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-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs187
1 files changed, 127 insertions, 60 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index eb20eb3..c197e61 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -57,7 +57,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
57 private int frcount = 0; // Used to limit dynamics debug output to 57 private int frcount = 0; // Used to limit dynamics debug output to
58 // every 100th frame 58 // every 100th frame
59 59
60 // private BSScene m_parentScene = null;
61 private BSPrim m_prim; // the prim this dynamic controller belongs to 60 private BSPrim m_prim; // the prim this dynamic controller belongs to
62 61
63 // Vehicle properties 62 // Vehicle properties
@@ -131,8 +130,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
131 m_type = Vehicle.TYPE_NONE; 130 m_type = Vehicle.TYPE_NONE;
132 } 131 }
133 132
134 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) 133 internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue, float timestep)
135 { 134 {
135 DetailLog("{0},ProcessFloatVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
136 switch (pParam) 136 switch (pParam)
137 { 137 {
138 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: 138 case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY:
@@ -229,8 +229,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
229 } 229 }
230 }//end ProcessFloatVehicleParam 230 }//end ProcessFloatVehicleParam
231 231
232 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue) 232 internal void ProcessVectorVehicleParam(Vehicle pParam, Vector3 pValue, float timestep)
233 { 233 {
234 DetailLog("{0},ProcessVectorVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
234 switch (pParam) 235 switch (pParam)
235 { 236 {
236 case Vehicle.ANGULAR_FRICTION_TIMESCALE: 237 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
@@ -265,6 +266,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
265 266
266 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) 267 internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue)
267 { 268 {
269 DetailLog("{0},ProcessRotationalVehicleParam,param={1},val={2}", m_prim.LocalID, pParam, pValue);
268 switch (pParam) 270 switch (pParam)
269 { 271 {
270 case Vehicle.REFERENCE_FRAME: 272 case Vehicle.REFERENCE_FRAME:
@@ -278,6 +280,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
278 280
279 internal void ProcessVehicleFlags(int pParam, bool remove) 281 internal void ProcessVehicleFlags(int pParam, bool remove)
280 { 282 {
283 DetailLog("{0},ProcessVehicleFlags,param={1},remove={2}", m_prim.LocalID, pParam, remove);
281 if (remove) 284 if (remove)
282 { 285 {
283 if (pParam == -1) 286 if (pParam == -1)
@@ -434,6 +437,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
434 437
435 internal void ProcessTypeChange(Vehicle pType) 438 internal void ProcessTypeChange(Vehicle pType)
436 { 439 {
440 DetailLog("{0},ProcessTypeChange,type={1}", m_prim.LocalID, pType);
437 // Set Defaults For Type 441 // Set Defaults For Type
438 m_type = pType; 442 m_type = pType;
439 switch (pType) 443 switch (pType)
@@ -594,11 +598,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
594 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); 598 m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY);
595 m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT); 599 m_Hoverflags |= (VehicleFlag.HOVER_GLOBAL_HEIGHT);
596 break; 600 break;
597
598 } 601 }
599 }//end SetDefaultsForType 602 }//end SetDefaultsForType
600 603
601 internal void Step(float pTimestep, BSScene pParentScene) 604 internal void Step(float pTimestep)
602 { 605 {
603 if (m_type == Vehicle.TYPE_NONE) return; 606 if (m_type == Vehicle.TYPE_NONE) return;
604 607
@@ -606,21 +609,34 @@ namespace OpenSim.Region.Physics.BulletSPlugin
606 if (frcount > 100) 609 if (frcount > 100)
607 frcount = 0; 610 frcount = 0;
608 611
609 MoveLinear(pTimestep, pParentScene); 612 MoveLinear(pTimestep);
610 MoveAngular(pTimestep); 613 MoveAngular(pTimestep);
611 LimitRotation(pTimestep); 614 LimitRotation(pTimestep);
615
616 DetailLog("{0},Dynamics,done,pos={1},force={2},velocity={3},angvel={4}",
617 m_prim.LocalID, m_prim.Position, m_prim.Force, m_prim.Velocity, m_prim.RotationalVelocity);
612 }// end Step 618 }// end Step
613 619
614 private void MoveLinear(float pTimestep, BSScene _pParentScene) 620 private void MoveLinear(float pTimestep)
615 { 621 {
616 if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant 622 // requested m_linearMotorDirection is significant
623 // if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))
624 if (m_linearMotorDirection.LengthSquared() > 0.0001f)
617 { 625 {
626 Vector3 origDir = m_linearMotorDirection;
627 Vector3 origVel = m_lastLinearVelocityVector;
628
618 // add drive to body 629 // add drive to body
619 Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); 630 // Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
620 m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector? 631 Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale);
632 // lastLinearVelocityVector is the current body velocity vector?
633 // RA: Not sure what the *10 is for. A correction for pTimestep?
634 // m_lastLinearVelocityVector += (addAmount*10);
635 m_lastLinearVelocityVector += addAmount;
621 636
622 // This will work temporarily, but we really need to compare speed on an axis 637 // This will work temporarily, but we really need to compare speed on an axis
623 // KF: Limit body velocity to applied velocity? 638 // KF: Limit body velocity to applied velocity?
639 // Limit the velocity vector to less than the last set linear motor direction
624 if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X)) 640 if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
625 m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X; 641 m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
626 if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y)) 642 if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
@@ -630,76 +646,93 @@ namespace OpenSim.Region.Physics.BulletSPlugin
630 646
631 // decay applied velocity 647 // decay applied velocity
632 Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep))); 648 Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
633 //Console.WriteLine("decay: " + decayfraction);
634 m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f; 649 m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
635 //Console.WriteLine("actual: " + m_linearMotorDirection); 650
651 /*
652 Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/m_linearMotorTimescale;
653 m_lastLinearVelocityVector += addAmount;
654
655 float decayfraction = (1.0f - 1.0f / m_linearMotorDecayTimescale);
656 m_linearMotorDirection *= decayfraction;
657
658 */
659
660 DetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},decay={4},dir={5},vel={6}",
661 m_prim.LocalID, origDir, origVel, addAmount, decayfraction, m_linearMotorDirection, m_lastLinearVelocityVector);
636 } 662 }
637 else 663 else
638 { // requested is not significant 664 {
639 // if what remains of applied is small, zero it. 665 // if what remains of applied is small, zero it.
640 if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f)) 666 // if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
641 m_lastLinearVelocityVector = Vector3.Zero; 667 // m_lastLinearVelocityVector = Vector3.Zero;
668 m_linearMotorDirection = Vector3.Zero;
669 m_lastLinearVelocityVector = Vector3.Zero;
642 } 670 }
643 671
644 // convert requested object velocity to world-referenced vector 672 // convert requested object velocity to world-referenced vector
645 m_dir = m_lastLinearVelocityVector; 673 Quaternion rotq = m_prim.Orientation;
646 Quaternion rot = m_prim.Orientation; 674 m_dir = m_lastLinearVelocityVector * rotq;
647 Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object 675
648 m_dir *= rotq; // apply obj rotation to velocity vector 676 // Add the various forces into m_dir which will be our new direction vector (velocity)
649 677
650 // add Gravity andBuoyancy 678 // add Gravity and Buoyancy
651 // KF: So far I have found no good method to combine a script-requested 679 // KF: So far I have found no good method to combine a script-requested
652 // .Z velocity and gravity. Therefore only 0g will used script-requested 680 // .Z velocity and gravity. Therefore only 0g will used script-requested
653 // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only. 681 // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
654 Vector3 grav = Vector3.Zero; 682 Vector3 grav = Vector3.Zero;
655 // There is some gravity, make a gravity force vector 683 // There is some gravity, make a gravity force vector that is applied after object velocity.
656 // that is applied after object velocity.
657 float objMass = m_prim.Mass;
658 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; 684 // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
659 grav.Z = _pParentScene.DefaultGravity.Z * objMass * (1f - m_VehicleBuoyancy); 685 grav.Z = m_prim.Scene.DefaultGravity.Z * m_prim.Mass * (1f - m_VehicleBuoyancy);
660 // Preserve the current Z velocity 686 // Preserve the current Z velocity
661 Vector3 vel_now = m_prim.Velocity; 687 Vector3 vel_now = m_prim.Velocity;
662 m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity 688 m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
663 689
664 Vector3 pos = m_prim.Position; 690 Vector3 pos = m_prim.Position;
691 Vector3 posChange = pos;
665// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f); 692// Vector3 accel = new Vector3(-(m_dir.X - m_lastLinearVelocityVector.X / 0.1f), -(m_dir.Y - m_lastLinearVelocityVector.Y / 0.1f), m_dir.Z - m_lastLinearVelocityVector.Z / 0.1f);
666 Vector3 posChange = new Vector3();
667 posChange.X = pos.X - m_lastPositionVector.X;
668 posChange.Y = pos.Y - m_lastPositionVector.Y;
669 posChange.Z = pos.Z - m_lastPositionVector.Z;
670 double Zchange = Math.Abs(posChange.Z); 693 double Zchange = Math.Abs(posChange.Z);
671 if (m_BlockingEndPoint != Vector3.Zero) 694 if (m_BlockingEndPoint != Vector3.Zero)
672 { 695 {
696 bool changed = false;
673 if (pos.X >= (m_BlockingEndPoint.X - (float)1)) 697 if (pos.X >= (m_BlockingEndPoint.X - (float)1))
674 { 698 {
675 pos.X -= posChange.X + 1; 699 pos.X -= posChange.X + 1;
676 m_prim.Position = pos; 700 changed = true;
677 } 701 }
678 if (pos.Y >= (m_BlockingEndPoint.Y - (float)1)) 702 if (pos.Y >= (m_BlockingEndPoint.Y - (float)1))
679 { 703 {
680 pos.Y -= posChange.Y + 1; 704 pos.Y -= posChange.Y + 1;
681 m_prim.Position = pos; 705 changed = true;
682 } 706 }
683 if (pos.Z >= (m_BlockingEndPoint.Z - (float)1)) 707 if (pos.Z >= (m_BlockingEndPoint.Z - (float)1))
684 { 708 {
685 pos.Z -= posChange.Z + 1; 709 pos.Z -= posChange.Z + 1;
686 m_prim.Position = pos; 710 changed = true;
687 } 711 }
688 if (pos.X <= 0) 712 if (pos.X <= 0)
689 { 713 {
690 pos.X += posChange.X + 1; 714 pos.X += posChange.X + 1;
691 m_prim.Position = pos; 715 changed = true;
692 } 716 }
693 if (pos.Y <= 0) 717 if (pos.Y <= 0)
694 { 718 {
695 pos.Y += posChange.Y + 1; 719 pos.Y += posChange.Y + 1;
720 changed = true;
721 }
722 if (changed)
723 {
696 m_prim.Position = pos; 724 m_prim.Position = pos;
725 DetailLog("{0},MoveLinear,blockingEndPoint,block={1},origPos={2},pos={3}",
726 m_prim.LocalID, m_BlockingEndPoint, posChange, pos);
697 } 727 }
698 } 728 }
699 if (pos.Z < _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y)) 729
730 // If below the terrain, move us above the ground a little.
731 if (pos.Z < m_prim.Scene.GetTerrainHeightAtXYZ(pos))
700 { 732 {
701 pos.Z = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + 2; 733 pos.Z = m_prim.Scene.GetTerrainHeightAtXYZ(pos) + 2;
702 m_prim.Position = pos; 734 m_prim.Position = pos;
735 DetailLog("{0},MoveLinear,terrainHeight,pos={1}", m_prim.LocalID, pos);
703 } 736 }
704 737
705 // Check if hovering 738 // Check if hovering
@@ -708,11 +741,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
708 // We should hover, get the target height 741 // We should hover, get the target height
709 if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0) 742 if ((m_Hoverflags & VehicleFlag.HOVER_WATER_ONLY) != 0)
710 { 743 {
711 m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight; 744 m_VhoverTargetHeight = m_prim.Scene.GetWaterLevel() + m_VhoverHeight;
712 } 745 }
713 if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0) 746 if ((m_Hoverflags & VehicleFlag.HOVER_TERRAIN_ONLY) != 0)
714 { 747 {
715 m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; 748 m_VhoverTargetHeight = m_prim.Scene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight;
716 } 749 }
717 if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0) 750 if ((m_Hoverflags & VehicleFlag.HOVER_GLOBAL_HEIGHT) != 0)
718 { 751 {
@@ -746,6 +779,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
746 } 779 }
747 } 780 }
748 781
782 DetailLog("{0},MoveLinear,hover,pos={1},dir={2},height={3},target={4}", m_prim.LocalID, pos, m_dir, m_VhoverHeight, m_VhoverTargetHeight);
783
749// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped 784// m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped
750// m_VhoverTimescale = 0f; // time to acheive height 785// m_VhoverTimescale = 0f; // time to acheive height
751// pTimestep is time since last frame,in secs 786// pTimestep is time since last frame,in secs
@@ -774,12 +809,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
774 { 809 {
775 grav.Z = (float)(grav.Z * 1.125); 810 grav.Z = (float)(grav.Z * 1.125);
776 } 811 }
777 float terraintemp = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y); 812 float terraintemp = m_prim.Scene.GetTerrainHeightAtXYZ(pos);
778 float postemp = (pos.Z - terraintemp); 813 float postemp = (pos.Z - terraintemp);
779 if (postemp > 2.5f) 814 if (postemp > 2.5f)
780 { 815 {
781 grav.Z = (float)(grav.Z * 1.037125); 816 grav.Z = (float)(grav.Z * 1.037125);
782 } 817 }
818 DetailLog("{0},MoveLinear,limitMotorUp,grav={1}", m_prim.LocalID, grav);
783 //End Experimental Values 819 //End Experimental Values
784 } 820 }
785 if ((m_flags & (VehicleFlag.NO_X)) != 0) 821 if ((m_flags & (VehicleFlag.NO_X)) != 0)
@@ -800,32 +836,39 @@ namespace OpenSim.Region.Physics.BulletSPlugin
800 // Apply velocity 836 // Apply velocity
801 m_prim.Velocity = m_dir; 837 m_prim.Velocity = m_dir;
802 // apply gravity force 838 // apply gravity force
803 m_prim.Force = grav; 839 // Why is this set here? The physics engine already does gravity.
804 840 // m_prim.AddForce(grav, false);
841 // m_prim.Force = grav;
805 842
806 // apply friction 843 // Apply friction
807 Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); 844 Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
808 m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; 845 m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
846
847 DetailLog("{0},MoveLinear,done,pos={1},vel={2},force={3},decay={4}",
848 m_prim.LocalID, m_lastPositionVector, m_dir, grav, decayamount);
849
809 } // end MoveLinear() 850 } // end MoveLinear()
810 851
811 private void MoveAngular(float pTimestep) 852 private void MoveAngular(float pTimestep)
812 { 853 {
813 /* 854 // m_angularMotorDirection // angular velocity requested by LSL motor
814 private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor 855 // m_angularMotorApply // application frame counter
815 private int m_angularMotorApply = 0; // application frame counter 856 // m_angularMotorVelocity // current angular motor velocity (ramps up and down)
816 private float m_angularMotorVelocity = 0; // current angular motor velocity (ramps up and down) 857 // m_angularMotorTimescale // motor angular velocity ramp up rate
817 private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate 858 // m_angularMotorDecayTimescale // motor angular velocity decay rate
818 private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate 859 // m_angularFrictionTimescale // body angular velocity decay rate
819 private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate 860 // m_lastAngularVelocity // what was last applied to body
820 private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
821 */
822 861
823 // Get what the body is doing, this includes 'external' influences 862 // Get what the body is doing, this includes 'external' influences
824 Vector3 angularVelocity = m_prim.RotationalVelocity; 863 Vector3 angularVelocity = m_prim.RotationalVelocity;
825 // Vector3 angularVelocity = Vector3.Zero;
826 864
827 if (m_angularMotorApply > 0) 865 if (m_angularMotorApply > 0)
828 { 866 {
867 // Rather than snapping the angular motor velocity from the old value to
868 // a newly set velocity, this routine steps the value from the previous
869 // value (m_angularMotorVelocity) to the requested value (m_angularMotorDirection).
870 // There are m_angularMotorApply steps.
871 Vector3 origAngularVelocity = m_angularMotorVelocity;
829 // ramp up to new value 872 // ramp up to new value
830 // current velocity += error / (time to get there / step interval) 873 // current velocity += error / (time to get there / step interval)
831 // requested speed - last motor speed 874 // requested speed - last motor speed
@@ -833,23 +876,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin
833 m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep); 876 m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep);
834 m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep); 877 m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep);
835 878
879 DetailLog("{0},MoveAngular,angularMotorApply,apply={1},origvel={2},dir={3},vel={4}",
880 m_prim.LocalID,m_angularMotorApply,origAngularVelocity, m_angularMotorDirection, m_angularMotorVelocity);
881
836 m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected 882 m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected
837 // velocity may still be acheived. 883 // velocity may still be acheived.
838 } 884 }
839 else 885 else
840 { 886 {
841 // no motor recently applied, keep the body velocity 887 // No motor recently applied, keep the body velocity
842 /* m_angularMotorVelocity.X = angularVelocity.X;
843 m_angularMotorVelocity.Y = angularVelocity.Y;
844 m_angularMotorVelocity.Z = angularVelocity.Z; */
845
846 // and decay the velocity 888 // and decay the velocity
847 m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep); 889 m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep);
848 } // end motor section 890 } // end motor section
849 891
850 // Vertical attractor section 892 // Vertical attractor section
851 Vector3 vertattr = Vector3.Zero; 893 Vector3 vertattr = Vector3.Zero;
852
853 if (m_verticalAttractionTimescale < 300) 894 if (m_verticalAttractionTimescale < 300)
854 { 895 {
855 float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep); 896 float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep);
@@ -871,7 +912,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
871 // Error is 0 (no error) to +/- 2 (max error) 912 // Error is 0 (no error) to +/- 2 (max error)
872 // scale it by VAservo 913 // scale it by VAservo
873 verterr = verterr * VAservo; 914 verterr = verterr * VAservo;
874//if (frcount == 0) Console.WriteLine("VAerr=" + verterr);
875 915
876 // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so 916 // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
877 // Change Body angular velocity X based on Y, and Y based on X. Z is not changed. 917 // Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
@@ -884,11 +924,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
884 vertattr.X += bounce * angularVelocity.X; 924 vertattr.X += bounce * angularVelocity.X;
885 vertattr.Y += bounce * angularVelocity.Y; 925 vertattr.Y += bounce * angularVelocity.Y;
886 926
927 DetailLog("{0},MoveAngular,verticalAttraction,verterr={1},bounce={2},vertattr={3}",
928 m_prim.LocalID, verterr, bounce, vertattr);
929
887 } // else vertical attractor is off 930 } // else vertical attractor is off
888 931
889 // m_lastVertAttractor = vertattr; 932 // m_lastVertAttractor = vertattr;
890 933
891 // Bank section tba 934 // Bank section tba
935
892 // Deflection section tba 936 // Deflection section tba
893 937
894 // Sum velocities 938 // Sum velocities
@@ -898,11 +942,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
898 { 942 {
899 m_lastAngularVelocity.X = 0; 943 m_lastAngularVelocity.X = 0;
900 m_lastAngularVelocity.Y = 0; 944 m_lastAngularVelocity.Y = 0;
945 DetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity);
901 } 946 }
902 947
903 if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) 948 if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
904 { 949 {
905 m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. 950 m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
951 DetailLog("{0},MoveAngular,zeroSmallValues,lastAngular={1}", m_prim.LocalID, m_lastAngularVelocity);
906 } 952 }
907 953
908 // apply friction 954 // apply friction
@@ -912,10 +958,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
912 // Apply to the body 958 // Apply to the body
913 m_prim.RotationalVelocity = m_lastAngularVelocity; 959 m_prim.RotationalVelocity = m_lastAngularVelocity;
914 960
961 DetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", m_prim.LocalID, decayamount, m_lastAngularVelocity);
915 } //end MoveAngular 962 } //end MoveAngular
963
916 internal void LimitRotation(float timestep) 964 internal void LimitRotation(float timestep)
917 { 965 {
918 Quaternion rotq = m_prim.Orientation; // rotq = rotation of object 966 Quaternion rotq = m_prim.Orientation;
919 Quaternion m_rot = rotq; 967 Quaternion m_rot = rotq;
920 bool changed = false; 968 bool changed = false;
921 if (m_RollreferenceFrame != Quaternion.Identity) 969 if (m_RollreferenceFrame != Quaternion.Identity)
@@ -923,18 +971,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin
923 if (rotq.X >= m_RollreferenceFrame.X) 971 if (rotq.X >= m_RollreferenceFrame.X)
924 { 972 {
925 m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2); 973 m_rot.X = rotq.X - (m_RollreferenceFrame.X / 2);
974 changed = true;
926 } 975 }
927 if (rotq.Y >= m_RollreferenceFrame.Y) 976 if (rotq.Y >= m_RollreferenceFrame.Y)
928 { 977 {
929 m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2); 978 m_rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2);
979 changed = true;
930 } 980 }
931 if (rotq.X <= -m_RollreferenceFrame.X) 981 if (rotq.X <= -m_RollreferenceFrame.X)
932 { 982 {
933 m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2); 983 m_rot.X = rotq.X + (m_RollreferenceFrame.X / 2);
984 changed = true;
934 } 985 }
935 if (rotq.Y <= -m_RollreferenceFrame.Y) 986 if (rotq.Y <= -m_RollreferenceFrame.Y)
936 { 987 {
937 m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2); 988 m_rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2);
989 changed = true;
938 } 990 }
939 changed = true; 991 changed = true;
940 } 992 }
@@ -944,8 +996,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin
944 m_rot.Y = 0; 996 m_rot.Y = 0;
945 changed = true; 997 changed = true;
946 } 998 }
999 if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
1000 {
1001 m_rot.X = 0;
1002 m_rot.Y = 0;
1003 changed = true;
1004 }
947 if (changed) 1005 if (changed)
948 m_prim.Orientation = m_rot; 1006 m_prim.Orientation = m_rot;
1007
1008 DetailLog("{0},LimitRotation,done,changed={1},orig={2},new={3}", m_prim.LocalID, changed, rotq, m_rot);
1009 }
1010
1011 // Invoke the detailed logger and output something if it's enabled.
1012 private void DetailLog(string msg, params Object[] args)
1013 {
1014 if (m_prim.Scene.VehicleLoggingEnabled)
1015 m_prim.Scene.PhysicsLogging.Write(msg, args);
949 } 1016 }
950 } 1017 }
951} 1018}