105 lines
2.9 KiB
C#
105 lines
2.9 KiB
C#
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using System;
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using System.Collections.Generic;
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using System.Text;
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using OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public abstract class BSMotor
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{
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public virtual void Reset() { }
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public virtual void Zero() { }
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}
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// Can all the incremental stepping be replaced with motor classes?
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public class BSVMotor : BSMotor
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{
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public Vector3 FrameOfReference { get; set; }
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public Vector3 Offset { get; set; }
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public float TimeScale { get; set; }
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public float TargetValueDecayTimeScale { get; set; }
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public Vector3 CurrentValueReductionTimescale { get; set; }
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public float Efficiency { get; set; }
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public Vector3 TargetValue { get; private set; }
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public Vector3 CurrentValue { get; private set; }
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BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)
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{
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TimeScale = timeScale;
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TargetValueDecayTimeScale = decayTimeScale;
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CurrentValueReductionTimescale = frictionTimeScale;
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Efficiency = efficiency;
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}
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public void SetCurrent(Vector3 current)
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{
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CurrentValue = current;
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}
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public void SetTarget(Vector3 target)
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{
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TargetValue = target;
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}
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public Vector3 Step(float timeStep)
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{
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if (CurrentValue.LengthSquared() > 0.001f)
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{
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// Vector3 origDir = Target; // DEBUG
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// Vector3 origVel = CurrentValue; // DEBUG
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// Add (desiredVelocity - currentAppliedVelocity) / howLongItShouldTakeToComplete
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Vector3 addAmount = (TargetValue - CurrentValue)/(TargetValue) * timeStep;
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CurrentValue += addAmount;
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float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
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TargetValue *= (1f - decayFactor);
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Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep;
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CurrentValue *= (Vector3.One - frictionFactor);
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}
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else
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{
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// if what remains of direction is very small, zero it.
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TargetValue = Vector3.Zero;
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CurrentValue = Vector3.Zero;
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// VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);
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}
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return CurrentValue;
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}
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}
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public class BSFMotor : BSMotor
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{
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public float TimeScale { get; set; }
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public float DecayTimeScale { get; set; }
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public float Friction { get; set; }
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public float Efficiency { get; set; }
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public float Target { get; private set; }
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public float CurrentValue { get; private set; }
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BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency)
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{
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}
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public void SetCurrent(float target)
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{
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}
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public void SetTarget(float target)
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{
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}
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public float Step(float timeStep)
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{
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return 0f;
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}
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}
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public class BSPIDMotor : BSMotor
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{
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// TODO: write and use this one
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BSPIDMotor()
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{
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}
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}
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}
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