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-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs19
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSParam.cs36
2 files changed, 23 insertions, 32 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 90482fd..94194b0 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -141,7 +141,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
141 // in changes by making enablement of debugging flags from INI file. 141 // in changes by making enablement of debugging flags from INI file.
142 public void SetupVehicleDebugging() 142 public void SetupVehicleDebugging()
143 { 143 {
144 enableAngularVerticalAttraction = true; 144 enableAngularVerticalAttraction = false;
145 enableAngularDeflection = false; 145 enableAngularDeflection = false;
146 enableAngularBanking = false; 146 enableAngularBanking = false;
147 if (BSParam.VehicleDebuggingEnabled != ConfigurationParameters.numericFalse) 147 if (BSParam.VehicleDebuggingEnabled != ConfigurationParameters.numericFalse)
@@ -803,7 +803,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
803 m_knownVelocity = Prim.ForceVelocity; 803 m_knownVelocity = Prim.ForceVelocity;
804 m_knownHas |= m_knownChangedVelocity; 804 m_knownHas |= m_knownChangedVelocity;
805 } 805 }
806 return (Vector3)m_knownVelocity; 806 return m_knownVelocity;
807 } 807 }
808 set 808 set
809 { 809 {
@@ -926,6 +926,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
926 // Called after the simulation step 926 // Called after the simulation step
927 internal void PostStep(float pTimestep) 927 internal void PostStep(float pTimestep)
928 { 928 {
929 if (!IsActive) return;
930
929 if (PhysicsScene.VehiclePhysicalLoggingEnabled) 931 if (PhysicsScene.VehiclePhysicalLoggingEnabled)
930 PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody); 932 PhysicsScene.PE.DumpRigidBody(PhysicsScene.World, Prim.PhysBody);
931 } 933 }
@@ -961,10 +963,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
961 // ================================================================== 963 // ==================================================================
962 // Clamp high or low velocities 964 // Clamp high or low velocities
963 float newVelocityLengthSq = VehicleVelocity.LengthSquared(); 965 float newVelocityLengthSq = VehicleVelocity.LengthSquared();
964 if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocity) 966 if (newVelocityLengthSq > BSParam.VehicleMaxLinearVelocitySq)
965 { 967 {
968 Vector3 origVelW = VehicleVelocity; // DEBUG DEBUG
966 VehicleVelocity /= VehicleVelocity.Length(); 969 VehicleVelocity /= VehicleVelocity.Length();
967 VehicleVelocity *= BSParam.VehicleMaxLinearVelocity; 970 VehicleVelocity *= BSParam.VehicleMaxLinearVelocity;
971 VDetailLog("{0}, MoveLinear,clampMax,origVelW={1},lenSq={2},maxVelSq={3},,newVelW={4}",
972 Prim.LocalID, origVelW, newVelocityLengthSq, BSParam.VehicleMaxLinearVelocitySq, VehicleVelocity);
968 } 973 }
969 else if (newVelocityLengthSq < 0.001f) 974 else if (newVelocityLengthSq < 0.001f)
970 VehicleVelocity = Vector3.Zero; 975 VehicleVelocity = Vector3.Zero;
@@ -1301,6 +1306,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1301 if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff) 1306 if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
1302 { 1307 {
1303 Vector3 vertContributionV = Vector3.Zero; 1308 Vector3 vertContributionV = Vector3.Zero;
1309 Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG
1304 1310
1305 // Take a vector pointing up and convert it from world to vehicle relative coords. 1311 // Take a vector pointing up and convert it from world to vehicle relative coords.
1306 Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; 1312 Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
@@ -1328,13 +1334,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1328 1334
1329 // 'vertContrbution' is now the necessary angular correction to correct tilt in one second. 1335 // 'vertContrbution' is now the necessary angular correction to correct tilt in one second.
1330 // Correction happens over a number of seconds. 1336 // Correction happens over a number of seconds.
1331 Vector3 unscaledContrib = vertContributionV; // DEBUG DEBUG 1337 Vector3 unscaledContribVerticalErrorV = vertContributionV; // DEBUG DEBUG
1332 vertContributionV /= m_verticalAttractionTimescale; 1338 vertContributionV /= m_verticalAttractionTimescale;
1333 1339
1334 VehicleRotationalVelocity += vertContributionV * VehicleOrientation; 1340 VehicleRotationalVelocity += vertContributionV * VehicleOrientation;
1335 1341
1336 VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}", 1342 VDetailLog("{0}, MoveAngular,verticalAttraction,,origRotVW={1},vertError={2},unscaledV={3},eff={4},ts={5},vertContribV={6}",
1337 Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV); 1343 Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV,
1344 m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV);
1338 } 1345 }
1339 } 1346 }
1340 1347
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 75eed86..4ece944 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -84,32 +84,16 @@ public static class BSParam
84 84
85 // Vehicle parameters 85 // Vehicle parameters
86 public static float VehicleMaxLinearVelocity { get; private set; } 86 public static float VehicleMaxLinearVelocity { get; private set; }
87 public static float VehicleMaxLinearVelocitySq { get; private set; }
87 public static float VehicleMaxAngularVelocity { get; private set; } 88 public static float VehicleMaxAngularVelocity { get; private set; }
89 public static float VehicleMaxAngularVelocitySq { get; private set; }
88 public static float VehicleAngularDamping { get; private set; } 90 public static float VehicleAngularDamping { get; private set; }
89 public static float VehicleFriction { get; private set; } 91 public static float VehicleFriction { get; private set; }
90 public static float VehicleRestitution { get; private set; } 92 public static float VehicleRestitution { get; private set; }
91 public static float VehicleLinearFactor { get; private set; } 93 public static float VehicleLinearFactor { get; private set; }
92 private static Vector3? vehicleLinearFactorV; 94 public static Vector3 VehicleLinearFactorV { get; private set; }
93 public static Vector3 VehicleLinearFactorV
94 {
95 get
96 {
97 if (!vehicleLinearFactorV.HasValue)
98 vehicleLinearFactorV = new Vector3(VehicleLinearFactor, VehicleLinearFactor, VehicleLinearFactor);
99 return (Vector3)vehicleLinearFactorV;
100 }
101 }
102 public static float VehicleAngularFactor { get; private set; } 95 public static float VehicleAngularFactor { get; private set; }
103 private static Vector3? vehicleAngularFactorV; 96 public static Vector3 VehicleAngularFactorV { get; private set; }
104 public static Vector3 VehicleAngularFactorV
105 {
106 get
107 {
108 if (!vehicleAngularFactorV.HasValue)
109 vehicleAngularFactorV = new Vector3(VehicleAngularFactor, VehicleAngularFactor, VehicleAngularFactor);
110 return (Vector3)vehicleAngularFactorV;
111 }
112 }
113 public static float VehicleGroundGravityFudge { get; private set; } 97 public static float VehicleGroundGravityFudge { get; private set; }
114 public static float VehicleDebuggingEnabled { get; private set; } 98 public static float VehicleDebuggingEnabled { get; private set; }
115 99
@@ -469,12 +453,12 @@ public static class BSParam
469 1000.0f, 453 1000.0f,
470 (s,cf,p,v) => { VehicleMaxLinearVelocity = cf.GetFloat(p, v); }, 454 (s,cf,p,v) => { VehicleMaxLinearVelocity = cf.GetFloat(p, v); },
471 (s) => { return (float)VehicleMaxLinearVelocity; }, 455 (s) => { return (float)VehicleMaxLinearVelocity; },
472 (s,p,l,v) => { VehicleMaxLinearVelocity = v; } ), 456 (s,p,l,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySq = v * v; } ),
473 new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle", 457 new ParameterDefn("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle",
474 12.0f, 458 12.0f,
475 (s,cf,p,v) => { VehicleMaxAngularVelocity = cf.GetFloat(p, v); }, 459 (s,cf,p,v) => { VehicleMaxAngularVelocity = cf.GetFloat(p, v); },
476 (s) => { return (float)VehicleMaxAngularVelocity; }, 460 (s) => { return (float)VehicleMaxAngularVelocity; },
477 (s,p,l,v) => { VehicleMaxAngularVelocity = v; } ), 461 (s,p,l,v) => { VehicleMaxAngularVelocity = v; VehicleMaxAngularVelocitySq = v * v; } ),
478 new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", 462 new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
479 0.0f, 463 0.0f,
480 (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, 464 (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
@@ -484,24 +468,24 @@ public static class BSParam
484 1.0f, 468 1.0f,
485 (s,cf,p,v) => { VehicleLinearFactor = cf.GetFloat(p, v); }, 469 (s,cf,p,v) => { VehicleLinearFactor = cf.GetFloat(p, v); },
486 (s) => { return VehicleLinearFactor; }, 470 (s) => { return VehicleLinearFactor; },
487 (s,p,l,v) => { VehicleLinearFactor = v; } ), 471 (s,p,l,v) => { VehicleLinearFactor = v; VehicleLinearFactorV = new Vector3(v, v, v); } ),
488 new ParameterDefn("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (0.0 - 1.0)", 472 new ParameterDefn("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (0.0 - 1.0)",
489 1.0f, 473 1.0f,
490 (s,cf,p,v) => { VehicleAngularFactor = cf.GetFloat(p, v); }, 474 (s,cf,p,v) => { VehicleAngularFactor = cf.GetFloat(p, v); },
491 (s) => { return VehicleAngularFactor; }, 475 (s) => { return VehicleAngularFactor; },
492 (s,p,l,v) => { VehicleAngularFactor = v; } ), 476 (s,p,l,v) => { VehicleAngularFactor = v; VehicleAngularFactorV = new Vector3(v, v, v); } ),
493 new ParameterDefn("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)", 477 new ParameterDefn("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)",
494 0.0f, 478 0.0f,
495 (s,cf,p,v) => { VehicleFriction = cf.GetFloat(p, v); }, 479 (s,cf,p,v) => { VehicleFriction = cf.GetFloat(p, v); },
496 (s) => { return VehicleFriction; }, 480 (s) => { return VehicleFriction; },
497 (s,p,l,v) => { VehicleFriction = v; } ), 481 (s,p,l,v) => { VehicleFriction = v; } ),
498 new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)", 482 new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
499 0.2f, 483 0.0f,
500 (s,cf,p,v) => { VehicleRestitution = cf.GetFloat(p, v); }, 484 (s,cf,p,v) => { VehicleRestitution = cf.GetFloat(p, v); },
501 (s) => { return VehicleRestitution; }, 485 (s) => { return VehicleRestitution; },
502 (s,p,l,v) => { VehicleRestitution = v; } ), 486 (s,p,l,v) => { VehicleRestitution = v; } ),
503 new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiple gravity if a ground vehicle is probably on the ground (0.0 - 1.0)", 487 new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiple gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
504 1.0f, 488 0.2f,
505 (s,cf,p,v) => { VehicleGroundGravityFudge = cf.GetFloat(p, v); }, 489 (s,cf,p,v) => { VehicleGroundGravityFudge = cf.GetFloat(p, v); },
506 (s) => { return VehicleGroundGravityFudge; }, 490 (s) => { return VehicleGroundGravityFudge; },
507 (s,p,l,v) => { VehicleGroundGravityFudge = v; } ), 491 (s,p,l,v) => { VehicleGroundGravityFudge = v; } ),