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BulletSim: temporarily disable banking and direction deflection 

because the computations are wrong.
Add VehicleTorqueImpulse routines.
user_profiles
Robert Adams 2013-01-15 02:58:14 -08:00
parent 0374b2a0b4
commit 181d4c6fcb
2 changed files with 29 additions and 10 deletions
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32
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -124,9 +124,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
static readonly float PIOverTwo = ((float)Math.PI) / 2f;
// For debugging, flags to turn on and off individual corrections.
private bool enableAngularVerticalAttraction = true;
private bool enableAngularDeflection = true;
private bool enableAngularBanking = true;
private bool enableAngularVerticalAttraction;
private bool enableAngularDeflection;
private bool enableAngularBanking;
public BSDynamics(BSScene myScene, BSPrim myPrim)
{
@ -141,8 +141,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
public void SetupVehicleDebugging()
{
enableAngularVerticalAttraction = true;
enableAngularDeflection = true;
enableAngularBanking = true;
enableAngularDeflection = false;
enableAngularBanking = false;
if (BSParam.VehicleDebuggingEnabled != ConfigurationParameters.numericFalse)
{
enableAngularVerticalAttraction = false;
@ -649,6 +649,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private Quaternion m_knownOrientation;
private Vector3 m_knownRotationalVelocity;
private Vector3 m_knownRotationalForce;
private Vector3 m_knownRotationalImpulse;
private Vector3 m_knownForwardVelocity; // vehicle relative forward speed
private const int m_knownChangedPosition = 1 << 0;
@ -658,9 +659,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private const int m_knownChangedOrientation = 1 << 4;
private const int m_knownChangedRotationalVelocity = 1 << 5;
private const int m_knownChangedRotationalForce = 1 << 6;
private const int m_knownChangedTerrainHeight = 1 << 7;
private const int m_knownChangedWaterLevel = 1 << 8;
private const int m_knownChangedForwardVelocity = 1 << 9;
private const int m_knownChangedRotationalImpulse = 1 << 7;
private const int m_knownChangedTerrainHeight = 1 << 8;
private const int m_knownChangedWaterLevel = 1 << 9;
private const int m_knownChangedForwardVelocity = 1 <<10;
private void ForgetKnownVehicleProperties()
{
@ -700,6 +702,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
PhysicsScene.PE.SetInterpolationAngularVelocity(Prim.PhysBody, m_knownRotationalVelocity);
}
if ((m_knownChanged & m_knownChangedRotationalImpulse) != 0)
Prim.ApplyTorqueImpulse((Vector3)m_knownRotationalImpulse, true /*inTaintTime*/);
if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
{
Prim.AddAngularForce((Vector3)m_knownRotationalForce, false /*pushForce*/, true /*inTaintTime*/);
@ -843,6 +848,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_knownChanged |= m_knownChangedRotationalForce;
m_knownHas |= m_knownChangedRotationalForce;
}
private void VehicleAddRotationalImpulse(Vector3 pImpulse)
{
if ((m_knownHas & m_knownChangedRotationalImpulse) == 0)
{
m_knownRotationalImpulse = Vector3.Zero;
m_knownHas |= m_knownChangedRotationalImpulse;
}
m_knownRotationalImpulse += pImpulse;
m_knownChanged |= m_knownChangedRotationalImpulse;
}
// Vehicle relative forward velocity
private Vector3 VehicleForwardVelocity
{

7
OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs
View File

@ -195,8 +195,11 @@ public sealed class BSLinksetCompound : BSLinkset
&& PhysicsScene.TerrainManager.IsWithinKnownTerrain(LinksetRoot.RawPosition))
{
// TODO: replace this with are calculation of the child prim's orientation and pos.
updated.LinksetInfo = null;
ScheduleRebuild(updated);
// TODO: for the moment, don't rebuild the compound shape.
// This is often just the car turning its wheels. When we can just reorient the one
// member shape of the compound shape, the overhead of rebuilding won't be a problem.
// updated.LinksetInfo = null;
// ScheduleRebuild(updated);
}
}