From fad4241e4ea898b0dca0176cc9b428d03ba44d1c Mon Sep 17 00:00:00 2001
From: Robert Adams
Date: Mon, 8 Jul 2013 16:21:10 -0700
Subject: BulletSim: make all the different angularVerticalAttraction
algorithms selectable from configuration paramters. Changed default algorithm
to "1" from previous default as it seems to handle Y axis correction a little
better. Add config file independent enablement of vehicle angular forces to
make debugging easier (independent testing of forces).
---
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs | 261 ++++++++++-----------
OpenSim/Region/Physics/BulletSPlugin/BSParam.cs | 15 +-
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs | 4 +-
.../Physics/BulletSPlugin/Tests/BasicVehicles.cs | 4 +-
4 files changed, 146 insertions(+), 138 deletions(-)
(limited to 'OpenSim')
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
index 82fe267..a5f2e98 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
@@ -125,33 +125,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
static readonly float PIOverFour = ((float)Math.PI) / 4f;
static readonly float PIOverTwo = ((float)Math.PI) / 2f;
- // For debugging, flags to turn on and off individual corrections.
- public bool enableAngularVerticalAttraction;
- public bool enableAngularDeflection;
- public bool enableAngularBanking;
-
public BSDynamics(BSScene myScene, BSPrim myPrim, string actorName)
: base(myScene, myPrim, actorName)
{
ControllingPrim = myPrim;
Type = Vehicle.TYPE_NONE;
m_haveRegisteredForSceneEvents = false;
- SetupVehicleDebugging();
- }
-
- // Stopgap debugging enablement. Allows source level debugging but still checking
- // in changes by making enablement of debugging flags from INI file.
- public void SetupVehicleDebugging()
- {
- enableAngularVerticalAttraction = true;
- enableAngularDeflection = true;
- enableAngularBanking = true;
- if (BSParam.VehicleDebuggingEnable)
- {
- enableAngularVerticalAttraction = true;
- enableAngularDeflection = false;
- enableAngularBanking = false;
- }
}
// Return 'true' if this vehicle is doing vehicle things
@@ -556,10 +535,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
}
m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, m_linearMotorDecayTimescale, 1f);
- m_linearMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
+ // m_linearMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale, m_angularMotorDecayTimescale, 1f);
- m_angularMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
+ // m_angularMotor.PhysicsScene = m_physicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
/* Not implemented
m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale,
@@ -1393,116 +1372,134 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
// If vertical attaction timescale is reasonable
- if (enableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
+ if (BSParam.VehicleEnableAngularVerticalAttraction && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
{
- //Another formula to try got from :
- //http://answers.unity3d.com/questions/10425/how-to-stabilize-angular-motion-alignment-of-hover.html
-
- Vector3 VehicleUpAxis = Vector3.UnitZ * VehicleOrientation;
-
- // Flipping what was originally a timescale into a speed variable and then multiplying it by 2
- // since only computing half the distance between the angles.
- float VerticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f;
-
- // Make a prediction of where the up axis will be when this is applied rather then where it is now as
- // this makes for a smoother adjustment and less fighting between the various forces.
- Vector3 predictedUp = VehicleUpAxis * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f);
-
- // This is only half the distance to the target so it will take 2 seconds to complete the turn.
- Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ);
-
- // Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared
- Vector3 vertContributionV = torqueVector * VerticalAttractionSpeed * VerticalAttractionSpeed;
-
- VehicleRotationalVelocity += vertContributionV;
-
- VDetailLog("{0}, MoveAngular,verticalAttraction,UpAxis={1},PredictedUp={2},torqueVector={3},contrib={4}",
- ControllingPrim.LocalID,
- VehicleUpAxis,
- predictedUp,
- torqueVector,
- vertContributionV);
- //=====================================================================
- /*
- // Possible solution derived from a discussion at:
- // http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no
-
- // Create a rotation that is only the vehicle's rotation around Z
- Vector3 currentEuler = Vector3.Zero;
- VehicleOrientation.GetEulerAngles(out currentEuler.X, out currentEuler.Y, out currentEuler.Z);
- Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEuler.Z);
-
- // Create the axis that is perpendicular to the up vector and the rotated up vector.
- Vector3 differenceAxis = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation);
- // Compute the angle between those to vectors.
- double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation)));
- // 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical
-
- // Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied.
- // TODO: add 'efficiency'.
- differenceAngle /= m_verticalAttractionTimescale;
-
- // Create the quaterian representing the correction angle
- Quaternion correctionRotation = Quaternion.CreateFromAxisAngle(differenceAxis, (float)differenceAngle);
-
- // Turn that quaternion into Euler values to make it into velocities to apply.
- Vector3 vertContributionV = Vector3.Zero;
- correctionRotation.GetEulerAngles(out vertContributionV.X, out vertContributionV.Y, out vertContributionV.Z);
- vertContributionV *= -1f;
-
- VehicleRotationalVelocity += vertContributionV;
-
- VDetailLog("{0}, MoveAngular,verticalAttraction,diffAxis={1},diffAng={2},corrRot={3},contrib={4}",
- ControllingPrim.LocalID,
- differenceAxis,
- differenceAngle,
- correctionRotation,
- vertContributionV);
- */
-
- // ===================================================================
- /*
- Vector3 vertContributionV = Vector3.Zero;
- Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG
-
- // Take a vector pointing up and convert it from world to vehicle relative coords.
- Vector3 verticalError = Vector3.Normalize(Vector3.UnitZ * VehicleOrientation);
-
- // If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
- // is now:
- // leaning to one side: rotated around the X axis with the Y value going
- // from zero (nearly straight up) to one (completely to the side)) or
- // leaning front-to-back: rotated around the Y axis with the value of X being between
- // zero and one.
- // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
-
- // Y error means needed rotation around X axis and visa versa.
- // Since the error goes from zero to one, the asin is the corresponding angle.
- vertContributionV.X = (float)Math.Asin(verticalError.Y);
- // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
- vertContributionV.Y = -(float)Math.Asin(verticalError.X);
-
- // If verticalError.Z is negative, the vehicle is upside down. Add additional push.
- if (verticalError.Z < 0f)
+ Vector3 vehicleUpAxis = Vector3.UnitZ * VehicleOrientation;
+ switch (BSParam.VehicleAngularVerticalAttractionAlgorithm)
{
- vertContributionV.X += Math.Sign(vertContributionV.X) * PIOverFour;
- // vertContribution.Y -= PIOverFour;
+ case 0:
+ {
+ //Another formula to try got from :
+ //http://answers.unity3d.com/questions/10425/how-to-stabilize-angular-motion-alignment-of-hover.html
+
+ // Flipping what was originally a timescale into a speed variable and then multiplying it by 2
+ // since only computing half the distance between the angles.
+ float VerticalAttractionSpeed = (1 / m_verticalAttractionTimescale) * 2.0f;
+
+ // Make a prediction of where the up axis will be when this is applied rather then where it is now as
+ // this makes for a smoother adjustment and less fighting between the various forces.
+ Vector3 predictedUp = vehicleUpAxis * Quaternion.CreateFromAxisAngle(VehicleRotationalVelocity, 0f);
+
+ // This is only half the distance to the target so it will take 2 seconds to complete the turn.
+ Vector3 torqueVector = Vector3.Cross(predictedUp, Vector3.UnitZ);
+
+ // Scale vector by our timescale since it is an acceleration it is r/s^2 or radians a timescale squared
+ Vector3 vertContributionV = torqueVector * VerticalAttractionSpeed * VerticalAttractionSpeed;
+
+ VehicleRotationalVelocity += vertContributionV;
+
+ VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},PredictedUp={2},torqueVector={3},contrib={4}",
+ ControllingPrim.LocalID,
+ vehicleUpAxis,
+ predictedUp,
+ torqueVector,
+ vertContributionV);
+ break;
+ }
+ case 1:
+ {
+ // Possible solution derived from a discussion at:
+ // http://stackoverflow.com/questions/14939657/computing-vector-from-quaternion-works-computing-quaternion-from-vector-does-no
+
+ // Create a rotation that is only the vehicle's rotation around Z
+ Vector3 currentEuler = Vector3.Zero;
+ VehicleOrientation.GetEulerAngles(out currentEuler.X, out currentEuler.Y, out currentEuler.Z);
+ Quaternion justZOrientation = Quaternion.CreateFromAxisAngle(Vector3.UnitZ, currentEuler.Z);
+
+ // Create the axis that is perpendicular to the up vector and the rotated up vector.
+ Vector3 differenceAxis = Vector3.Cross(Vector3.UnitZ * justZOrientation, Vector3.UnitZ * VehicleOrientation);
+ // Compute the angle between those to vectors.
+ double differenceAngle = Math.Acos((double)Vector3.Dot(Vector3.UnitZ, Vector3.Normalize(Vector3.UnitZ * VehicleOrientation)));
+ // 'differenceAngle' is the angle to rotate and 'differenceAxis' is the plane to rotate in to get the vehicle vertical
+
+ // Reduce the change by the time period it is to change in. Timestep is handled when velocity is applied.
+ // TODO: add 'efficiency'.
+ differenceAngle /= m_verticalAttractionTimescale;
+
+ // Create the quaterian representing the correction angle
+ Quaternion correctionRotation = Quaternion.CreateFromAxisAngle(differenceAxis, (float)differenceAngle);
+
+ // Turn that quaternion into Euler values to make it into velocities to apply.
+ Vector3 vertContributionV = Vector3.Zero;
+ correctionRotation.GetEulerAngles(out vertContributionV.X, out vertContributionV.Y, out vertContributionV.Z);
+ vertContributionV *= -1f;
+
+ VehicleRotationalVelocity += vertContributionV;
+
+ VDetailLog("{0}, MoveAngular,verticalAttraction,upAxis={1},diffAxis={2},diffAng={3},corrRot={4},contrib={5}",
+ ControllingPrim.LocalID,
+ vehicleUpAxis,
+ differenceAxis,
+ differenceAngle,
+ correctionRotation,
+ vertContributionV);
+ break;
+ }
+ case 2:
+ {
+ Vector3 vertContributionV = Vector3.Zero;
+ Vector3 origRotVelW = VehicleRotationalVelocity; // DEBUG DEBUG
+
+ // Take a vector pointing up and convert it from world to vehicle relative coords.
+ Vector3 verticalError = Vector3.Normalize(Vector3.UnitZ * VehicleOrientation);
+
+ // If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
+ // is now:
+ // leaning to one side: rotated around the X axis with the Y value going
+ // from zero (nearly straight up) to one (completely to the side)) or
+ // leaning front-to-back: rotated around the Y axis with the value of X being between
+ // zero and one.
+ // The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
+
+ // Y error means needed rotation around X axis and visa versa.
+ // Since the error goes from zero to one, the asin is the corresponding angle.
+ vertContributionV.X = (float)Math.Asin(verticalError.Y);
+ // (Tilt forward (positive X) needs to tilt back (rotate negative) around Y axis.)
+ vertContributionV.Y = -(float)Math.Asin(verticalError.X);
+
+ // If verticalError.Z is negative, the vehicle is upside down. Add additional push.
+ if (verticalError.Z < 0f)
+ {
+ vertContributionV.X += Math.Sign(vertContributionV.X) * PIOverFour;
+ // vertContribution.Y -= PIOverFour;
+ }
+
+ // 'vertContrbution' is now the necessary angular correction to correct tilt in one second.
+ // Correction happens over a number of seconds.
+ Vector3 unscaledContribVerticalErrorV = vertContributionV; // DEBUG DEBUG
+
+ // The correction happens over the user's time period
+ vertContributionV /= m_verticalAttractionTimescale;
+
+ // Rotate the vehicle rotation to the world coordinates.
+ VehicleRotationalVelocity += (vertContributionV * VehicleOrientation);
+
+ VDetailLog("{0}, MoveAngular,verticalAttraction,,upAxis={1},origRotVW={2},vertError={3},unscaledV={4},eff={5},ts={6},vertContribV={7}",
+ ControllingPrim.LocalID,
+ vehicleUpAxis,
+ origRotVelW,
+ verticalError,
+ unscaledContribVerticalErrorV,
+ m_verticalAttractionEfficiency,
+ m_verticalAttractionTimescale,
+ vertContributionV);
+ break;
+ }
+ default:
+ {
+ break;
+ }
}
-
- // 'vertContrbution' is now the necessary angular correction to correct tilt in one second.
- // Correction happens over a number of seconds.
- Vector3 unscaledContribVerticalErrorV = vertContributionV; // DEBUG DEBUG
-
- // The correction happens over the user's time period
- vertContributionV /= m_verticalAttractionTimescale;
-
- // Rotate the vehicle rotation to the world coordinates.
- VehicleRotationalVelocity += (vertContributionV * VehicleOrientation);
-
- VDetailLog("{0}, MoveAngular,verticalAttraction,,origRotVW={1},vertError={2},unscaledV={3},eff={4},ts={5},vertContribV={6}",
- Prim.LocalID, origRotVelW, verticalError, unscaledContribVerticalErrorV,
- m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContributionV);
- */
}
}
@@ -1514,7 +1511,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
public void ComputeAngularDeflection()
{
- if (enableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2)
+ if (BSParam.VehicleEnableAngularDeflection && m_angularDeflectionEfficiency != 0 && VehicleForwardSpeed > 0.2)
{
Vector3 deflectContributionV = Vector3.Zero;
@@ -1593,7 +1590,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// make a sluggish vehicle by giving it a timescale of several seconds.
public void ComputeAngularBanking()
{
- if (enableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
+ if (BSParam.VehicleEnableAngularBanking && m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
{
Vector3 bankingContributionV = Vector3.Zero;
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
index 0f84bf7..75c3399 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
@@ -155,7 +155,10 @@ public static class BSParam
public static Vector3 VehicleInertiaFactor { get; private set; }
public static float VehicleGroundGravityFudge { get; private set; }
public static float VehicleAngularBankingTimescaleFudge { get; private set; }
- public static bool VehicleDebuggingEnable { get; private set; }
+ public static bool VehicleEnableAngularVerticalAttraction { get; private set; }
+ public static int VehicleAngularVerticalAttractionAlgorithm { get; private set; }
+ public static bool VehicleEnableAngularDeflection { get; private set; }
+ public static bool VehicleEnableAngularBanking { get; private set; }
// Convex Hulls
public static int CSHullMaxDepthSplit { get; private set; }
@@ -606,8 +609,14 @@ public static class BSParam
0.2f ),
new ParameterDefn<float>("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.",
60.0f ),
- new ParameterDefn<bool>("VehicleDebuggingEnable", "Turn on/off vehicle debugging",
- false ),
+ new ParameterDefn<bool>("VehicleEnableAngularVerticalAttraction", "Turn on/off vehicle angular vertical attraction effect",
+ true ),
+ new ParameterDefn<int>("VehicleAngularVerticalAttractionAlgorithm", "Select vertical attraction algo. You need to look at the source.",
+ 1 ),
+ new ParameterDefn<bool>("VehicleEnableAngularDeflection", "Turn on/off vehicle angular deflection effect",
+ true ),
+ new ParameterDefn<bool>("VehicleEnableAngularBanking", "Turn on/off vehicle angular banking effect",
+ true ),
new ParameterDefn<float>("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
0f,
diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
index e56a6f6..214271b 100644
--- a/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
@@ -1,4 +1,4 @@
-/*
+/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
@@ -648,7 +648,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
simTime = Util.EnvironmentTickCountSubtract(beforeTime);
if (PhysicsLogging.Enabled)
{
- DetailLog("{0},DoPhysicsStep,call, frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
+ DetailLog("{0},DoPhysicsStep,complete,frame={1}, nTaints={2}, simTime={3}, substeps={4}, updates={5}, colliders={6}, objWColl={7}",
DetailLogZero, m_simulationStep, numTaints, simTime, numSubSteps,
updatedEntityCount, collidersCount, ObjectsWithCollisions.Count);
}
diff --git a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
index 583c436..48d3742 100755
--- a/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
+++ b/OpenSim/Region/Physics/BulletSPlugin/Tests/BasicVehicles.cs
@@ -57,6 +57,8 @@ public class BasicVehicles : OpenSimTestCase
public void Init()
{
Dictionary<string, string> engineParams = new Dictionary<string, string>();
+ engineParams.Add("VehicleEnableAngularVerticalAttraction", "true");
+ engineParams.Add("VehicleAngularVerticalAttractionAlgorithm", "1");
PhysicsScene = BulletSimTestsUtil.CreateBasicPhysicsEngine(engineParams);
PrimitiveBaseShape pbs = PrimitiveBaseShape.CreateSphere();
@@ -119,7 +121,7 @@ public class BasicVehicles : OpenSimTestCase
{
vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_EFFICIENCY, efficiency);
vehicleActor.ProcessFloatVehicleParam(Vehicle.VERTICAL_ATTRACTION_TIMESCALE, timeScale);
- vehicleActor.enableAngularVerticalAttraction = true;
+ // vehicleActor.enableAngularVerticalAttraction = true;
TestVehicle.IsPhysical = true;
PhysicsScene.ProcessTaints();
--
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