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BulletSim: improve vehicle angular banking and deflection computation. Rotate angular correction forces to be world relative rather than vehicle relative.

user_profiles
Robert Adams 2013-01-07 22:00:50 -08:00
parent 8452c0a870
commit 1603606f1d
1 changed files with 18 additions and 19 deletions
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35
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -1111,6 +1111,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
+ deflectionContribution + deflectionContribution
+ bankingContribution; + bankingContribution;
// Add of the above computation are made relative to vehicle coordinates.
// Convert to world coordinates.
m_lastAngularVelocity *= VehicleOrientation;
// ================================================================== // ==================================================================
// Apply the correction velocity. // Apply the correction velocity.
// TODO: Should this be applied as an angular force (torque)? // TODO: Should this be applied as an angular force (torque)?
@ -1222,14 +1226,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
public Vector3 ComputeAngularDeflection() public Vector3 ComputeAngularDeflection()
{ {
Vector3 ret = Vector3.Zero; Vector3 ret = Vector3.Zero;
return ret; // DEBUG DEBUG DEBUG
// Disable angular deflection for the moment.
// Since angularMotorUp and angularDeflection are computed independently, they will calculate // Since angularMotorUp and angularDeflection are computed independently, they will calculate
// approximately the same X or Y correction. When added together (when contributions are combined) // approximately the same X or Y correction. When added together (when contributions are combined)
// this creates an over-correction and then wabbling as the target is overshot. // this creates an over-correction and then wabbling as the target is overshot.
// TODO: rethink how the different correction computations inter-relate. // TODO: rethink how the different correction computations inter-relate.
if (m_angularDeflectionEfficiency != 0) if (m_angularDeflectionEfficiency != 0 && VehicleVelocity != Vector3.Zero)
{ {
// The direction the vehicle is moving // The direction the vehicle is moving
Vector3 movingDirection = VehicleVelocity; Vector3 movingDirection = VehicleVelocity;
@ -1298,33 +1301,29 @@ namespace OpenSim.Region.Physics.BulletSPlugin
if (m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff) if (m_bankingEfficiency != 0 && m_verticalAttractionTimescale < m_verticalAttractionCutoff)
{ {
// This works by rotating a unit vector to the orientation of the vehicle. The // Rotate a UnitZ vector (pointing up) to how the vehicle is oriented.
// roll (tilt) will be Y component of a tilting Z vector (zero for no tilt // As the vehicle rolls to the right or left, the Y value will increase from
// up to one for full over). // zero (straight up) to 1 or -1 (full tilt right or left)
Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation; Vector3 rollComponents = Vector3.UnitZ * VehicleOrientation;
// Figure out the yaw value for this much roll. // Figure out the yaw value for this much roll.
float turnComponent = rollComponents.Y * rollComponents.Y * m_bankingEfficiency; // Squared because that seems to give a good value
// Keep the sign float yawAngle = (float)Math.Asin(rollComponents.Y * rollComponents.Y) * m_bankingEfficiency;
if (rollComponents.Y < 0f)
turnComponent = -turnComponent;
// TODO: there must be a better computation of the banking force.
float bankingTurnForce = turnComponent;
// actual error = static turn error + dynamic turn error // actual error = static turn error + dynamic turn error
float mixedBankingError = bankingTurnForce * (1f - m_bankingMix) + bankingTurnForce * m_bankingMix * VehicleForwardSpeed; float mixedYawAngle = yawAngle * (1f - m_bankingMix) + yawAngle * m_bankingMix * VehicleForwardSpeed;
// TODO: the banking effect should not go to infinity but what to limit it to? // TODO: the banking effect should not go to infinity but what to limit it to?
mixedBankingError = ClampInRange(-20f, mixedBankingError, 20f); mixedYawAngle = ClampInRange(-20f, mixedYawAngle, 20f);
// Build the force vector to change rotation from what it is to what it should be // Build the force vector to change rotation from what it is to what it should be
ret.Z = -mixedBankingError; ret.Z = -mixedYawAngle;
// Don't do it all at once. // Don't do it all at once.
ret /= m_bankingTimescale; ret /= m_bankingTimescale;
VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},turnComp={3},bankErr={4},mixedBankErr={5},ret={6}", VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}",
Prim.LocalID, rollComponents, VehicleForwardSpeed, turnComponent, bankingTurnForce, mixedBankingError, ret); Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, ret);
} }
return ret; return ret;
} }