m_angularDeflectionEfficiency = 0; 121 // private float m_angularDeflectionEfficiency = 0;
@@ -223,11 +224,13 @@ namespace OpenSim.Region.Physics.OdePlugin
223 // These are vector properties but the engine lets you use a single float value to 224 // These are vector properties but the engine lets you use a single float value to
224 // set all of the components to the same value 225 // set all of the components to the same value
225 case Vehicle.ANGULAR_FRICTION_TIMESCALE: 226 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
227 if (pValue > 30f) pValue = 30f;
228 if (pValue < 0.1f) pValue = 0.1f;
226 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); 229 m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
227 break; 230 break;
228 case Vehicle.ANGULAR_MOTOR_DIRECTION: 231 case Vehicle.ANGULAR_MOTOR_DIRECTION:
229 m_angularMotorDirection = new Vector3(pValue, pValue, pValue); 232 m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
230 m_angularMotorApply = 10; 233 UpdateAngDecay();
231 break; 234 break;
232 case Vehicle.LINEAR_FRICTION_TIMESCALE: 235 case Vehicle.LINEAR_FRICTION_TIMESCALE:
233 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); 236 m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
@@ -249,6 +252,12 @@ namespace OpenSim.Region.Physics.OdePlugin
249 switch (pParam) 252 switch (pParam)
250 { 253 {
251 case Vehicle.ANGULAR_FRICTION_TIMESCALE: 254 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
255 if (pValue.X > 30f) pValue.X = 30f;
256 if (pValue.X < 0.1f) pValue.X = 0.1f;
257 if (pValue.Y > 30f) pValue.Y = 30f;
258 if (pValue.Y < 0.1f) pValue.Y = 0.1f;
259 if (pValue.Z > 30f) pValue.Z = 30f;
260 if (pValue.Z < 0.1f) pValue.Z = 0.1f;
252 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); 261 m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
253 break; 262 break;
254 case Vehicle.ANGULAR_MOTOR_DIRECTION: 263 case Vehicle.ANGULAR_MOTOR_DIRECTION:
@@ -260,7 +269,7 @@ namespace OpenSim.Region.Physics.OdePlugin
260 if(m_angularMotorDirection.Y < - 12.56f) m_angularMotorDirection.Y = - 12.56f; 269 if(m_angularMotorDirection.Y < - 12.56f) m_angularMotorDirection.Y = - 12.56f;
261 if(m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f; 270 if(m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f;
262 if(m_angularMotorDirection.Z < - 12.56f) m_angularMotorDirection.Z = - 12.56f; 271 if(m_angularMotorDirection.Z < - 12.56f) m_angularMotorDirection.Z = - 12.56f;
263 m_angularMotorApply = 10; 272 UpdateAngDecay();
264 break; 273 break;
265 case Vehicle.LINEAR_FRICTION_TIMESCALE: 274 case Vehicle.LINEAR_FRICTION_TIMESCALE:
266 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); 275 m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
@@ -305,11 +314,12 @@ namespace OpenSim.Region.Physics.OdePlugin
305 { 314 {
306 case Vehicle.TYPE_SLED: 315 case Vehicle.TYPE_SLED:
307 m_linearFrictionTimescale = new Vector3(30, 1, 1000); 316 m_linearFrictionTimescale = new Vector3(30, 1, 1000);
308 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); 317 m_angularFrictionTimescale = new Vector3(30, 30, 30);
309// m_lLinMotorVel = Vector3.Zero; 318// m_lLinMotorVel = Vector3.Zero;
310 m_linearMotorTimescale = 1000; 319 m_linearMotorTimescale = 1000;
311 m_linearMotorDecayTimescale = 120; 320 m_linearMotorDecayTimescale = 120;
312 m_angularMotorDirection = Vector3.Zero; 321 m_angularMotorDirection = Vector3.Zero;
322 m_angularMotorDVel = Vector3.Zero;
313 m_angularMotorTimescale = 1000; 323 m_angularMotorTimescale = 1000;
314 m_angularMotorDecayTimescale = 120; 324 m_angularMotorDecayTimescale = 120;
315 m_VhoverHeight = 0; 325 m_VhoverHeight = 0;
@@ -331,11 +341,12 @@ namespace OpenSim.Region.Physics.OdePlugin
331 break; 341 break;
332 case Vehicle.TYPE_CAR: 342 case Vehicle.TYPE_CAR:
333 m_linearFrictionTimescale = new Vector3(100, 2, 1000); 343 m_linearFrictionTimescale = new Vector3(100, 2, 1000);
334 m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); 344 m_angularFrictionTimescale = new Vector3(30, 30, 30); // was 1000, but sl max frict time is 30.
335// m_lLinMotorVel = Vector3.Zero; 345// m_lLinMotorVel = Vector3.Zero;
336 m_linearMotorTimescale = 1; 346 m_linearMotorTimescale = 1;
337 m_linearMotorDecayTimescale = 60; 347 m_linearMotorDecayTimescale = 60;
338 m_angularMotorDirection = Vector3.Zero; 348 m_angularMotorDirection = Vector3.Zero;
349 m_angularMotorDVel = Vector3.Zero;
339 m_angularMotorTimescale = 1; 350 m_angularMotorTimescale = 1;
340 m_angularMotorDecayTimescale = 0.8f; 351 m_angularMotorDecayTimescale = 0.8f;
341 m_VhoverHeight = 0; 352 m_VhoverHeight = 0;
@@ -363,6 +374,7 @@ namespace OpenSim.Region.Physics.OdePlugin
363 m_linearMotorTimescale = 5; 374 m_linearMotorTimescale = 5;
364 m_linearMotorDecayTimescale = 60; 375 m_linearMotorDecayTimescale = 60;
365 m_angularMotorDirection = Vector3.Zero; 376 m_angularMotorDirection = Vector3.Zero;
377 m_angularMotorDVel = Vector3.Zero;
366 m_angularMotorTimescale = 4; 378 m_angularMotorTimescale = 4;
367 m_angularMotorDecayTimescale = 4; 379 m_angularMotorDecayTimescale = 4;
368 m_VhoverHeight = 0; 380 m_VhoverHeight = 0;
@@ -391,6 +403,7 @@ namespace OpenSim.Region.Physics.OdePlugin
391 m_linearMotorTimescale = 2; 403 m_linearMotorTimescale = 2;
392 m_linearMotorDecayTimescale = 60; 404 m_linearMotorDecayTimescale = 60;
393 m_angularMotorDirection = Vector3.Zero; 405 m_angularMotorDirection = Vector3.Zero;
406 m_angularMotorDVel = Vector3.Zero;
394 m_angularMotorTimescale = 4; 407 m_angularMotorTimescale = 4;
395 m_angularMotorDecayTimescale = 4; 408 m_angularMotorDecayTimescale = 4;
396 m_VhoverHeight = 0; 409 m_VhoverHeight = 0;
@@ -417,6 +430,7 @@ namespace OpenSim.Region.Physics.OdePlugin
417 m_linearMotorTimescale = 5; 430 m_linearMotorTimescale = 5;
418 m_linearMotorDecayTimescale = 60; 431 m_linearMotorDecayTimescale = 60;
419 m_angularMotorDirection = Vector3.Zero; 432 m_angularMotorDirection = Vector3.Zero;
433 m_angularMotorDVel = Vector3.Zero;
420 m_angularMotorTimescale = 6; 434 m_angularMotorTimescale = 6;
421 m_angularMotorDecayTimescale = 10; 435 m_angularMotorDecayTimescale = 10;
422 m_VhoverHeight = 5; 436 m_VhoverHeight = 5;
@@ -468,8 +482,8 @@ namespace OpenSim.Region.Physics.OdePlugin
468 m_lLinObjectVel = Vector3.Zero; 482 m_lLinObjectVel = Vector3.Zero;
469 m_wLinObjectVel = Vector3.Zero; 483 m_wLinObjectVel = Vector3.Zero;
470 m_angularMotorDirection = Vector3.Zero; 484 m_angularMotorDirection = Vector3.Zero;
471 m_angularMotorVelocity = Vector3.Zero; 485 m_lastAngularVelocity = Vector3.Zero;
472 m_lastAngularVelocity = Vector3.Zero; 486 m_angularMotorDVel = Vector3.Zero;
473 } 487 }
474 488
475 private void UpdateLinDecay() 489 private void UpdateLinDecay()
@@ -542,6 +556,7 @@ namespace OpenSim.Region.Physics.OdePlugin
542 if (m_linearFrictionTimescale.Z < 300.0f) 556 if (m_linearFrictionTimescale.Z < 300.0f)
543 { 557 {
544 float fricfactor = m_linearFrictionTimescale.Z / pTimestep; 558 float fricfactor = m_linearFrictionTimescale.Z / pTimestep;
559//if(frcount == 0) Console.WriteLine("Zfric={0}", fricfactor);
545 float fricZ = m_lLinObjectVel.Z / fricfactor; 560 float fricZ = m_lLinObjectVel.Z / fricfactor;
546 m_lLinObjectVel.Z -= fricZ; 561 m_lLinObjectVel.Z -= fricZ;
547 } 562 }
@@ -611,54 +626,73 @@ namespace OpenSim.Region.Physics.OdePlugin
611 d.BodyAddForce(Body, grav.X, grav.Y, grav.Z); 626 d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
612//if(frcount == 0) Console.WriteLine("Grav {0}", grav); 627//if(frcount == 0) Console.WriteLine("Grav {0}", grav);
613 } // end MoveLinear() 628 } // end MoveLinear()
629
630 private void UpdateAngDecay()
631 {
632 if (Math.Abs(m_angularMotorDirection.X) > Math.Abs(m_angularMotorDVel.X)) m_angularMotorDVel.X = m_angularMotorDirection.X;
633 if (Math.Abs(m_angularMotorDirection.Y) > Math.Abs(m_angularMotorDVel.Y)) m_angularMotorDVel.Y = m_angularMotorDirection.Y;
634 if (Math.Abs(m_angularMotorDirection.Z) > Math.Abs(m_angularMotorDVel.Z)) m_angularMotorDVel.Z = m_angularMotorDirection.Z;
635 } // else let the motor decay on its own
614 636
615 private void MoveAngular(float pTimestep) 637 private void MoveAngular(float pTimestep)
616 { 638 {
617 /* 639 /*
618 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor 640 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
619 private int m_angularMotorApply = 0; // application frame counter 641
620 private float m_angularMotorVelocity = 0; // current angular motor velocity (ramps up and down) 642 private float m_angularMotorTimescale = 0; // motor angular Attack rate set by LSL
621 private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate 643 private float m_angularMotorDecayTimescale = 0; // motor angular Decay rate set by LSL
622 private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate 644 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular Friction set by LSL
623 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate 645
624 private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body 646 private Vector3 m_angularMotorDVel = Vector3.Zero; // decayed angular motor
647 private Vector3 m_angObjectVel = Vector3.Zero; // what was last applied to body
625 */ 648 */
626//if(frcount == 0) Console.WriteLine("MoveAngular "); 649//if(frcount == 0) Console.WriteLine("MoveAngular ");
627 650
628 // Get what the body is doing, this includes 'external' influences 651 // Get what the body is doing, this includes 'external' influences
629 d.Vector3 angularVelocity = d.BodyGetAngularVel(Body); 652 d.Vector3 angularObjectVel = d.BodyGetAngularVel(Body);
630 // Vector3 angularVelocity = Vector3.Zero; 653 Vector3 angObjectVel = new Vector3(angularObjectVel.X, angularObjectVel.Y, angularObjectVel.Z);
654//if(frcount == 0) Console.WriteLine("V0 = {0}", angObjectVel);
655// Vector3 FrAaccel = m_lastAngularVelocity - angObjectVel;
656// Vector3 initavel = angObjectVel;
657 // Decay Angular Motor 1. In SL this also depends on attack rate! decay ~= 23/Attack.
658 float atk_decayfactor = 23.0f / (m_angularMotorTimescale * pTimestep);
659 m_angularMotorDVel -= m_angularMotorDVel / atk_decayfactor;
660 // Decay Angular Motor 2.
661 if (m_angularMotorDecayTimescale < 300.0f)
662 {
663//####
664 if ( Vector3.Mag(m_angularMotorDVel) < 1.0f)
665 {
666 float decayfactor = (m_angularMotorDecayTimescale)/pTimestep;
667 Vector3 decayAmount = (m_angularMotorDVel/decayfactor);
668 m_angularMotorDVel -= decayAmount;
669 }
670 else
671 {
672 Vector3 decel = Vector3.Normalize(m_angularMotorDVel) * pTimestep / m_angularMotorDecayTimescale;
673 m_angularMotorDVel -= decel;
674 }
631 675
632 if (m_angularMotorApply > 0) 676 if (m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f))
633 { 677 {
634 // ramp up to new value 678 m_angularMotorDVel = Vector3.Zero;
635 // current velocity += error / ( time to get there / step interval ) 679 }
636 // requested speed - last motor speed 680 else
637 m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep); 681 {
638 m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); 682 if (Math.Abs(m_angularMotorDVel.X) < Math.Abs(angObjectVel.X)) angObjectVel.X = m_angularMotorDVel.X;
639 m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); 683 if (Math.Abs(m_angularMotorDVel.Y) < Math.Abs(angObjectVel.Y)) angObjectVel.Y = m_angularMotorDVel.Y;
640 684 if (Math.Abs(m_angularMotorDVel.Z) < Math.Abs(angObjectVel.Z)) angObjectVel.Z = m_angularMotorDVel.Z;
641 m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected 685 }
642 // velocity may still be acheived. 686 } // end decay angular motor
643 } 687//if(frcount == 0) Console.WriteLine("MotorDvel {0} Obj {1}", m_angularMotorDVel, angObjectVel);
644 else
645 {
646 // no motor recently applied, keep the body velocity
647 /* m_angularMotorVelocity.X = angularVelocity.X;
648 m_angularMotorVelocity.Y = angularVelocity.Y;
649 m_angularMotorVelocity.Z = angularVelocity.Z; */
650
651 // and decay the velocity
652 m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep);
653 } // end motor section
654
655 688
689//if(frcount == 0) Console.WriteLine("VA = {0}", angObjectVel);
656 // Vertical attractor section 690 // Vertical attractor section
657 Vector3 vertattr = Vector3.Zero; 691 Vector3 vertattr = Vector3.Zero;
658 692
659 if(m_verticalAttractionTimescale < 300) 693 if(m_verticalAttractionTimescale < 300)
660 { 694 {
661 float VAservo = 0.0167f / (m_verticalAttractionTimescale * pTimestep); 695 float VAservo = 1.0f / (m_verticalAttractionTimescale * pTimestep);
662 // get present body rotation 696 // get present body rotation
663 d.Quaternion rot = d.BodyGetQuaternion(Body); 697 d.Quaternion rot = d.BodyGetQuaternion(Body);
664 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); 698 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
@@ -670,38 +704,75 @@ namespace OpenSim.Region.Physics.OdePlugin
670 // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1. 704 // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
671 // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go 705 // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
672 // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body. 706 // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
707
673 if (verterr.Z < 0.0f) 708 if (verterr.Z < 0.0f)
674 { 709 { // Defelction from vertical exceeds 90-degrees. This method will ensure stable return to
710 // vertical, BUT for some reason a z-rotation is imparted to the object. TBI.
711//Console.WriteLine("InvertFlip");
675 verterr.X = 2.0f - verterr.X; 712 verterr.X = 2.0f - verterr.X;
676 verterr.Y = 2.0f - verterr.Y; 713 verterr.Y = 2.0f - verterr.Y;
677 } 714 }
678 // Error is 0 (no error) to +/- 2 (max error) 715 verterr *= 0.5f;
679 // scale it by VAservo 716 // verterror is 0 (no error) to +/- 1 (max error at 180-deg tilt)
680 verterr = verterr * VAservo; 717
718 if ((!angObjectVel.ApproxEquals(Vector3.Zero, 0.001f)) || (verterr.Z < 0.49f))
719 {
720//if(frcount == 0)
721 // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
722 // Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
723 vertattr.X = verterr.Y;
724 vertattr.Y = - verterr.X;
725 vertattr.Z = 0f;
681//if(frcount == 0) Console.WriteLine("VAerr=" + verterr); 726//if(frcount == 0) Console.WriteLine("VAerr=" + verterr);
682 727
683 // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so 728 // scaling appears better usingsquare-law
684 // Change Body angular velocity X based on Y, and Y based on X. Z is not changed. 729 float damped = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency;
685 vertattr.X = verterr.Y; 730 float bounce = 1.0f - damped;
686 vertattr.Y = - verterr.X; 731 // 0 = crit damp, 1 = bouncy
687 vertattr.Z = 0f; 732 float oavz = angObjectVel.Z; // retain z velocity
688 733 angObjectVel = (angObjectVel + (vertattr * VAservo * 0.0333f)) * bounce; // The time-scaled correction, which sums, therefore is bouncy
689 // scaling appears better usingsquare-law 734 angObjectVel = angObjectVel + (vertattr * VAservo * 0.0667f * damped); // damped, good @ < 90.
690 float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); 735 angObjectVel.Z = oavz;
691 vertattr.X += bounce * angularVelocity.X; 736//if(frcount == 0) Console.WriteLine("VA+");
692 vertattr.Y += bounce * angularVelocity.Y; 737//Console.WriteLine("VAttr {0} OAvel {1}", vertattr, angObjectVel);
693 738 }
739 else
740 {
741 // else error is very small
742 angObjectVel.X = 0f;
743 angObjectVel.Y = 0f;
744//if(frcount == 0) Console.WriteLine("VA0");
745 }
694 } // else vertical attractor is off 746 } // else vertical attractor is off
747//if(frcount == 0) Console.WriteLine("V1 = {0}", angObjectVel);
748
749 if ( (! m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (! angObjectVel.ApproxEquals(Vector3.Zero, 0.01f)) )
750 { // if motor or object have motion
751 if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
752
753 if (m_angularMotorTimescale < 300.0f)
754 {
755 Vector3 attack_error = m_angularMotorDVel - angObjectVel;
756 float angfactor = m_angularMotorTimescale/pTimestep;
757 Vector3 attackAmount = (attack_error/angfactor);
758 angObjectVel += attackAmount;
759//if(frcount == 0) Console.WriteLine("Accel {0} Attk {1}",FrAaccel, attackAmount);
760//if(frcount == 0) Console.WriteLine("V2+= {0}", angObjectVel);
761 }
762
763 angObjectVel.X -= angObjectVel.X / (m_angularFrictionTimescale.X * 0.7f / pTimestep);
764 angObjectVel.Y -= angObjectVel.Y / (m_angularFrictionTimescale.Y * 0.7f / pTimestep);
765 angObjectVel.Z -= angObjectVel.Z / (m_angularFrictionTimescale.Z * 0.7f / pTimestep);
766 } // else no signif. motion
695 767
696 // m_lastVertAttractor = vertattr; 768//if(frcount == 0) Console.WriteLine("Dmotor {0} Obj {1}", m_angularMotorDVel, angObjectVel);
697
698 // Bank section tba 769 // Bank section tba
699 // Deflection section tba 770 // Deflection section tba
771//if(frcount == 0) Console.WriteLine("V3 = {0}", angObjectVel);
700 772
701 // Sum velocities 773 m_lastAngularVelocity = angObjectVel;
702 m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // tba: + bank + deflection 774/*
703 775 if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.0001f))
704 if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
705 { 776 {
706 if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); 777 if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
707 } 778 }
@@ -709,13 +780,12 @@ namespace OpenSim.Region.Physics.OdePlugin
709 { 780 {
710 m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. 781 m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
711 } 782 }
712 783 */
713 // apply friction
714 Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep);
715 m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
716
717 // Apply to the body 784 // Apply to the body
785// Vector3 aInc = m_lastAngularVelocity - initavel;
786//if(frcount == 0) Console.WriteLine("Inc {0}", aInc);
718 d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z); 787 d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
788//if(frcount == 0) Console.WriteLine("V4 = {0}", m_lastAngularVelocity);
719 789
720 } //end MoveAngular 790 } //end MoveAngular
721 } 791 }
diff --git a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
index 29a3dd9..8502aef 100644
--- a/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
+++ b/OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
@@ -2593,14 +2593,14 @@ Console.WriteLine(" JointCreateFixed");
2593 { 2593 {
2594 get 2594 get
2595 { 2595 {
2596 Vector3 pv = Vector3.Zero; 2596/* Vector3 pv = Vector3.Zero;
2597 if (_zeroFlag) 2597 if (_zeroFlag)
2598 return pv; 2598 return pv;
2599 m_lastUpdateSent = false; 2599 m_lastUpdateSent = false;
2600 2600
2601 if (m_rotationalVelocity.ApproxEquals(pv, 0.2f)) 2601 if (m_rotationalVelocity.ApproxEquals(pv, 0.2f))
2602 return pv; 2602 return pv;
2603 2603*/
2604 return m_rotationalVelocity; 2604 return m_rotationalVelocity;
2605 } 2605 }
2606 set 2606 set
@@ -2827,14 +2827,15 @@ Console.WriteLine(" JointCreateFixed");
2827 _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f); 2827 _acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f);
2828 //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString()); 2828 //m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
2829 2829
2830 if (_velocity.ApproxEquals(pv, 0.5f)) 2830// if (_velocity.ApproxEquals(pv, 0.5f)) ???? Disregard rotational vel if lin vel is < 0.5 ?????
2831 { 2831// {
2832 m_rotationalVelocity = pv; 2832// m_rotationalVelocity = pv;/
2833 } 2833
2834 else 2834// }
2835 { 2835// else
2836// {
2836 m_rotationalVelocity = new Vector3(rotvel.X, rotvel.Y, rotvel.Z); 2837 m_rotationalVelocity = new Vector3(rotvel.X, rotvel.Y, rotvel.Z);
2837 } 2838// }
2838 2839
2839 //m_log.Debug("ODE: " + m_rotationalVelocity.ToString()); 2840 //m_log.Debug("ODE: " + m_rotationalVelocity.ToString());
2840 _orientation.X = ori.X; 2841 _orientation.X = ori.X;
generated by cgit v1.1 at 2024-11-15 14:11:02 +0000