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* Add Implementation of Linear Motor and Linear friction from the LSL Vehicle API in Physics

0.6.5-rc1
Teravus Ovares 2009-04-17 21:10:54 +00:00
parent 8a2362c474
commit 07c113a766
1 changed files with 73 additions and 9 deletions
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82
OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs
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@ -54,7 +54,9 @@ namespace OpenSim.Region.Physics.OdePlugin
private IntPtr m_body = IntPtr.Zero; private IntPtr m_body = IntPtr.Zero;
private IntPtr m_jointGroup = IntPtr.Zero; private IntPtr m_jointGroup = IntPtr.Zero;
private IntPtr m_aMotor = IntPtr.Zero; private IntPtr m_aMotor = IntPtr.Zero;
private IntPtr m_lMotor = IntPtr.Zero; private IntPtr m_lMotor1 = IntPtr.Zero;
private IntPtr m_lMotor2 = IntPtr.Zero;
private IntPtr m_lMotor3 = IntPtr.Zero;
// Vehicle properties // Vehicle properties
private Quaternion m_referenceFrame = Quaternion.Identity; private Quaternion m_referenceFrame = Quaternion.Identity;
@ -80,9 +82,11 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_linearMotorTimescale = 0; private float m_linearMotorTimescale = 0;
private float m_verticalAttractionEfficiency = 0; private float m_verticalAttractionEfficiency = 0;
private float m_verticalAttractionTimescale = 0; private float m_verticalAttractionTimescale = 0;
private Vector3 m_lastVector = Vector3.Zero; private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
private VehicleFlag m_flags = (VehicleFlag) 0; private VehicleFlag m_flags = (VehicleFlag) 0;
private bool m_LinearMotorSetLastFrame = false;
@ -169,6 +173,7 @@ namespace OpenSim.Region.Physics.OdePlugin
break; break;
case Vehicle.LINEAR_MOTOR_DIRECTION: case Vehicle.LINEAR_MOTOR_DIRECTION:
m_linearMotorDirection = new Vector3(pValue, pValue, pValue); m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
m_LinearMotorSetLastFrame = true;
break; break;
case Vehicle.LINEAR_MOTOR_OFFSET: case Vehicle.LINEAR_MOTOR_OFFSET:
m_linearMotorOffset = new Vector3(pValue, pValue, pValue); m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
@ -187,6 +192,7 @@ namespace OpenSim.Region.Physics.OdePlugin
break; break;
case Vehicle.ANGULAR_MOTOR_DIRECTION: case Vehicle.ANGULAR_MOTOR_DIRECTION:
m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
m_LinearMotorSetLastFrame = true;
break; break;
case Vehicle.LINEAR_FRICTION_TIMESCALE: case Vehicle.LINEAR_FRICTION_TIMESCALE:
m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
@ -247,6 +253,25 @@ namespace OpenSim.Region.Physics.OdePlugin
m_body = pBody; m_body = pBody;
m_parentScene = pParentScene; m_parentScene = pParentScene;
if (m_jointGroup == IntPtr.Zero)
m_jointGroup = d.JointGroupCreate(3);
if (pBody != IntPtr.Zero)
{
if (m_lMotor1 == IntPtr.Zero)
{
d.BodySetAutoDisableFlag(Body, false);
m_lMotor1 = d.JointCreateLMotor(pParentScene.world, m_jointGroup);
d.JointSetLMotorNumAxes(m_lMotor1, 1);
d.JointAttach(m_lMotor1, Body, IntPtr.Zero);
}
Vector3 dirNorm = m_lastLinearVelocityVector;
dirNorm.Normalize();
//d.JointSetLMotorAxis(m_lMotor1, 0, 1, dirNorm.X, dirNorm.Y, dirNorm.Z);
//d.JointSetLMotorParam(m_lMotor1, (int)dParam.Vel, m_lastLinearVelocityVector.Length());
}
} }
internal void Reset() internal void Reset()
@ -439,15 +464,54 @@ namespace OpenSim.Region.Physics.OdePlugin
private void LinearMotor(float pTimestep) private void LinearMotor(float pTimestep)
{ {
/* if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))
float decayval = (m_linearMotorDecayTimescale * pTimestep); {
m_linearMotorDirection *= decayval; Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
m_lastVector += m_linearMotorDirection m_lastLinearVelocityVector += (addAmount*10);
// This will work temporarily, but we really need to compare speed on an axis
if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirection.X))
m_lastLinearVelocityVector.X = m_linearMotorDirection.X;
if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirection.Y))
m_lastLinearVelocityVector.Y = m_linearMotorDirection.Y;
if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirection.Z))
m_lastLinearVelocityVector.Z = m_linearMotorDirection.Z;
//System.Console.WriteLine("add: " + addAmount);
m_linearMotorDirection -= (m_linearMotorDirection*new Vector3(1, 1, 1)/
(m_linearMotorDecayTimescale/pTimestep)) * 0.10f;
//Console.WriteLine("actual: " + m_linearMotorDirection);
}
//System.Console.WriteLine(m_linearMotorDirection + " " + m_lastLinearVelocityVector);
SetMotorProperties();
m_lin Vector3 decayamount = new Vector3(1,1,1)/(m_linearFrictionTimescale/pTimestep);
m_lastVector m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
* */
//m_linearMotorDirection *= decayamount;
}
private void SetMotorProperties()
{
Vector3 dirNorm = m_lastLinearVelocityVector;
dirNorm.Normalize();
d.Mass objMass;
d.BodyGetMass(Body, out objMass);
d.Quaternion rot = d.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
dirNorm *= rotq;
if (m_lMotor1 != IntPtr.Zero)
{
d.JointSetLMotorAxis(m_lMotor1, 0, 1, dirNorm.X, dirNorm.Y, dirNorm.Z);
d.JointSetLMotorParam(m_lMotor1, (int)dParam.Vel, m_linearMotorDirection.Length());
d.JointSetLMotorParam(m_lMotor1, (int)dParam.FMax, 35f * objMass.mass);
}
} }
} }
} }