BulletSim: revert angular vertical attraction from motor to code. The motor code did not return the restoring difference but the current value. Remove unused commented out code.
Robert Adams
parent
f9fed421fe
commit
10fcc70b36
|
|
@ -125,7 +125,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
//Attractor properties
|
||||
private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction");
|
||||
private float m_verticalAttractionEfficiency = 1.0f; // damped
|
||||
private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
|
||||
private float m_verticalAttractionTimescale = 600f; // Timescale > 500 means no vert attractor.
|
||||
|
||||
public BSDynamics(BSScene myScene, BSPrim myPrim)
|
||||
{
|
||||
|
|
@ -573,6 +573,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
// Vector3 localInertia = new Vector3(1f, 1f, 1f);
|
||||
Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass);
|
||||
BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
|
||||
BulletSimAPI.UpdateInertiaTensor2(Prim.PhysBody.ptr);
|
||||
|
||||
VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}",
|
||||
Prim.LocalID, friction, localInertia, angularDamping);
|
||||
|
|
@ -958,34 +959,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
// Apply the effect of the angular motor.
|
||||
private void MoveAngular(float pTimestep)
|
||||
{
|
||||
// m_angularMotorDirection // angular velocity requested by LSL motor
|
||||
// m_angularMotorVelocity // current angular motor velocity (ramps up and down)
|
||||
// m_angularMotorTimescale // motor angular velocity ramp up time
|
||||
// m_angularMotorDecayTimescale // motor angular velocity decay rate
|
||||
// m_angularFrictionTimescale // body angular velocity decay rate
|
||||
// m_lastAngularVelocity // what was last applied to body
|
||||
|
||||
/*
|
||||
if (m_angularMotorDirection.LengthSquared() > 0.0001)
|
||||
{
|
||||
Vector3 origVel = m_angularMotorVelocity;
|
||||
Vector3 origDir = m_angularMotorDirection;
|
||||
|
||||
// new velocity += error / ( time to get there / step interval)
|
||||
// requested direction - current vehicle direction
|
||||
m_angularMotorVelocity += (m_angularMotorDirection - m_angularMotorVelocity) / (m_angularMotorTimescale / pTimestep);
|
||||
// decay requested direction
|
||||
m_angularMotorDirection *= (1.0f - (pTimestep * 1.0f/m_angularMotorDecayTimescale));
|
||||
|
||||
VDetailLog("{0}, MoveAngular,angularMotorApply,angTScale={1},timeStep={2},origvel={3},origDir={4},vel={5}",
|
||||
Prim.LocalID, m_angularMotorTimescale, pTimestep, origVel, origDir, m_angularMotorVelocity);
|
||||
}
|
||||
else
|
||||
{
|
||||
m_angularMotorVelocity = Vector3.Zero;
|
||||
}
|
||||
*/
|
||||
|
||||
Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
|
||||
|
||||
// ==================================================================
|
||||
|
|
@ -1050,9 +1023,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
// ==================================================================
|
||||
if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
|
||||
{
|
||||
m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
|
||||
// TODO: zeroing is good but it also sets values in unmanaged code. Remove the stores when idle.
|
||||
VDetailLog("{0}, MoveAngular,done,zero,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
|
||||
VDetailLog("{0}, MoveAngular,done,zero", Prim.LocalID);
|
||||
VehicleRotationalVelocity = Vector3.Zero;
|
||||
Prim.ZeroAngularMotion(true);
|
||||
}
|
||||
|
|
@ -1063,15 +1035,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
// Since we are stuffing the angular velocity directly into the object, the computed
|
||||
// velocity needs to be scaled by the timestep.
|
||||
// Also remove any motion that is on the object so added motion is only from vehicle.
|
||||
Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep) - VehicleRotationalVelocity);
|
||||
// Unscale the force by the angular factor so it overwhelmes the Bullet additions.
|
||||
VehicleRotationalVelocity = applyAngularForce;
|
||||
Vector3 setAngularVelocity = ((m_lastAngularVelocity * pTimestep) - VehicleRotationalVelocity);
|
||||
VehicleRotationalVelocity = setAngularVelocity;
|
||||
|
||||
VDetailLog("{0}, MoveAngular,done,nonZero,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}",
|
||||
VDetailLog("{0}, MoveAngular,done,nonZero,angMotorContrib={1},vertAttrContrib={2},bankContrib={3},deflectContrib={4},totalContrib={5},setAngVelocity={6}",
|
||||
Prim.LocalID,
|
||||
angularMotorContribution, verticalAttractionContribution,
|
||||
bankingContribution, deflectionContribution,
|
||||
applyAngularForce, m_lastAngularVelocity
|
||||
m_lastAngularVelocity, setAngularVelocity
|
||||
);
|
||||
}
|
||||
}
|
||||
|
|
@ -1083,12 +1054,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
// If vertical attaction timescale is reasonable and we applied an angular force last time...
|
||||
if (m_verticalAttractionTimescale < 500)
|
||||
{
|
||||
/*
|
||||
Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
|
||||
verticalError.Normalize();
|
||||
m_verticalAttractionMotor.SetCurrent(verticalError);
|
||||
m_verticalAttractionMotor.SetTarget(Vector3.UnitZ);
|
||||
ret = m_verticalAttractionMotor.Step(pTimestep);
|
||||
/*
|
||||
*/
|
||||
// Take a vector pointing up and convert it from world to vehicle relative coords.
|
||||
Vector3 verticalError = Vector3.UnitZ * VehicleOrientation;
|
||||
verticalError.Normalize();
|
||||
|
|
@ -1108,25 +1080,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin
|
|||
}
|
||||
|
||||
// Y error means needed rotation around X axis and visa versa.
|
||||
verticalAttractionContribution.X = verticalError.Y;
|
||||
verticalAttractionContribution.Y = - verticalError.X;
|
||||
verticalAttractionContribution.Z = 0f;
|
||||
ret.X = verticalError.Y;
|
||||
ret.Y = - verticalError.X;
|
||||
ret.Z = 0f;
|
||||
|
||||
// scale by the time scale and timestep
|
||||
Vector3 unscaledContrib = verticalAttractionContribution;
|
||||
verticalAttractionContribution /= m_verticalAttractionTimescale;
|
||||
verticalAttractionContribution *= pTimestep;
|
||||
Vector3 unscaledContrib = ret;
|
||||
ret /= m_verticalAttractionTimescale;
|
||||
ret *= pTimestep;
|
||||
|
||||
// apply efficiency
|
||||
Vector3 preEfficiencyContrib = verticalAttractionContribution;
|
||||
Vector3 preEfficiencyContrib = ret;
|
||||
// Effenciency squared seems to give a more realistic effect
|
||||
float efficencySquared = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency;
|
||||
verticalAttractionContribution *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
|
||||
ret *= efficencySquared;
|
||||
|
||||
VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}",
|
||||
Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib,
|
||||
m_verticalAttractionEfficiency, efficencySquared,
|
||||
verticalAttractionContribution);
|
||||
*/
|
||||
ret);
|
||||
|
||||
}
|
||||
return ret;
|
||||
|
|
|
|||
Loading…
Reference in New Issue