From 8653ea93b2669a180beaedad8765bdeec385d501 Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 17 Dec 2012 13:51:39 -0800
Subject: BulletSim: apply friction to linear and angular motion before
 returning advanced motor value. This seems to be the problem with BulletSim
 vehicles turning too quickly. Also removed the configuration parameter that
 controlled the timestep scaling kludge for angular velocity that was added to
 research the question of quick turning.

---
 OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 6 ------
 OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs   | 4 ++--
 OpenSim/Region/Physics/BulletSPlugin/BSScene.cs    | 6 ------
 3 files changed, 2 insertions(+), 14 deletions(-)

(limited to 'OpenSim/Region/Physics/BulletSPlugin')

diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 48ba419..5887249 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -1051,12 +1051,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // ==================================================================
             m_lastVertAttractor = verticalAttractionContribution;
 
-            // DEBUG DEBUG DEBUG: optionally scale the angular velocity. Debugging SL vs ODE turning functions.
-            Vector3 originalAngularMotorContrib = angularMotorContribution;
-            if (PhysicsScene.VehicleScaleAngularVelocityByTimestep)
-                angularMotorContribution *= pTimestep;
-
-            // Sum corrections
             m_lastAngularVelocity = angularMotorContribution
                                     + verticalAttractionContribution
                                     + deflectionContribution
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
index cf0a9dc..e0faf4e 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
@@ -134,8 +134,6 @@ public class BSVMotor : BSMotor
             Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep;
             CurrentValue += addAmount;
 
-            returnCurrent = CurrentValue;
-
             // The desired value reduces to zero which also reduces the difference with current.
             // If the decay time is infinite, don't decay at all.
             float decayFactor = 0f;
@@ -156,6 +154,8 @@ public class BSVMotor : BSMotor
                 CurrentValue *= (Vector3.One - frictionFactor);
             }
 
+            returnCurrent = CurrentValue;
+
             MDetailLog("{0},  BSVMotor.Step,nonZero,{1},origCurr={2},origTarget={3},timeStep={4},timeScale={5},addAmnt={6},targetDecay={7},decayFact={8},fricTS={9},frictFact={10}",
                                 BSScene.DetailLogZero, UseName, origCurrVal, origTarget,
                                 timeStep, TimeScale, addAmount,
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index ebaf97e..069cb0d 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -189,7 +189,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
     // 'true' of the vehicle code is to log lots of details
     public bool VehicleLoggingEnabled { get; private set; }
     public bool VehiclePhysicalLoggingEnabled { get; private set; }
-    public bool VehicleScaleAngularVelocityByTimestep { get; private set; }
 
     #region Construction and Initialization
     public BSScene(string identifier)
@@ -1239,11 +1238,6 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
             (s,cf,p,v) => { s.m_params[0].vehicleAngularDamping = cf.GetFloat(p, v); },
             (s) => { return s.m_params[0].vehicleAngularDamping; },
             (s,p,l,v) => { s.m_params[0].vehicleAngularDamping = v; } ),
-        new ParameterDefn("VehicleScaleAngularVelocityByTimestep", "If true, scale angular turning by timestep",
-            ConfigurationParameters.numericTrue,
-            (s,cf,p,v) => { s.VehicleScaleAngularVelocityByTimestep = cf.GetBoolean(p, s.BoolNumeric(v)); },
-            (s) => { return s.NumericBool(s.VehicleScaleAngularVelocityByTimestep); },
-            (s,p,l,v) => { s.VehicleScaleAngularVelocityByTimestep = s.BoolNumeric(v); } ),
 
 	    new ParameterDefn("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
             0f,
-- 
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