BulletSim: use m_angularMotor to do the basic movement. Add the setting of same. Rename the angular forces and add comments to match MoveAngular to the form of MoveLinear.
Robert Adams
parent
d7126a14e1
commit
084e3926ca
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@ -93,6 +93,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// private Vector3 m_linearMotorOffset = Vector3.Zero;
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//Angular properties
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private BSVMotor m_angularMotor = new BSVMotor("AngularMotor");
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private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
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// private int m_angularMotorApply = 0; // application frame counter
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private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity
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@ -153,9 +154,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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break;
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case Vehicle.ANGULAR_MOTOR_DECAY_TIMESCALE:
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m_angularMotorDecayTimescale = Math.Max(0.01f, Math.Min(pValue,120));
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m_angularMotor.TargetValueDecayTimeScale = m_angularMotorDecayTimescale;
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break;
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case Vehicle.ANGULAR_MOTOR_TIMESCALE:
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m_angularMotorTimescale = Math.Max(pValue, 0.01f);
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m_angularMotor.TimeScale = m_angularMotorTimescale;
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break;
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case Vehicle.BANKING_EFFICIENCY:
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m_bankingEfficiency = Math.Max(-1f, Math.Min(pValue, 1f));
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@ -203,10 +206,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// set all of the components to the same value
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case Vehicle.ANGULAR_FRICTION_TIMESCALE:
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m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
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m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
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break;
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case Vehicle.ANGULAR_MOTOR_DIRECTION:
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m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
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// m_angularMotorApply = 100;
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m_angularMotor.SetTarget(m_angularMotorDirection);
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break;
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case Vehicle.LINEAR_FRICTION_TIMESCALE:
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m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
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@ -231,6 +235,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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{
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case Vehicle.ANGULAR_FRICTION_TIMESCALE:
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m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
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m_angularMotor.FrictionTimescale = m_angularFrictionTimescale;
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break;
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case Vehicle.ANGULAR_MOTOR_DIRECTION:
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// Limit requested angular speed to 2 rps= 4 pi rads/sec
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@ -238,7 +243,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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pValue.Y = Math.Max(-12.56f, Math.Min(pValue.Y, 12.56f));
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pValue.Z = Math.Max(-12.56f, Math.Min(pValue.Z, 12.56f));
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m_angularMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
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// m_angularMotorApply = 100;
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m_angularMotor.SetTarget(m_angularMotorDirection);
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break;
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case Vehicle.LINEAR_FRICTION_TIMESCALE:
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m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
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@ -358,10 +363,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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m_bankingMix = 1;
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m_referenceFrame = Quaternion.Identity;
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m_flags |= (VehicleFlag.NO_DEFLECTION_UP | VehicleFlag.LIMIT_ROLL_ONLY | VehicleFlag.LIMIT_MOTOR_UP);
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m_flags &=
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~(VehicleFlag.HOVER_WATER_ONLY | VehicleFlag.HOVER_TERRAIN_ONLY |
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VehicleFlag.HOVER_GLOBAL_HEIGHT | VehicleFlag.HOVER_UP_ONLY);
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m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
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| VehicleFlag.HOVER_TERRAIN_ONLY
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| VehicleFlag.HOVER_GLOBAL_HEIGHT
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| VehicleFlag.HOVER_UP_ONLY);
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m_flags |= (VehicleFlag.NO_DEFLECTION_UP
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| VehicleFlag.LIMIT_ROLL_ONLY
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| VehicleFlag.LIMIT_MOTOR_UP);
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break;
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case Vehicle.TYPE_CAR:
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m_linearMotorDirection = Vector3.Zero;
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@ -521,8 +529,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// Update any physical parameters based on this type.
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Refresh();
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m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale, m_linearMotorDecayTimescale, m_linearFrictionTimescale, 1f);
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m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale,
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m_linearMotorDecayTimescale, m_linearFrictionTimescale, 1f);
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m_linearMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
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m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale,
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m_angularMotorDecayTimescale, m_angularFrictionTimescale, 1f);
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m_angularMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
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// m_bankingMotor = new BSVMotor("BankingMotor", ...);
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}
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// Some of the properties of this prim may have changed.
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@ -577,26 +591,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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if (!IsActive) return;
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MoveLinear(pTimestep);
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// Commented out for debug
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MoveAngular(pTimestep);
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// Prim.ApplyTorqueImpulse(-Prim.RotationalVelocity * m_vehicleMass, false); // DEBUG DEBUG
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// Prim.ForceRotationalVelocity = -Prim.RotationalVelocity; // DEBUG DEBUG
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LimitRotation(pTimestep);
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// remember the position so next step we can limit absolute movement effects
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m_lastPositionVector = Prim.ForcePosition;
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VDetailLog("{0},BSDynamics.Step,frict={1},grav={2},inertia={3},mass={4}", // DEBUG DEBUG
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Prim.LocalID,
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BulletSimAPI.GetFriction2(Prim.PhysBody.ptr),
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BulletSimAPI.GetGravity2(Prim.PhysBody.ptr),
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Prim.Inertia,
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m_vehicleMass
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);
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VDetailLog("{0},BSDynamics.Step,done,pos={1},force={2},velocity={3},angvel={4}",
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Prim.LocalID, Prim.ForcePosition, Prim.Force, Prim.ForceVelocity, Prim.RotationalVelocity);
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}// end Step
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}
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// Apply the effect of the linear motor.
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// Also does hover and float.
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@ -789,6 +793,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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} // end MoveLinear()
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// =======================================================================
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// =======================================================================
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// Apply the effect of the angular motor.
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private void MoveAngular(float pTimestep)
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@ -819,12 +824,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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m_angularMotorVelocity = Vector3.Zero;
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}
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#region Vertical attactor
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Vector3 vertattr = Vector3.Zero;
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Vector3 deflection = Vector3.Zero;
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Vector3 banking = Vector3.Zero;
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Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
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// ==================================================================
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Vector3 verticalAttractionContribution = Vector3.Zero;
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// If vertical attaction timescale is reasonable and we applied an angular force last time...
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if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero)
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{
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@ -854,24 +857,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// As the body rotates around the X axis, then verticalError.Y increases; Rotated around Y
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// then .X increases, so change Body angular velocity X based on Y, and Y based on X.
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// Z is not changed.
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vertattr.X = verticalError.Y;
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vertattr.Y = - verticalError.X;
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vertattr.Z = 0f;
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verticalAttractionContribution.X = verticalError.Y;
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verticalAttractionContribution.Y = - verticalError.X;
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verticalAttractionContribution.Z = 0f;
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// scaling appears better usingsquare-law
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Vector3 angularVelocity = Prim.ForceRotationalVelocity;
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float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
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vertattr.X += bounce * angularVelocity.X;
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vertattr.Y += bounce * angularVelocity.Y;
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verticalAttractionContribution.X += bounce * angularVelocity.X;
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verticalAttractionContribution.Y += bounce * angularVelocity.Y;
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VDetailLog("{0},MoveAngular,verticalAttraction,VAservo={1},effic={2},verticalError={3},bounce={4},vertattr={5}",
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Prim.LocalID, VAservo, m_verticalAttractionEfficiency, verticalError, bounce, vertattr);
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Prim.LocalID, VAservo, m_verticalAttractionEfficiency, verticalError, bounce, verticalAttractionContribution);
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}
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#endregion // Vertical attactor
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#region Deflection
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// ==================================================================
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Vector3 deflectionContribution = Vector3.Zero;
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if (m_angularDeflectionEfficiency != 0)
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{
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// Compute a scaled vector that points in the preferred axis (X direction)
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@ -882,18 +884,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(Prim.ForceOrientation, m_referenceFrame);
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// Scale by efficiency and timescale
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deflection = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep;
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deflectionContribution = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep;
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VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}",
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Prim.LocalID, preferredAxisOfMotion, deflection);
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Prim.LocalID, preferredAxisOfMotion, deflectionContribution);
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// This deflection computation is not correct.
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deflection = Vector3.Zero;
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deflectionContribution = Vector3.Zero;
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}
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#endregion
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#region Banking
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// ==================================================================
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Vector3 bankingContribution = Vector3.Zero;
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if (m_bankingEfficiency != 0)
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{
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Vector3 dir = Vector3.One * Prim.ForceOrientation;
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@ -923,7 +923,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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}
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else
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{
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banking.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4;
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bankingContribution.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4;
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}
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//If they are colliding, we probably shouldn't shove the prim around... probably
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@ -941,22 +941,23 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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else if (bankingRot.X < -3)
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bankingRot.X = -3;
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bankingRot *= Prim.ForceOrientation;
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banking += bankingRot;
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bankingContribution += bankingRot;
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}
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m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency;
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VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}",
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Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, banking);
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Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, bankingContribution);
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}
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#endregion
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m_lastVertAttractor = vertattr;
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// ==================================================================
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m_lastVertAttractor = verticalAttractionContribution;
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// Sum velocities
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m_lastAngularVelocity = m_angularMotorVelocity + vertattr + banking + deflection;
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#region Linear Motor Offset
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m_lastAngularVelocity = angularMotorContribution
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+ verticalAttractionContribution
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+ bankingContribution
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+ deflectionContribution;
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// ==================================================================
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//Offset section
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if (m_linearMotorOffset != Vector3.Zero)
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{
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@ -972,8 +973,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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//
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// The torque created is the linear velocity crossed with the offset
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// NOTE: this computation does should be in the linear section
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// because there we know the impulse being applied.
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// TODO: this computation should be in the linear section
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// because that is where we know the impulse being applied.
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Vector3 torqueFromOffset = Vector3.Zero;
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// torqueFromOffset = Vector3.Cross(m_linearMotorOffset, appliedImpulse);
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if (float.IsNaN(torqueFromOffset.X))
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@ -987,8 +988,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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VDetailLog("{0},BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset);
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}
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#endregion
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// ==================================================================
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// NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
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if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
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{
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m_lastAngularVelocity.X = 0;
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@ -996,6 +997,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
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}
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// ==================================================================
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if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
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{
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m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
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@ -1008,18 +1010,20 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// The above calculates the absolute angular velocity needed. Angular velocity is massless.
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// Since we are stuffing the angular velocity directly into the object, the computed
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// velocity needs to be scaled by the timestep.
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Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) - Prim.ForceRotationalVelocity);
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// Also remove any motion that is on the object so added motion is only from vehicle.
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Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep)
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- Prim.ForceRotationalVelocity);
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Prim.ForceRotationalVelocity = applyAngularForce;
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// Decay the angular movement for next time
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Vector3 decayamount = (Vector3.One / m_angularFrictionTimescale) * pTimestep;
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m_lastAngularVelocity *= Vector3.One - decayamount;
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VDetailLog("{0},MoveAngular,done,newRotVel={1},decay={2},lastAngular={3}",
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Prim.LocalID, applyAngularForce, decayamount, m_lastAngularVelocity);
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VDetailLog("{0},MoveAngular,done,newRotVel={1},lastAngular={2}",
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Prim.LocalID, applyAngularForce, m_lastAngularVelocity);
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}
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} //end MoveAngular
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}
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// This is from previous instantiations of XXXDynamics.cs.
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// Applies roll reference frame.
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// TODO: is this the right way to separate the code to do this operation?
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// Should this be in MoveAngular()?
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internal void LimitRotation(float timestep)
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{
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Quaternion rotq = Prim.ForceOrientation;
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