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BulletSim: tweeks to improve hover.

user_profiles
Robert Adams 2013-01-15 04:24:24 -08:00
parent 181d4c6fcb
commit 021964c6e0
1 changed files with 21 additions and 5 deletions
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26
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -1047,16 +1047,32 @@ namespace OpenSim.Region.Physics.BulletSPlugin
else
{
// Error is positive if below the target and negative if above.
float verticalError = m_VhoverTargetHeight - VehiclePosition.Z;
float verticalCorrectionVelocity = verticalError / m_VhoverTimescale * pTimestep;
Vector3 hpos = VehiclePosition;
float verticalError = m_VhoverTargetHeight - hpos.Z;
float verticalCorrection = verticalError / m_VhoverTimescale;
verticalCorrection *= m_VhoverEfficiency;
hpos.Z += verticalCorrection;
VehiclePosition = hpos;
// Since we are hovering, we need to do the opposite of falling -- get rid of world Z
Vector3 vel = VehicleVelocity;
vel.Z = 0f;
VehicleVelocity = vel;
/*
float verticalCorrectionVelocity = verticalError / m_VhoverTimescale;
Vector3 verticalCorrection = new Vector3(0f, 0f, verticalCorrectionVelocity);
verticalCorrection *= m_vehicleMass;
// TODO: implement m_VhoverEfficiency correctly
VehicleAddForceImpulse(new Vector3(0f, 0f, verticalCorrectionVelocity));
VehicleAddForceImpulse(verticalCorrection);
*/
VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corrVel={7}",
VDetailLog("{0}, MoveLinear,hover,pos={1},eff={2},hoverTS={3},height={4},target={5},err={6},corr={7}",
Prim.LocalID, VehiclePosition, m_VhoverEfficiency,
m_VhoverTimescale, m_VhoverHeight, m_VhoverTargetHeight,
verticalError, verticalCorrectionVelocity);
verticalError, verticalCorrection);
}
}