From 67d5dbbb49fa44e433bc6f5448f1b3e16c242524 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Wed, 7 Nov 2012 15:28:06 -0800
Subject: BulletSim: add classes for physics motors. Eventually these will
 replace the manual code for vehicles and add PID functionality to avatar
 movement.

---
 OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs | 104 +++++++++++++++++++++++
 1 file changed, 104 insertions(+)
 create mode 100755 OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs

(limited to 'OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
new file mode 100755
index 0000000..bc6e4c4
--- /dev/null
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -0,0 +1,104 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+using OpenMetaverse;
+
+namespace OpenSim.Region.Physics.BulletSPlugin
+{
+public abstract class BSMotor
+{
+    public virtual void Reset() { }
+    public virtual void Zero() { }
+}
+// Can all the incremental stepping be replaced with motor classes?
+public class BSVMotor : BSMotor
+{
+    public Vector3 FrameOfReference { get; set; }
+    public Vector3 Offset { get; set; }
+
+    public float TimeScale { get; set; }
+    public float TargetValueDecayTimeScale { get; set; }
+    public Vector3 CurrentValueReductionTimescale { get; set; }
+    public float Efficiency { get; set; }
+
+    public Vector3 TargetValue { get; private set; }
+    public Vector3 CurrentValue { get; private set; }
+
+
+
+    BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)
+    {
+        TimeScale = timeScale;
+        TargetValueDecayTimeScale = decayTimeScale;
+        CurrentValueReductionTimescale = frictionTimeScale;
+        Efficiency = efficiency;
+    }
+    public void SetCurrent(Vector3 current)
+    {
+        CurrentValue = current;
+    }
+    public void SetTarget(Vector3 target)
+    {
+        TargetValue = target;
+    }
+    public Vector3 Step(float timeStep)
+    {
+        if (CurrentValue.LengthSquared() > 0.001f)
+        {
+            // Vector3 origDir = Target;       // DEBUG
+            // Vector3 origVel = CurrentValue;   // DEBUG
+
+            // Add (desiredVelocity - currentAppliedVelocity) / howLongItShouldTakeToComplete
+            Vector3 addAmount = (TargetValue - CurrentValue)/(TargetValue) * timeStep;
+            CurrentValue += addAmount;
+
+            float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
+            TargetValue *= (1f - decayFactor);
+
+            Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep;
+            CurrentValue *= (Vector3.One - frictionFactor);
+        }
+        else
+        {
+            // if what remains of direction is very small, zero it.
+            TargetValue = Vector3.Zero;
+            CurrentValue = Vector3.Zero;
+
+            // VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);
+        }
+        return CurrentValue;
+    }
+}
+
+public class BSFMotor : BSMotor
+{
+    public float TimeScale { get; set; }
+    public float DecayTimeScale { get; set; }
+    public float Friction { get; set; }
+    public float Efficiency { get; set; }
+
+    public float Target { get; private set; }
+    public float CurrentValue { get; private set; }
+
+    BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency)
+    {
+    }
+    public void SetCurrent(float target)
+    {
+    }
+    public void SetTarget(float target)
+    {
+    }
+    public float Step(float timeStep)
+    {
+        return 0f;
+    }
+}
+public class BSPIDMotor : BSMotor
+{
+    // TODO: write and use this one
+    BSPIDMotor()
+    {
+    }
+}
+}
-- 
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