From 10fcc70b36aa1b38cd92e9c4d9c441e4c0eeb5f6 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sun, 2 Dec 2012 20:07:05 -0800 Subject: BulletSim: revert angular vertical attraction from motor to code. The motor code did not return the restoring difference but the current value. Remove unused commented out code. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 66 +++++++--------------- 1 file changed, 19 insertions(+), 47 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index cbad3bf..4d067cf 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -125,7 +125,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin //Attractor properties private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction"); private float m_verticalAttractionEfficiency = 1.0f; // damped - private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor. + private float m_verticalAttractionTimescale = 600f; // Timescale > 500 means no vert attractor. public BSDynamics(BSScene myScene, BSPrim myPrim) { @@ -573,6 +573,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Vector3 localInertia = new Vector3(1f, 1f, 1f); Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass); BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia); + BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr); VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}", Prim.LocalID, friction, localInertia, angularDamping); @@ -958,34 +959,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Apply the effect of the angular motor. private void MoveAngular(float pTimestep) { - // m_angularMotorDirection // angular velocity requested by LSL motor - // m_angularMotorVelocity // current angular motor velocity (ramps up and down) - // m_angularMotorTimescale // motor angular velocity ramp up time - // m_angularMotorDecayTimescale // motor angular velocity decay rate - // m_angularFrictionTimescale // body angular velocity decay rate - // m_lastAngularVelocity // what was last applied to body - - /* - if (m_angularMotorDirection.LengthSquared() > 0.0001) - { - Vector3 origVel = m_angularMotorVelocity; - Vector3 origDir = m_angularMotorDirection; - - // new velocity += error / ( time to get there / step interval) - // requested direction - current vehicle direction - m_angularMotorVelocity += (m_angularMotorDirection - m_angularMotorVelocity) / (m_angularMotorTimescale / pTimestep); - // decay requested direction - m_angularMotorDirection *= (1.0f - (pTimestep * 1.0f/m_angularMotorDecayTimescale)); - - VDetailLog("{0}, MoveAngular,angularMotorApply,angTScale={1},timeStep={2},origvel={3},origDir={4},vel={5}", - Prim.LocalID, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity); - } - else - { - m_angularMotorVelocity = Vector3.Zero; - } - */ - Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); // ================================================================== @@ -1050,9 +1023,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin // ================================================================== if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f)) { - m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero. // TODO: zeroing is good but it also sets values in unmanaged code. Remove the stores when idle. - VDetailLog("{0}, MoveAngular,done,zero,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity); + VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID); VehicleRotationalVelocity = Vector3.Zero; Prim.ZeroAngularMotion(true); } @@ -1063,15 +1035,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin // Since we are stuffing the angular velocity directly into the object, the computed // velocity needs to be scaled by the timestep. // Also remove any motion that is on the object so added motion is only from vehicle. - Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) - VehicleRotationalVelocity); - // Unscale the force by the angular factor so it overwhelmes the Bullet additions. - VehicleRotationalVelocity = applyAngularForce; + Vector3 setAngularVelocity = ((m_lastAngularVelocity * pTimestep) - VehicleRotationalVelocity); + VehicleRotationalVelocity = setAngularVelocity; - VDetailLog("{0}, MoveAngular,done,nonZero,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}", + VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},setAngVelocity={6}", Prim.LocalID, angularMotorContribution, verticalAttractionContribution, bankingContribution, deflectionContribution, - applyAngularForce, m_lastAngularVelocity + m_lastAngularVelocity, setAngularVelocity ); } } @@ -1083,12 +1054,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin // If vertical attaction timescale is reasonable and we applied an angular force last time... if (m_verticalAttractionTimescale < 500) { + /* Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; verticalError.Normalize(); m_verticalAttractionMotor.SetCurrent(verticalError); m_verticalAttractionMotor.SetTarget(Vector3.UnitZ); ret = m_verticalAttractionMotor.Step(pTimestep); - /* + */ // Take a vector pointing up and convert it from world to vehicle relative coords. Vector3 verticalError = Vector3.UnitZ * VehicleOrientation; verticalError.Normalize(); @@ -1108,25 +1080,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin } // Y error means needed rotation around X axis and visa versa. - verticalAttractionContribution.X = verticalError.Y; - verticalAttractionContribution.Y = - verticalError.X; - verticalAttractionContribution.Z = 0f; + ret.X = verticalError.Y; + ret.Y = - verticalError.X; + ret.Z = 0f; // scale by the time scale and timestep - Vector3 unscaledContrib = verticalAttractionContribution; - verticalAttractionContribution /= m_verticalAttractionTimescale; - verticalAttractionContribution *= pTimestep; + Vector3 unscaledContrib = ret; + ret /= m_verticalAttractionTimescale; + ret *= pTimestep; // apply efficiency - Vector3 preEfficiencyContrib = verticalAttractionContribution; + Vector3 preEfficiencyContrib = ret; + // Effenciency squared seems to give a more realistic effect float efficencySquared = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency; - verticalAttractionContribution *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency); + ret *= efficencySquared; VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}", Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib, m_verticalAttractionEfficiency, efficencySquared, - verticalAttractionContribution); - */ + ret); } return ret; -- cgit v1.1