From a5de4f692bd0de5faccdcf32a923a72949bb3cca Mon Sep 17 00:00:00 2001 From: Vegaslon Date: Sat, 15 Jun 2013 17:23:43 -0400 Subject: BulletSim: Implementation of Linear Deflection, it is a partial help for the vehicle tuning diffrence between Opensim and Second life. Signed-off-by: Robert Adams --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 38 +++++++++++++++++++--- 1 file changed, 33 insertions(+), 5 deletions(-) (limited to 'OpenSim/Region/Physics') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 311cf4f..51207f1 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -209,7 +209,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_VhoverTimescale = Math.Max(pValue, 0.01f); break; case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: - m_linearDeflectionEfficiency = Math.Max(pValue, 0.01f); + m_linearDeflectionEfficiency = ClampInRange(0f, pValue, 1f); break; case Vehicle.LINEAR_DEFLECTION_TIMESCALE: m_linearDeflectionTimescale = Math.Max(pValue, 0.01f); @@ -1029,9 +1029,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin Vector3 currentVelV = VehicleVelocity * Quaternion.Inverse(VehicleOrientation); Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV); + //Compute Linear deflection. + Vector3 linearDeflectionFactorV = ComputeLinearDeflection(m_linearDeflectionEfficiency, currentVelV, pTimestep); + linearMotorCorrectionV += linearDeflectionFactorV; + // Friction reduces vehicle motion - Vector3 frictionFactorW = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep); - linearMotorCorrectionV -= (currentVelV * frictionFactorW); + Vector3 frictionFactorV = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep); + linearMotorCorrectionV -= (currentVelV * frictionFactorV); // Motor is vehicle coordinates. Rotate it to world coordinates Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation; @@ -1048,9 +1052,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin - VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}", + VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6},LinearDeflec={7}", ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, - linearMotorVelocityW, VehicleVelocity, frictionFactorW); + linearMotorVelocityW, VehicleVelocity, frictionFactorV, linearDeflectionFactorV); } public void ComputeLinearTerrainHeightCorrection(float pTimestep) @@ -1651,6 +1655,30 @@ namespace OpenSim.Region.Physics.BulletSPlugin } return frictionFactor; } + //Given a Deflection Effiency and a Velocity, Returns a Velocity that is Partially Deflected onto the X Axis + //Clamped so that a DeflectionTimescale of less then 1 does not increase force over original velocity + private Vector3 ComputeLinearDeflection(float DeflectionEfficiency,Vector3 Velocity,float pTimestep) + { + Vector3 LinearDeflection = Vector3.Zero; + LinearDeflection.Y = SortedClampInRange(0, (Velocity.Y * DeflectionEfficiency) / m_linearDeflectionTimescale, Velocity.Y); + LinearDeflection.Z = SortedClampInRange(0, (Velocity.Z * DeflectionEfficiency) / m_linearDeflectionTimescale, Velocity.Z); + LinearDeflection.X += Math.Abs(LinearDeflection.Y); + LinearDeflection.X += Math.Abs(LinearDeflection.Z); + LinearDeflection *= pTimestep; + return LinearDeflection*=new Vector3(1,-1,-1); + + } + private float SortedClampInRange(float clampa, float val, float clampb) + { + if (clampa > clampb) + { + float temp = clampa; + clampa = clampb; + clampb = temp; + } + return ClampInRange(clampa, val, clampb); + + } private float ClampInRange(float low, float val, float high) { -- cgit v1.1