7 files changed, 47 insertions, 67 deletions

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
index 4e067b5..ac8c30c 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorAvatarMove.cs
@@ -118,7 +118,6 @@ public class BSActorAvatarMove : BSActor
             m_velocityMotor = new BSVMotor("BSCharacter.Velocity",
                                                 0.2f,                       // time scale
                                                 BSMotor.Infinite,           // decay time scale
-                                                BSMotor.InfiniteVector,     // friction timescale
                                                 1f                          // efficiency
             );
             // _velocityMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG so motor will output detail log messages.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
index 3630ca8..8a79809 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorHover.cs
@@ -102,7 +102,6 @@ public class BSActorHover : BSActor
             m_hoverMotor = new BSFMotor("BSActorHover",
                                         m_controllingPrim.HoverTau,               // timeScale
                                         BSMotor.Infinite,           // decay time scale
-                                        BSMotor.Infinite,           // friction timescale
                                         1f                          // efficiency
             );
             m_hoverMotor.SetTarget(ComputeCurrentHoverHeight());
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
index 1b598fd..75ff24e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorMoveToTarget.cs
@@ -105,7 +105,6 @@ public class BSActorMoveToTarget : BSActor
             m_targetMotor = new BSVMotor("BSActorMoveToTargget.Activate",
                                         m_controllingPrim.MoveToTargetTau,                    // timeScale
                                         BSMotor.Infinite,           // decay time scale
-                                        BSMotor.InfiniteVector,     // friction timescale
                                         1f                          // efficiency
             );
             m_targetMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG so motor will output detail log messages.
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
index c0f40fd..96fa0b6 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetForce.cs
@@ -101,7 +101,7 @@ public class BSActorSetForce : BSActor
         if (m_forceMotor == null)
         {
             // A fake motor that might be used someday
-            m_forceMotor = new BSFMotor("setForce", 1f, 1f, 1f, 1f);
+            m_forceMotor = new BSFMotor("setForce", 1f, 1f, 1f);
 
             m_physicsScene.BeforeStep += Mover;
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
index b3806e1..65098e1 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSActorSetTorque.cs
@@ -101,7 +101,7 @@ public class BSActorSetTorque : BSActor
         if (m_torqueMotor == null)
         {
             // A fake motor that might be used someday
-            m_torqueMotor = new BSFMotor("setTorque", 1f, 1f, 1f, 1f);
+            m_torqueMotor = new BSFMotor("setTorque", 1f, 1f, 1f);
 
             m_physicsScene.BeforeStep += Mover;
         }
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 0dd2aa5..272a162 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -235,7 +235,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                 // set all of the components to the same value
                 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
                     m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
-                    m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
                     break;
                 case Vehicle.ANGULAR_MOTOR_DIRECTION:
                     m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
@@ -244,7 +243,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     break;
                 case Vehicle.LINEAR_FRICTION_TIMESCALE:
                     m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
-                    m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
                     break;
                 case Vehicle.LINEAR_MOTOR_DIRECTION:
                     m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
@@ -265,7 +263,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             {
                 case Vehicle.ANGULAR_FRICTION_TIMESCALE:
                     m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
                     break;
                 case Vehicle.ANGULAR_MOTOR_DIRECTION:
                     // Limit requested angular speed to 2 rps= 4 pi rads/sec
@@ -278,7 +275,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     break;
                 case Vehicle.LINEAR_FRICTION_TIMESCALE:
                     m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
-                    m_linearMotor.FrictionTimescale = m_linearFrictionTimescale;
                     break;
                 case Vehicle.LINEAR_MOTOR_DIRECTION:
                     m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
@@ -559,14 +555,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                     break;
             }
 
-            m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale,
-                                m_linearMotorDecayTimescale, m_linearFrictionTimescale,
-                                1f);
+            m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, m_linearMotorDecayTimescale, 1f);
             m_linearMotor.PhysicsScene = m_physicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
 
-            m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale,
-                                m_angularMotorDecayTimescale, m_angularFrictionTimescale,
-                                1f);
+            m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, m_angularMotorDecayTimescale, 1f);
             m_angularMotor.PhysicsScene = m_physicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
 
             /*  Not implemented
@@ -574,7 +566,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
                                 BSMotor.Infinite, BSMotor.InfiniteVector,
                                 m_verticalAttractionEfficiency);
             // Z goes away and we keep X and Y
-            m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f);
             m_verticalAttractionMotor.PhysicsScene = PhysicsScene;  // DEBUG DEBUG DEBUG (enables detail logging)
              */
 
@@ -1050,8 +1041,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // Add this correction to the velocity to make it faster/slower.
             VehicleVelocity += linearMotorVelocityW;
 
-            VDetailLog("{0},  MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5}",
-                        ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity);
+            // Friction reduces vehicle motion
+            Vector3 frictionFactor = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep);
+            VehicleVelocity -= (VehicleVelocity * frictionFactor);
+
+            VDetailLog("{0},  MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}",
+                        ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV,
+                        linearMotorVelocityW, VehicleVelocity, frictionFactor);
         }
 
         public void ComputeLinearTerrainHeightCorrection(float pTimestep)
@@ -1342,6 +1338,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
           //  }
 
             VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation;
+
+            // Reduce any velocity by friction.
+            Vector3 frictionFactor = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep);
+            VehicleRotationalVelocity -= (VehicleRotationalVelocity * frictionFactor);
+
             VDetailLog("{0},  MoveAngular,angularTurning,angularMotorContrib={1}", ControllingPrim.LocalID, angularMotorContributionV);
         }
 
@@ -1629,6 +1630,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
         }
 
+        // Given a friction vector (reduction in seconds) and a timestep, return the factor to reduce
+        //     some value by to apply this friction.
+        private Vector3 ComputeFrictionFactor(Vector3 friction, float pTimestep)
+        {
+            Vector3 frictionFactor = Vector3.Zero;
+            if (friction != BSMotor.InfiniteVector)
+            {
+                // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
+                // Individual friction components can be 'infinite' so compute each separately.
+                frictionFactor.X = (friction.X == BSMotor.Infinite) ? 0f : (1f / friction.X);
+                frictionFactor.Y = (friction.Y == BSMotor.Infinite) ? 0f : (1f / friction.Y);
+                frictionFactor.Z = (friction.Z == BSMotor.Infinite) ? 0f : (1f / friction.Z);
+                frictionFactor *= pTimestep;
+            }
+            return frictionFactor;
+        }
+
         private float ClampInRange(float low, float val, float high)
         {
             return Math.Max(low, Math.Min(val, high));
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index 0128d8d..ef662b5 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -65,13 +65,11 @@ public abstract class BSMotor
 }
 
 // Motor which moves CurrentValue to TargetValue over TimeScale seconds.
-// The TargetValue decays in TargetValueDecayTimeScale and
-//     the CurrentValue will be held back by FrictionTimeScale.
+// The TargetValue decays in TargetValueDecayTimeScale.
 // This motor will "zero itself" over time in that the targetValue will
 //    decay to zero and the currentValue will follow it to that zero.
 //    The overall effect is for the returned correction value to go from large
-//    values (the total difference between current and target minus friction)
-//    to small and eventually zero values.
+//    values to small and eventually zero values.
 // TimeScale and TargetDelayTimeScale may be 'infinite' which means no decay.
 
 // For instance, if something is moving at speed X and the desired speed is Y,
@@ -88,7 +86,6 @@ public class BSVMotor : BSMotor
 
     public virtual float TimeScale { get; set; }
     public virtual float TargetValueDecayTimeScale { get; set; }
-    public virtual Vector3 FrictionTimescale { get; set; }
     public virtual float Efficiency { get; set; }
 
     public virtual float ErrorZeroThreshold { get; set; }
@@ -111,16 +108,14 @@ public class BSVMotor : BSMotor
     {
         TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
         Efficiency = 1f;
-        FrictionTimescale = BSMotor.InfiniteVector;
         CurrentValue = TargetValue = Vector3.Zero;
         ErrorZeroThreshold = 0.001f;
     }
-    public BSVMotor(string useName, float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)
+    public BSVMotor(string useName, float timeScale, float decayTimeScale, float efficiency)
         : this(useName)
     {
         TimeScale = timeScale;
         TargetValueDecayTimeScale = decayTimeScale;
-        FrictionTimescale = frictionTimeScale;
         Efficiency = efficiency;
         CurrentValue = TargetValue = Vector3.Zero;
     }
@@ -165,26 +160,11 @@ public class BSVMotor : BSMotor
                 TargetValue *= (1f - decayFactor);
             }
 
-            // The amount we can correct the error is reduced by the friction
-            Vector3 frictionFactor = Vector3.Zero;
-            if (FrictionTimescale != BSMotor.InfiniteVector)
-            {
-                // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
-                // Individual friction components can be 'infinite' so compute each separately.
-                frictionFactor.X = (FrictionTimescale.X == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.X);
-                frictionFactor.Y = (FrictionTimescale.Y == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Y);
-                frictionFactor.Z = (FrictionTimescale.Z == BSMotor.Infinite) ? 0f : (1f / FrictionTimescale.Z);
-                frictionFactor *= timeStep;
-                CurrentValue *= (Vector3.One - frictionFactor);
-            }
-
             MDetailLog("{0},  BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
                                 BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
                                 timeStep, error, correction);
-            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}",
-                                BSScene.DetailLogZero, UseName,
-                                TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor,
-                                TargetValue, CurrentValue);
+            MDetailLog("{0},  BSVMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},tgt={4},curr={5}",
+                                BSScene.DetailLogZero, UseName, TargetValueDecayTimeScale, decayFactor, TargetValue, CurrentValue);
         }
         else
         {
@@ -235,9 +215,9 @@ public class BSVMotor : BSMotor
         // maximum number of outputs to generate.
         int maxOutput = 50;
         MDetailLog("{0},BSVMotor.Test,{1},===================================== BEGIN Test Output", BSScene.DetailLogZero, UseName);
-        MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},frictTS={4},eff={5},curr={6},tgt={7}",
+        MDetailLog("{0},BSVMotor.Test,{1},timeScale={2},targDlyTS={3},eff={4},curr={5},tgt={6}",
                                 BSScene.DetailLogZero, UseName,
-                                TimeScale, TargetValueDecayTimeScale, FrictionTimescale, Efficiency,
+                                TimeScale, TargetValueDecayTimeScale, Efficiency,
                                 CurrentValue, TargetValue);
 
         LastError = BSMotor.InfiniteVector;
@@ -254,8 +234,8 @@ public class BSVMotor : BSMotor
 
     public override string ToString()
     {
-        return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4},frictTS={5}>",
-            UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale, FrictionTimescale);
+        return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4}>",
+            UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale);
     }
 }
 
@@ -265,7 +245,6 @@ public class BSFMotor : BSMotor
 {
     public virtual float TimeScale { get; set; }
     public virtual float TargetValueDecayTimeScale { get; set; }
-    public virtual float FrictionTimescale { get; set; }
     public virtual float Efficiency { get; set; }
 
     public virtual float ErrorZeroThreshold { get; set; }
@@ -283,12 +262,11 @@ public class BSFMotor : BSMotor
         return (err >= -ErrorZeroThreshold && err <= ErrorZeroThreshold);
     }
 
-    public BSFMotor(string useName, float timeScale, float decayTimescale, float friction, float efficiency)
+    public BSFMotor(string useName, float timeScale, float decayTimescale, float efficiency)
         : base(useName)
     {
         TimeScale = TargetValueDecayTimeScale = BSMotor.Infinite;
         Efficiency = 1f;
-        FrictionTimescale = BSMotor.Infinite;
         CurrentValue = TargetValue = 0f;
         ErrorZeroThreshold = 0.01f;
     }
@@ -331,24 +309,11 @@ public class BSFMotor : BSMotor
                 TargetValue *= (1f - decayFactor);
             }
 
-            // The amount we can correct the error is reduced by the friction
-            float frictionFactor = 0f;
-            if (FrictionTimescale != BSMotor.Infinite)
-            {
-                // frictionFactor = (Vector3.One / FrictionTimescale) * timeStep;
-                // Individual friction components can be 'infinite' so compute each separately.
-                frictionFactor = 1f / FrictionTimescale;
-                frictionFactor *= timeStep;
-                CurrentValue *= (1f - frictionFactor);
-            }
-
             MDetailLog("{0},  BSFMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},err={5},corr={6}",
                                 BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
                                 timeStep, error, correction);
-            MDetailLog("{0},  BSFMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},frictTS={4},frictFact={5},tgt={6},curr={7}",
-                                BSScene.DetailLogZero, UseName,
-                                TargetValueDecayTimeScale, decayFactor, FrictionTimescale, frictionFactor,
-                                TargetValue, CurrentValue);
+            MDetailLog("{0},  BSFMotor.Step,nonZero,{1},tgtDecayTS={2},decayFact={3},tgt={4},curr={5}",
+                                BSScene.DetailLogZero, UseName, TargetValueDecayTimeScale, decayFactor, TargetValue, CurrentValue);
         }
         else
         {
@@ -390,8 +355,8 @@ public class BSFMotor : BSMotor
 
     public override string ToString()
     {
-        return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4},frictTS={5}>",
-            UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale, FrictionTimescale);
+        return String.Format("<{0},curr={1},targ={2},lastErr={3},decayTS={4}>",
+            UseName, CurrentValue, TargetValue, LastError, TargetValueDecayTimeScale);
     }
 
 }