From fc84ebb819b590099bbfa5bd357e886ce7460063 Mon Sep 17 00:00:00 2001 From: Vegaslon Date: Sat, 16 Mar 2013 17:16:01 -0400 Subject: BulletSim: Working Implementation of Angular Banking for Vehicles (Not SL Grade, Other features when implemented should slow it down for now be Strong with Vertical Angular attraction setting and conservative with Angular Velocity on X axis) Signed-off-by: Robert Adams --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 33 +++++++++++----------- 1 file changed, 17 insertions(+), 16 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index d347159..96eaa6b 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -143,7 +143,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin { enableAngularVerticalAttraction = true; enableAngularDeflection = false; - enableAngularBanking = false; + enableAngularBanking = true; if (BSParam.VehicleDebuggingEnabled) { enableAngularVerticalAttraction = true; @@ -1280,11 +1280,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin // That is, NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement // TODO: This is here because this is where ODE put it but documentation says it // is a linear effect. Where should this check go? - if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) - { - angularMotorContributionV.X = 0f; - angularMotorContributionV.Y = 0f; - } + //if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) + // { + // angularMotorContributionV.X = 0f; + // angularMotorContributionV.Y = 0f; + // } VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation; VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContributionV); @@ -1437,24 +1437,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin // As the vehicle rolls to the right or left, the Y value will increase from // zero (straight up) to 1 or -1 (full tilt right or left) Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation; - // Figure out the yaw value for this much roll. // Squared because that seems to give a good value - float yawAngle = (float)Math.Asin(rollComponents.Y * rollComponents.Y) * m_bankingEfficiency; - + // float yawAngle = (float)Math.Asin(rollComponents.X * rollComponents.X) * m_bankingEfficiency; + float yawAngle = m_angularMotorDirection.X * m_bankingEfficiency; // actual error = static turn error + dynamic turn error - float mixedYawAngle = yawAngle * (1f - m_bankingMix) + yawAngle * m_bankingMix * VehicleForwardSpeed; - - // TODO: the banking effect should not go to infinity but what to limit it to? - mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f); + float mixedYawAngle =(yawAngle * (1f - m_bankingMix)) + ((yawAngle * m_bankingMix) * VehicleForwardSpeed); + // TODO: the banking effect should not go to infinity but what to limit it to? and what should happen when this is + // being added to a user defined yaw that is already PI*4? + mixedYawAngle = ClampInRange(-12, mixedYawAngle, 12); // Build the force vector to change rotation from what it is to what it should be bankingContributionV.Z = -mixedYawAngle; - // Don't do it all at once. - bankingContributionV /= m_bankingTimescale; + // Don't do it all at once. 60 becouse 1 second is too fast with most user defined roll as PI*4 + bankingContributionV /= m_bankingTimescale*60; - VehicleRotationalVelocity += bankingContributionV * VehicleOrientation; + //VehicleRotationalVelocity += bankingContributionV * VehicleOrientation; + VehicleRotationalVelocity += bankingContributionV; + VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}", Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContributionV); -- cgit v1.1 From 464201b41d5f5fdd7c88ab5e95dd7b6fbae6d766 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Sat, 16 Mar 2013 15:34:07 -0700 Subject: BulletSim: add INI parameter for angular banking timescale fudge parameter. --- OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 12 ++++++------ OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 7 ++++++- 2 files changed, 12 insertions(+), 7 deletions(-) (limited to 'OpenSim/Region') diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 96eaa6b..38596fa 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -1437,21 +1437,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin // As the vehicle rolls to the right or left, the Y value will increase from // zero (straight up) to 1 or -1 (full tilt right or left) Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation; + // Figure out the yaw value for this much roll. - // Squared because that seems to give a good value - // float yawAngle = (float)Math.Asin(rollComponents.X * rollComponents.X) * m_bankingEfficiency; float yawAngle = m_angularMotorDirection.X * m_bankingEfficiency; // actual error = static turn error + dynamic turn error float mixedYawAngle =(yawAngle * (1f - m_bankingMix)) + ((yawAngle * m_bankingMix) * VehicleForwardSpeed); - // TODO: the banking effect should not go to infinity but what to limit it to? and what should happen when this is - // being added to a user defined yaw that is already PI*4? + + // TODO: the banking effect should not go to infinity but what to limit it to? + // And what should happen when this is being added to a user defined yaw that is already PI*4? mixedYawAngle = ClampInRange(-12, mixedYawAngle, 12); // Build the force vector to change rotation from what it is to what it should be bankingContributionV.Z = -mixedYawAngle; - // Don't do it all at once. 60 becouse 1 second is too fast with most user defined roll as PI*4 - bankingContributionV /= m_bankingTimescale*60; + // Don't do it all at once. Fudge because 1 second is too fast with most user defined roll as PI*4. + bankingContributionV /= m_bankingTimescale * BSParam.VehicleAngularBankingTimescaleFudge; //VehicleRotationalVelocity += bankingContributionV * VehicleOrientation; VehicleRotationalVelocity += bankingContributionV; diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs index 2af8468..77bdacb 100755 --- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs @@ -123,6 +123,7 @@ public static class BSParam public static Vector3 VehicleLinearFactor { get; private set; } public static Vector3 VehicleAngularFactor { get; private set; } public static float VehicleGroundGravityFudge { get; private set; } + public static float VehicleAngularBankingTimescaleFudge { get; private set; } public static bool VehicleDebuggingEnabled { get; private set; } // Linkset implementation parameters @@ -543,10 +544,14 @@ public static class BSParam 0.0f, (s) => { return VehicleRestitution; }, (s,v) => { VehicleRestitution = v; } ), - new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiple gravity if a ground vehicle is probably on the ground (0.0 - 1.0)", + new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)", 0.2f, (s) => { return VehicleGroundGravityFudge; }, (s,v) => { VehicleGroundGravityFudge = v; } ), + new ParameterDefn("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.", + 60.0f, + (s) => { return VehicleAngularBankingTimescaleFudge; }, + (s,v) => { VehicleAngularBankingTimescaleFudge = v; } ), new ParameterDefn("VehicleDebuggingEnable", "Turn on/off vehicle debugging", false, (s) => { return VehicleDebuggingEnabled; }, -- cgit v1.1