From 9cc41d511872fcd74a074ab484db2b981f3f5676 Mon Sep 17 00:00:00 2001 From: Vegaslon Date: Tue, 9 Apr 2013 17:23:50 -0400 Subject: Another algorithm for AngularVerticalAttraction. This one Takes into account all rotations before it and makes the corrections more close to the time that sl does. Signed-off-by: Robert Adams --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 23 ++++++++++++++++++++++ 1 file changed, 23 insertions(+) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 0fd1f73..723be0b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1358,6 +1358,28 @@ namespace OpenSim.Region.Physics.BulletSPlugin // If vertical attaction timescale is reasonable if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff) { + //Another formula to try got from : + //http://answers.unity3d.com/questions/10425/how-to-stabilize-angular-motion-alignment-of-hover.html + Vector3 VehicleUpAxis = Vector3.UnitZ *VehicleOrientation; + //Flipping what was originally a timescale into a speed variable and then multiplying it by 2 since only computing half + //the distance between the angles. + float VerticalAttractionSpeed=(1/m_verticalAttractionTimescale)*2.0f; + //making a prediction of where the up axis will be when this is applied rather then where it is now this makes for a smoother + //adjustment and less fighting between the various forces + Vector3 predictedUp = VehicleUpAxis * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f); + //this is only half the distance to the target so it will take 2 seconds to complete the turn. + Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ); + //Scaling vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared + Vector3 vertContributionV=torqueVector * VerticalAttractionSpeed *VerticalAttractionSpeed; + VehicleRotationalVelocity += vertContributionV; + VDetailLog("{0}, MoveAngular,verticalAttraction,UpAxis={1},PredictedUp={2},torqueVector={3},contrib={4}", + ControllingPrim.LocalID, + VehicleUpAxis, + predictedUp, + torqueVector, + vertContributionV); + //===================================================================== + /* // Possible solution derived from a discussion at: // http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no @@ -1392,6 +1414,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin differenceAngle, correctionRotation, vertContributionV); + */ // =================================================================== /* -- cgit v1.1