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* Commit a few fixes to the Vehicle settings 

* Vertical Attractor servo
0.6.5-rc1
Teravus Ovares 2009-04-17 04:34:52 +00:00
parent 235ae95b50
commit 0d00a767bc
2 changed files with 67 additions and 13 deletions
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23
OpenSim/Region/Physics/OdePlugin/ODEPrim.cs
View File

@ -66,6 +66,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private IntPtr Amotor = IntPtr.Zero;
private PhysicsVector m_PIDTarget = new PhysicsVector(0, 0, 0);
private PhysicsVector m_taintPIDTarget = new PhysicsVector(0, 0, 0);
private float m_PIDTau = 0f;
private float PID_D = 35f;
private float PID_G = 25f;
@ -908,6 +909,8 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!m_angularlock.IsIdentical(m_taintAngularLock,0))
changeAngularLock(timestep);
}
else
{
@ -915,6 +918,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
private void changeAngularLock(float timestep)
{
// do we have a Physical object?
@ -1470,6 +1474,10 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
d.BodyEnable(Body);
if (m_vehicle.Type != Vehicle.TYPE_NONE)
{
m_vehicle.Enable(Body, _parent_scene);
}
}
else
{
@ -1550,6 +1558,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_usePID)
{
//if (!d.BodyIsEnabled(Body))
//d.BodySetForce(Body, 0f, 0f, 0f);
// If we're using the PID controller, then we have no gravity
@ -1737,6 +1746,8 @@ namespace OpenSim.Region.Physics.OdePlugin
fy = nmin;
d.BodyAddForce(Body, fx, fy, fz);
}
if (m_vehicle.Body == IntPtr.Zero && m_vehicle.Type != Vehicle.TYPE_NONE)
m_vehicle.Enable(Body, _parent_scene);
m_vehicle.Step(timestep);
}
@ -1747,6 +1758,8 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
public void rotate(float timestep)
{
d.Quaternion myrot = new d.Quaternion();
@ -2701,7 +2714,9 @@ namespace OpenSim.Region.Physics.OdePlugin
set
{
if (PhysicsVector.isFinite(value))
{
m_PIDTarget = value;
}
else
m_log.Warn("[PHYSICS]: Got NaN PIDTarget from Scene on Object");
}
@ -3062,14 +3077,6 @@ namespace OpenSim.Region.Physics.OdePlugin
return det;
}
private static float Determinant(Matrix4 matrix)
{
float det = 0;
for (int j = 0; j < 4; j++)
det += (matrix[0, j] * Determinant(Minor(matrix, 0, j)) * (int)System.Math.Pow(-1, 0 + j));
return det;
}
private static void DMassCopy(ref d.Mass src, ref d.Mass dst)
{

51
OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs
View File

@ -44,6 +44,11 @@ namespace OpenSim.Region.Physics.OdePlugin
get { return m_type; }
}
public IntPtr Body
{
get { return m_body; }
}
private Vehicle m_type = Vehicle.TYPE_NONE;
private OdeScene m_parentScene = null;
private IntPtr m_body = IntPtr.Zero;
@ -75,6 +80,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_linearMotorTimescale = 0;
private float m_verticalAttractionEfficiency = 0;
private float m_verticalAttractionTimescale = 0;
private Vector3 m_lastVector = Vector3.Zero;
private VehicleFlag m_flags = (VehicleFlag) 0;
@ -222,8 +228,9 @@ namespace OpenSim.Region.Physics.OdePlugin
internal void Enable(IntPtr pBody, OdeScene pParentScene)
{
if (pBody == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
if (m_type == Vehicle.TYPE_NONE)
return;
m_body = pBody;
m_parentScene = pParentScene;
}
@ -246,11 +253,13 @@ namespace OpenSim.Region.Physics.OdePlugin
{
if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
return;
VerticalAttractor(pTimestep);
LinearMotor(pTimestep);
}
private void SetDefaultsForType(Vehicle pType)
{
m_type = pType;
switch (pType)
{
case Vehicle.TYPE_SLED:
@ -388,5 +397,43 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
private void VerticalAttractor(float pTimestep)
{
// The purpose of this routine here is to quickly stabilize the Body while it's popped up in the air.
// The amotor needs a few seconds to stabilize so without it, the avatar shoots up sky high when you
// change appearance and when you enter the simulator
// After this routine is done, the amotor stabilizes much quicker
d.Mass objMass;
d.BodyGetMass(Body, out objMass);
//d.BodyGetS
d.Vector3 feet;
d.Vector3 head;
d.BodyGetRelPointPos(m_body, 0.0f, 0.0f, -1.0f, out feet);
d.BodyGetRelPointPos(m_body, 0.0f, 0.0f, 1.0f, out head);
float posture = head.Z - feet.Z;
// restoring force proportional to lack of posture:
float servo = (2.5f - posture) * (objMass.mass * m_verticalAttractionEfficiency / (m_verticalAttractionTimescale * pTimestep)) * objMass.mass;
d.BodyAddForceAtRelPos(m_body, 0.0f, 0.0f, servo, 0.0f, 0.0f, 1.0f);
d.BodyAddForceAtRelPos(m_body, 0.0f, 0.0f, -servo, 0.0f, 0.0f, -1.0f);
//d.Matrix3 bodyrotation = d.BodyGetRotation(Body);
//m_log.Info("[PHYSICSAV]: Rotation: " + bodyrotation.M00 + " : " + bodyrotation.M01 + " : " + bodyrotation.M02 + " : " + bodyrotation.M10 + " : " + bodyrotation.M11 + " : " + bodyrotation.M12 + " : " + bodyrotation.M20 + " : " + bodyrotation.M21 + " : " + bodyrotation.M22);
}
private void LinearMotor(float pTimestep)
{
/*
float decayval = (m_linearMotorDecayTimescale * pTimestep);
m_linearMotorDirection *= decayval;
m_lastVector += m_linearMotorDirection
m_lin
m_lastVector
* */
}
}
}