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-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs3
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs41
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BSMotors.cs25
-rw-r--r--OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs2
-rwxr-xr-xOpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt3
5 files changed, 36 insertions, 38 deletions
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
index 478aeab..696c4bd 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
@@ -198,7 +198,8 @@ public sealed class BSCharacter : BSPhysObject
198 // TODO: Decide if the step parameters should be changed depending on the avatar's 198 // TODO: Decide if the step parameters should be changed depending on the avatar's
199 // state (flying, colliding, ...). There is code in ODE to do this. 199 // state (flying, colliding, ...). There is code in ODE to do this.
200 200
201 OMV.Vector3 stepVelocity = _velocityMotor.Step(timeStep); 201 _velocityMotor.Step(timeStep);
202 OMV.Vector3 stepVelocity = _velocityMotor.CurrentValue;
202 203
203 // If falling, we keep the world's downward vector no matter what the other axis specify. 204 // If falling, we keep the world's downward vector no matter what the other axis specify.
204 if (!Flying && !IsColliding) 205 if (!Flying && !IsColliding)
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index f2c7cec..7c9b83b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -957,39 +957,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin
957 957
958 public void ComputeLinearVelocity(float pTimestep) 958 public void ComputeLinearVelocity(float pTimestep)
959 { 959 {
960 Vector3 linearMotorStep = m_linearMotor.Step(pTimestep); 960 // Step the motor from the current value. Get the correction needed this step.
961 Vector3 currentVel = VehicleVelocity * Quaternion.Inverse(VehicleOrientation);
962 Vector3 linearMotorCorrection = m_linearMotor.Step(pTimestep, currentVel);
961 963
962 // The movement computed in the linear motor is relative to the vehicle 964 // Motor is vehicle coordinates. Rotate it to world coordinates
963 // coordinates. Rotate the movement to world coordinates. 965 Vector3 linearMotorVelocity = linearMotorCorrection * VehicleOrientation;
964 Vector3 linearMotorVelocity = linearMotorStep * VehicleOrientation;
965 966
966 // If we're a ground vehicle, don't loose any Z action (like gravity acceleration). 967 // If we're a ground vehicle, don't add any upward Z movement
967 float mixFactor = 1f; // 1 means use all linear motor Z value, 0 means use all existing Z
968 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0) 968 if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
969 { 969 {
970 if (!Prim.IsColliding) 970 if (linearMotorVelocity.Z > 0f)
971 { 971 linearMotorVelocity.Z = 0f;
972 // If a ground vehicle and not on the ground, I want gravity effect
973 mixFactor = 0.2f;
974 }
975 }
976 else
977 {
978 // I'm not a ground vehicle but don't totally loose the effect of the environment
979 mixFactor = 0.8f;
980 } 972 }
981 linearMotorVelocity.Z = mixFactor * linearMotorVelocity.Z + (1f - mixFactor) * VehicleVelocity.Z;
982
983 // What we want to contribute to the vehicle's existing velocity
984 Vector3 linearMotorForce = linearMotorVelocity - VehicleVelocity;
985
986 // Act against the inertia of the vehicle
987 linearMotorForce *= m_vehicleMass;
988 973
989 VehicleAddForceImpulse(linearMotorForce * pTimestep); 974 // Add this correction to the velocity to make it faster/slower.
975 VehicleVelocity += linearMotorVelocity;
990 976
991 VDetailLog("{0}, MoveLinear,velocity,vehVel={1},step={2},stepVel={3},mix={4},force={5}", 977 VDetailLog("{0}, MoveLinear,velocity,vehVel={1},correction={2},force={3}",
992 Prim.LocalID, VehicleVelocity, linearMotorStep, linearMotorVelocity, mixFactor, linearMotorForce); 978 Prim.LocalID, VehicleVelocity, linearMotorCorrection, linearMotorVelocity);
993 } 979 }
994 980
995 public void ComputeLinearTerrainHeightCorrection(float pTimestep) 981 public void ComputeLinearTerrainHeightCorrection(float pTimestep)
@@ -1204,6 +1190,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1204 { 1190 {
1205 // The user wants this many radians per second angular change? 1191 // The user wants this many radians per second angular change?
1206 Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); 1192 Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
1193 angularMotorContribution = m_angularMotor.CurrentValue;
1207 1194
1208 // ================================================================== 1195 // ==================================================================
1209 // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : 1196 // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
@@ -1234,7 +1221,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
1234 + deflectionContribution 1221 + deflectionContribution
1235 + bankingContribution; 1222 + bankingContribution;
1236 1223
1237 // Add of the above computation are made relative to vehicle coordinates. 1224 // All of the above computation are made relative to vehicle coordinates.
1238 // Convert to world coordinates. 1225 // Convert to world coordinates.
1239 m_lastAngularVelocity *= VehicleOrientation; 1226 m_lastAngularVelocity *= VehicleOrientation;
1240 1227
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index 6d0db2e..82fd2d2 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -138,7 +138,8 @@ public class BSVMotor : BSMotor
138 CurrentValue = TargetValue = Vector3.Zero; 138 CurrentValue = TargetValue = Vector3.Zero;
139 } 139 }
140 140
141 // Compute the next step and return the new current value 141 // Compute the next step and return the new current value.
142 // Returns the correction needed to move 'current' to 'target'.
142 public virtual Vector3 Step(float timeStep) 143 public virtual Vector3 Step(float timeStep)
143 { 144 {
144 if (!Enabled) return TargetValue; 145 if (!Enabled) return TargetValue;
@@ -150,7 +151,7 @@ public class BSVMotor : BSMotor
150 Vector3 error = TargetValue - CurrentValue; 151 Vector3 error = TargetValue - CurrentValue;
151 if (!ErrorIsZero(error)) 152 if (!ErrorIsZero(error))
152 { 153 {
153 correction = Step(timeStep, error); 154 correction = StepError(timeStep, error);
154 155
155 CurrentValue += correction; 156 CurrentValue += correction;
156 157
@@ -187,14 +188,20 @@ public class BSVMotor : BSMotor
187 else 188 else
188 { 189 {
189 // Difference between what we have and target is small. Motor is done. 190 // Difference between what we have and target is small. Motor is done.
190 CurrentValue = TargetValue; 191 CurrentValue = TargetValue = Vector3.Zero;
191 MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}", 192 MDetailLog("{0}, BSVMotor.Step,zero,{1},origTgt={2},origCurr={3},ret={4}",
192 BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue); 193 BSScene.DetailLogZero, UseName, origCurrVal, origTarget, CurrentValue);
193 } 194 }
194 195
195 return CurrentValue; 196 return correction;
197 }
198 // version of step that sets the current value before doing the step
199 public virtual Vector3 Step(float timeStep, Vector3 current)
200 {
201 CurrentValue = current;
202 return Step(timeStep);
196 } 203 }
197 public virtual Vector3 Step(float timeStep, Vector3 error) 204 public virtual Vector3 StepError(float timeStep, Vector3 error)
198 { 205 {
199 if (!Enabled) return Vector3.Zero; 206 if (!Enabled) return Vector3.Zero;
200 207
@@ -304,7 +311,7 @@ public class BSFMotor : BSMotor
304 float error = TargetValue - CurrentValue; 311 float error = TargetValue - CurrentValue;
305 if (!ErrorIsZero(error)) 312 if (!ErrorIsZero(error))
306 { 313 {
307 correction = Step(timeStep, error); 314 correction = StepError(timeStep, error);
308 315
309 CurrentValue += correction; 316 CurrentValue += correction;
310 317
@@ -347,7 +354,7 @@ public class BSFMotor : BSMotor
347 return CurrentValue; 354 return CurrentValue;
348 } 355 }
349 356
350 public virtual float Step(float timeStep, float error) 357 public virtual float StepError(float timeStep, float error)
351 { 358 {
352 if (!Enabled) return 0f; 359 if (!Enabled) return 0f;
353 360
@@ -440,8 +447,8 @@ public class BSPIDVMotor : BSVMotor
440 } 447 }
441 } 448 }
442 449
443 // Ignore Current and Target Values and just advance the PID computation on this error. 450 // Advance the PID computation on this error.
444 public override Vector3 Step(float timeStep, Vector3 error) 451 public override Vector3 StepError(float timeStep, Vector3 error)
445 { 452 {
446 if (!Enabled) return Vector3.Zero; 453 if (!Enabled) return Vector3.Zero;
447 454
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
index aaa6fe5..22afdc9 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
@@ -1082,7 +1082,7 @@ public sealed class BSPrim : BSPhysObject
1082 OMV.Vector3 origPosition = RawPosition; // DEBUG DEBUG (for printout below) 1082 OMV.Vector3 origPosition = RawPosition; // DEBUG DEBUG (for printout below)
1083 1083
1084 // 'movePosition' is where we'd like the prim to be at this moment. 1084 // 'movePosition' is where we'd like the prim to be at this moment.
1085 OMV.Vector3 movePosition = _targetMotor.Step(timeStep); 1085 OMV.Vector3 movePosition = RawPosition + _targetMotor.Step(timeStep);
1086 1086
1087 // If we are very close to our target, turn off the movement motor. 1087 // If we are very close to our target, turn off the movement motor.
1088 if (_targetMotor.ErrorIsZero()) 1088 if (_targetMotor.ErrorIsZero())
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
index 9bfec19..23b7ca8 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
+++ b/OpenSim/Region/Physics/BulletSPlugin/BulletSimTODO.txt
@@ -74,7 +74,10 @@ Incorporate inter-relationship of angular corrections. For instance, angularDefl
74GENERAL TODO LIST: 74GENERAL TODO LIST:
75================================================= 75=================================================
76Implement llSetPhysicalMaterial. 76Implement llSetPhysicalMaterial.
77 extend it with Center-of-mass, rolling friction, density
77Implement llSetForceAndTorque. 78Implement llSetForceAndTorque.
79Change BSPrim.moveToTarget to used forces rather than changing position
80 Changing position allows one to move through walls
78Implement an avatar mesh shape. The Bullet capsule is way too limited. 81Implement an avatar mesh shape. The Bullet capsule is way too limited.
79 Consider just hand creating a vertex/index array in a new BSShapeAvatar. 82 Consider just hand creating a vertex/index array in a new BSShapeAvatar.
80Verify/fix phantom, volume-detect objects do not fall to infinity. Should stop at terrain. 83Verify/fix phantom, volume-detect objects do not fall to infinity. Should stop at terrain.