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-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs33
1 files changed, 17 insertions, 16 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index d347159..96eaa6b 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. 1440 // Figure out the yaw value for this much roll.
1442 // Squared because that seems to give a good value 1441 // Squared because that seems to give a good value
1443 float yawAngle = (float)Math.Asin(rollComponents.Y * rollComponents.Y) * m_bankingEfficiency; 1442 // float yawAngle = (float)Math.Asin(rollComponents.X * rollComponents.X) * m_bankingEfficiency;
1444 1443 float yawAngle = m_angularMotorDirection.X * m_bankingEfficiency;
1445 // actual error = static turn error + dynamic turn error 1444 // actual error = static turn error + dynamic turn error
1446 float mixedYawAngle = yawAngle * (1f - m_bankingMix) + yawAngle * m_bankingMix * VehicleForwardSpeed; 1445 float mixedYawAngle =(yawAngle * (1f - m_bankingMix)) + ((yawAngle * m_bankingMix) * VehicleForwardSpeed);
1447 1446 // TODO: the banking effect should not go to infinity but what to limit it to? and what should happen when this is
1448 // TODO: the banking effect should not go to infinity but what to limit it to? 1447 // being added to a user defined yaw that is already PI*4?
1449 mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f); 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. 60 becouse 1 second is too fast with most user defined roll as PI*4
1455 bankingContributionV /= m_bankingTimescale; 1454 bankingContributionV /= m_bankingTimescale*60;
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);