/* * Revised August 26 2009 by Kitto Flora. ODEDynamics.cs replaces * ODEVehicleSettings.cs. It and ODEPrim.cs are re-organised: * ODEPrim.cs contains methods dealing with Prim editing, Prim * characteristics and Kinetic motion. * ODEDynamics.cs contains methods dealing with Prim Physical motion * (dynamics) and the associated settings. Old Linear and angular * motors for dynamic motion have been replace with MoveLinear() * and MoveAngular(); 'Physical' is used only to switch ODE dynamic * simualtion on/off; VEHICAL_TYPE_NONE/VEHICAL_TYPE_ is to * switch between 'VEHICLE' parameter use and general dynamics * settings use. * * Copyright (c) Contributors, http://opensimulator.org/ * See CONTRIBUTORS.TXT for a full list of copyright holders. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions are met: * * Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * * Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * * Neither the name of the OpenSimulator Project nor the * names of its contributors may be used to endorse or promote products * derived from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ using System; using System.Collections.Generic; using System.Reflection; using System.Runtime.InteropServices; using log4net; using OpenMetaverse; using Ode.NET; using OpenSim.Framework; using OpenSim.Region.Physics.Manager; namespace OpenSim.Region.Physics.OdePlugin { public class ODEDynamics { public Vehicle Type { get { return m_type; } } public IntPtr Body { get { return m_body; } } private int frcount = 0; // Used to limit dynamics debug output to // every 100th frame // private OdeScene m_parentScene = null; private IntPtr m_body = IntPtr.Zero; private IntPtr m_jointGroup = IntPtr.Zero; private IntPtr m_aMotor = IntPtr.Zero; // Vehicle properties private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind // private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings: // HOVER_TERRAIN_ONLY // HOVER_GLOBAL_HEIGHT // NO_DEFLECTION_UP // HOVER_WATER_ONLY // HOVER_UP_ONLY // LIMIT_MOTOR_UP // LIMIT_ROLL_ONLY // Linear properties private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL private Vector3 m_dir = Vector3.Zero; // velocity applied to body private Vector3 m_linearFrictionTimescale = Vector3.Zero; private float m_linearMotorDecayTimescale = 0; private float m_linearMotorTimescale = 0; private Vector3 m_lastLinearVelocityVector = Vector3.Zero; // private bool m_LinearMotorSetLastFrame = false; // private Vector3 m_linearMotorOffset = Vector3.Zero; //Angular properties private Vector3 m_angularMotorDirection = Vector3.Zero; private Vector3 m_angularMotorDirectionLASTSET = Vector3.Zero; private Vector3 m_angularFrictionTimescale = Vector3.Zero; private float m_angularMotorDecayTimescale = 0; private float m_angularMotorTimescale = 0; private Vector3 m_lastAngularVelocityVector = Vector3.Zero; //Deflection properties // private float m_angularDeflectionEfficiency = 0; // private float m_angularDeflectionTimescale = 0; // private float m_linearDeflectionEfficiency = 0; // private float m_linearDeflectionTimescale = 0; //Banking properties // private float m_bankingEfficiency = 0; // private float m_bankingMix = 0; // private float m_bankingTimescale = 0; //Hover and Buoyancy properties private float m_VhoverHeight = 0f; private float m_VhoverEfficiency = 0f; private float m_VhoverTimescale = 0f; private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle. // Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity) // KF: So far I have found no good method to combine a script-requested .Z velocity and gravity. // Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity. //Attractor properties private float m_verticalAttractionEfficiency = 0; private float m_verticalAttractionTimescale = 0; internal void ProcessFloatVehicleParam(Vehicle pParam, float pValue) { switch (pParam) { case Vehicle.ANGULAR_DEFLECTION_EFFICIENCY: if (pValue < 0.01f) pValue = 0.01f; // m_angularDeflectionEfficiency = pValue; break; case Vehicle.ANGULAR_DEFLECTION_TIMESCALE: if (pValue < 0.01f) pValue = 0.01f; // m_angularDeflectionTimescale = pValue; break; case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE: if (pValue < 0.01f) pValue = 0.01f; m_angularMotorDecayTimescale = pValue; break; case Vehicle.ANGULAR_MOTOR_TIMESCALE: if (pValue < 0.01f) pValue = 0.01f; m_angularMotorTimescale = pValue; break; case Vehicle.BANKING_EFFICIENCY: if (pValue < 0.01f) pValue = 0.01f; // m_bankingEfficiency = pValue; break; case Vehicle.BANKING_MIX: if (pValue < 0.01f) pValue = 0.01f; // m_bankingMix = pValue; break; case Vehicle.BANKING_TIMESCALE: if (pValue < 0.01f) pValue = 0.01f; // m_bankingTimescale = pValue; break; case Vehicle.BUOYANCY: if (pValue < -1f) pValue = -1f; if (pValue > 1f) pValue = 1f; m_VehicleBuoyancy = pValue; break; case Vehicle.HOVER_EFFICIENCY: if (pValue < 0f) pValue = 0f; if (pValue > 1f) pValue = 1f; m_VhoverEfficiency = pValue; break; case Vehicle.HOVER_HEIGHT: m_VhoverHeight = pValue; break; case Vehicle.HOVER_TIMESCALE: if (pValue < 0.01f) pValue = 0.01f; m_VhoverTimescale = pValue; break; case Vehicle.LINEAR_DEFLECTION_EFFICIENCY: if (pValue < 0.01f) pValue = 0.01f; // m_linearDeflectionEfficiency = pValue; break; case Vehicle.LINEAR_DEFLECTION_TIMESCALE: if (pValue < 0.01f) pValue = 0.01f; // m_linearDeflectionTimescale = pValue; break; case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE: if (pValue < 0.01f) pValue = 0.01f; m_linearMotorDecayTimescale = pValue; break; case Vehicle.LINEAR_MOTOR_TIMESCALE: if (pValue < 0.01f) pValue = 0.01f; m_linearMotorTimescale = pValue; break; case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY: if (pValue < 0.0f) pValue = 0.0f; if (pValue > 1.0f) pValue = 1.0f; m_verticalAttractionEfficiency = pValue; break; case Vehicle.VERTICAL_ATTRACTION_TIMESCALE: if (pValue < 0.01f) pValue = 0.01f; m_verticalAttractionTimescale = pValue; break; // These are vector properties but the engine lets you use a single float value to // set all of the components to the same value case Vehicle.ANGULAR_FRICTION_TIMESCALE: m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); break; case Vehicle.ANGULAR_MOTOR_DIRECTION: m_angularMotorDirection = new Vector3(pValue, pValue, pValue); m_angularMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue); break; case Vehicle.LINEAR_FRICTION_TIMESCALE: m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue); break; case Vehicle.LINEAR_MOTOR_DIRECTION: m_linearMotorDirection = new Vector3(pValue, pValue, pValue); m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue); break; case Vehicle.LINEAR_MOTOR_OFFSET: // m_linearMotorOffset = new Vector3(pValue, pValue, pValue); break; } }//end ProcessFloatVehicleParam internal void ProcessVectorVehicleParam(Vehicle pParam, PhysicsVector pValue) { switch (pParam) { case Vehicle.ANGULAR_FRICTION_TIMESCALE: m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); break; case Vehicle.ANGULAR_MOTOR_DIRECTION: m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); m_angularMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); break; case Vehicle.LINEAR_FRICTION_TIMESCALE: m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); break; case Vehicle.LINEAR_MOTOR_DIRECTION: m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); break; case Vehicle.LINEAR_MOTOR_OFFSET: // m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); break; } }//end ProcessVectorVehicleParam internal void ProcessRotationVehicleParam(Vehicle pParam, Quaternion pValue) { switch (pParam) { case Vehicle.REFERENCE_FRAME: // m_referenceFrame = pValue; break; } }//end ProcessRotationVehicleParam internal void ProcessTypeChange(Vehicle pType) { Console.WriteLine("ProcessTypeChange to " + pType); // Set Defaults For Type m_type = pType; switch (pType) { case Vehicle.TYPE_SLED: m_linearFrictionTimescale = new Vector3(30, 1, 1000); m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); m_linearMotorDirection = Vector3.Zero; m_linearMotorTimescale = 1000; m_linearMotorDecayTimescale = 120; m_angularMotorDirection = Vector3.Zero; m_angularMotorTimescale = 1000; m_angularMotorDecayTimescale = 120; m_VhoverHeight = 0; m_VhoverEfficiency = 1; m_VhoverTimescale = 10; m_VehicleBuoyancy = 0; // m_linearDeflectionEfficiency = 1; // m_linearDeflectionTimescale = 1; // m_angularDeflectionEfficiency = 1; // m_angularDeflectionTimescale = 1000; // m_bankingEfficiency = 0; // m_bankingMix = 1; // m_bankingTimescale = 10; // m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP); break; case Vehicle.TYPE_CAR: m_linearFrictionTimescale = new Vector3(100, 2, 1000); m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); m_linearMotorDirection = Vector3.Zero; m_linearMotorTimescale = 1; m_linearMotorDecayTimescale = 60; m_angularMotorDirection = Vector3.Zero; m_angularMotorTimescale = 1; m_angularMotorDecayTimescale = 0.8f; m_VhoverHeight = 0; m_VhoverEfficiency = 0; m_VhoverTimescale = 1000; m_VehicleBuoyancy = 0; // // m_linearDeflectionEfficiency = 1; // // m_linearDeflectionTimescale = 2; // // m_angularDeflectionEfficiency = 0; // m_angularDeflectionTimescale = 10; m_verticalAttractionEfficiency = 1; m_verticalAttractionTimescale = 10; // m_bankingEfficiency = -0.2f; // m_bankingMix = 1; // m_bankingTimescale = 1; // m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP); break; case Vehicle.TYPE_BOAT: m_linearFrictionTimescale = new Vector3(10, 3, 2); m_angularFrictionTimescale = new Vector3(10,10,10); m_linearMotorDirection = Vector3.Zero; m_linearMotorTimescale = 5; m_linearMotorDecayTimescale = 60; m_angularMotorDirection = Vector3.Zero; m_angularMotorTimescale = 4; m_angularMotorDecayTimescale = 4; m_VhoverHeight = 0; m_VhoverEfficiency = 0.5f; m_VhoverTimescale = 2; m_VehicleBuoyancy = 1; // m_linearDeflectionEfficiency = 0.5f; // m_linearDeflectionTimescale = 3; // m_angularDeflectionEfficiency = 0.5f; // m_angularDeflectionTimescale = 5; m_verticalAttractionEfficiency = 0.5f; m_verticalAttractionTimescale = 5; // m_bankingEfficiency = -0.3f; // m_bankingMix = 0.8f; // m_bankingTimescale = 1; // m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY); m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.LIMIT_MOTOR_UP); break; case Vehicle.TYPE_AIRPLANE: m_linearFrictionTimescale = new Vector3(200, 10, 5); m_angularFrictionTimescale = new Vector3(20, 20, 20); m_linearMotorDirection = Vector3.Zero; m_linearMotorTimescale = 2; m_linearMotorDecayTimescale = 60; m_angularMotorDirection = Vector3.Zero; m_angularMotorTimescale = 4; m_angularMotorDecayTimescale = 4; m_VhoverHeight = 0; m_VhoverEfficiency = 0.5f; m_VhoverTimescale = 1000; m_VehicleBuoyancy = 0; // m_linearDeflectionEfficiency = 0.5f; // m_linearDeflectionTimescale = 3; // m_angularDeflectionEfficiency = 1; // m_angularDeflectionTimescale = 2; m_verticalAttractionEfficiency = 0.9f; m_verticalAttractionTimescale = 2; // m_bankingEfficiency = 1; // m_bankingMix = 0.7f; // m_bankingTimescale = 2; // m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP); m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY); break; case Vehicle.TYPE_BALLOON: m_linearFrictionTimescale = new Vector3(5, 5, 5); m_angularFrictionTimescale = new Vector3(10, 10, 10); m_linearMotorDirection = Vector3.Zero; m_linearMotorTimescale = 5; m_linearMotorDecayTimescale = 60; m_angularMotorDirection = Vector3.Zero; m_angularMotorTimescale = 6; m_angularMotorDecayTimescale = 10; m_VhoverHeight = 5; m_VhoverEfficiency = 0.8f; m_VhoverTimescale = 10; m_VehicleBuoyancy = 1; // m_linearDeflectionEfficiency = 0; // m_linearDeflectionTimescale = 5; // m_angularDeflectionEfficiency = 0; // m_angularDeflectionTimescale = 5; m_verticalAttractionEfficiency = 1; m_verticalAttractionTimescale = 1000; // m_bankingEfficiency = 0; // m_bankingMix = 0.7f; // m_bankingTimescale = 5; // m_referenceFrame = Quaternion.Identity; m_flags &= ~(VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_UP_ONLY | VehicleFlag.LIMIT_MOTOR_UP); m_flags |= (VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT); break; } }//end SetDefaultsForType internal void Enable(IntPtr pBody, OdeScene pParentScene) { //Console.WriteLine("Enable m_type=" + m_type + " m_VehicleBuoyancy=" + m_VehicleBuoyancy); if (m_type == Vehicle.TYPE_NONE) return; m_body = pBody; //KF: This used to set up the linear and angular joints } internal void Step(float pTimestep, OdeScene pParentScene) { if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE) return; frcount++; // used to limit debug comment output if (frcount > 100) frcount = 0; MoveLinear(pTimestep, pParentScene); MoveAngular(pTimestep); }// end Step private void MoveLinear(float pTimestep, OdeScene _pParentScene) { if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant { if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // add drive to body Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector? // This will work temporarily, but we really need to compare speed on an axis // KF: Limit body velocity to applied velocity? if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X)) m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X; if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y)) m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y; if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z)) m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z; // decay applied velocity Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep))); //Console.WriteLine("decay: " + decayfraction); m_linearMotorDirection -= m_linearMotorDirection * decayfraction; //Console.WriteLine("actual: " + m_linearMotorDirection); } else { // requested is not significant // if what remains of applied is small, zero it. if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f)) m_lastLinearVelocityVector = Vector3.Zero; } // convert requested object velocity to world-referenced vector m_dir = m_lastLinearVelocityVector; d.Quaternion rot = d.BodyGetQuaternion(Body); Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object m_dir *= rotq; // apply obj rotation to velocity vector // add Gravity andBuoyancy // KF: So far I have found no good method to combine a script-requested // .Z velocity and gravity. Therefore only 0g will used script-requested // .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only. Vector3 grav = Vector3.Zero; if(m_VehicleBuoyancy < 1.0f) { // There is some gravity, make a gravity force vector // that is applied after object velocity. d.Mass objMass; d.BodyGetMass(Body, out objMass); // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy); // Preserve the current Z velocity d.Vector3 vel_now = d.BodyGetLinearVel(Body); m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity } // else its 1.0, no gravity. // Check if hovering if( (m_flags & (VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY | VehicleFlag.HOVER_GLOBAL_HEIGHT)) != 0) { // We should hover, get the target height d.Vector3 pos = d.BodyGetPosition(Body); if((m_flags & VehicleFlag.HOVER_WATER_ONLY) == VehicleFlag.HOVER_WATER_ONLY) { m_VhoverTargetHeight = _pParentScene.GetWaterLevel() + m_VhoverHeight; } else if((m_flags & VehicleFlag.HOVER_TERRAIN_ONLY) == VehicleFlag.HOVER_TERRAIN_ONLY) { m_VhoverTargetHeight = _pParentScene.GetTerrainHeightAtXY(pos.X, pos.Y) + m_VhoverHeight; } else if((m_flags & VehicleFlag.HOVER_GLOBAL_HEIGHT) == VehicleFlag.HOVER_GLOBAL_HEIGHT) { m_VhoverTargetHeight = m_VhoverHeight; } if((m_flags & VehicleFlag.HOVER_UP_ONLY) == VehicleFlag.HOVER_UP_ONLY) { // If body is aready heigher, use its height as target height if(pos.Z > m_VhoverTargetHeight) m_VhoverTargetHeight = pos.Z; } // m_VhoverEfficiency = 0f; // 0=boucy, 1=Crit.damped // m_VhoverTimescale = 0f; // time to acheive height // pTimestep is time since last frame,in secs float herr0 = pos.Z - m_VhoverTargetHeight; //if(frcount == 0) Console.WriteLine("herr0=" + herr0); // Replace Vertical speed with correction figure if significant if(Math.Abs(herr0) > 0.01f ) { d.Mass objMass; d.BodyGetMass(Body, out objMass); m_dir.Z = - ( (herr0 * pTimestep * 50.0f) / m_VhoverTimescale); // m_VhoverEfficiency is not yet implemented } else { m_dir.Z = 0f; } } // Apply velocity d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z); //if(frcount == 0) Console.WriteLine("Move " + Body + ":"+ m_dir.X + " " + m_dir.Y + " " + m_dir.Z); // apply gravity force d.BodyAddForce(Body, grav.X, grav.Y, grav.Z); //if(frcount == 0) Console.WriteLine("Force " + Body + ":" + grav.X + " " + grav.Y + " " + grav.Z); // apply friction Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep); m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; } // end MoveLinear() private void MoveAngular(float pTimestep) { // m_angularMotorDirection is the latest value from the script, and is decayed here // m_angularMotorDirectionLASTSET is the latest value from the script // m_lastAngularVelocityVector is what is being applied to the Body, varied up and down here if (!m_angularMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) { if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body); // ramp up to new value Vector3 addAmount = m_angularMotorDirection / (m_angularMotorTimescale / pTimestep); m_lastAngularVelocityVector += (addAmount * 10f); //if(frcount == 0) Console.WriteLine("add: " + addAmount); // limit applied value to what was set by script // This will work temporarily, but we really need to compare speed on an axis if (Math.Abs(m_lastAngularVelocityVector.X) > Math.Abs(m_angularMotorDirectionLASTSET.X)) m_lastAngularVelocityVector.X = m_angularMotorDirectionLASTSET.X; if (Math.Abs(m_lastAngularVelocityVector.Y) > Math.Abs(m_angularMotorDirectionLASTSET.Y)) m_lastAngularVelocityVector.Y = m_angularMotorDirectionLASTSET.Y; if (Math.Abs(m_lastAngularVelocityVector.Z) > Math.Abs(m_angularMotorDirectionLASTSET.Z)) m_lastAngularVelocityVector.Z = m_angularMotorDirectionLASTSET.Z; // decay the requested value Vector3 decayfraction = ((Vector3.One / (m_angularMotorDecayTimescale / pTimestep))); //Console.WriteLine("decay: " + decayfraction); m_angularMotorDirection -= m_angularMotorDirection * decayfraction; //Console.WriteLine("actual: " + m_linearMotorDirection); } // KF: m_lastAngularVelocityVector is rotational speed in rad/sec ? // Vertical attractor section // d.Mass objMass; // d.BodyGetMass(Body, out objMass); // float servo = 100f * objMass.mass * m_verticalAttractionEfficiency / (m_verticalAttractionTimescale * pTimestep); float servo = 0.1f * m_verticalAttractionEfficiency / (m_verticalAttractionTimescale * pTimestep); // get present body rotation d.Quaternion rot = d.BodyGetQuaternion(Body); Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // make a vector pointing up Vector3 verterr = Vector3.Zero; verterr.Z = 1.0f; // rotate it to Body Angle verterr = verterr * rotq; // verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1. // As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go // negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body. if (verterr.Z < 0.0f) { verterr.X = 2.0f - verterr.X; verterr.Y = 2.0f - verterr.Y; } // Error is 0 (no error) to +/- 2 (max error) // scale it by servo verterr = verterr * servo; // rotate to object frame // verterr = verterr * rotq; // As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so // Change Body angular velocity X based on Y, and Y based on X. Z is not changed. m_lastAngularVelocityVector.X += verterr.Y; m_lastAngularVelocityVector.Y -= verterr.X; /* if(frcount == 0) { // Console.WriteLine("AngleMotor " + m_lastAngularVelocityVector); Console.WriteLine(String.Format("VA Body:{0} servo:{1} err:<{2},{3},{4}> VAE:{5}", Body, servo, verterr.X, verterr.Y, verterr.Z, m_verticalAttractionEfficiency)); } */ d.BodySetAngularVel (Body, m_lastAngularVelocityVector.X, m_lastAngularVelocityVector.Y, m_lastAngularVelocityVector.Z); // apply friction Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep); m_lastAngularVelocityVector -= m_lastAngularVelocityVector * decayamount; } //end MoveAngular } }