BulletSim: complete vector motor. Correct line endings.
Robert Adams
parent
d1480ac7ee
commit
22d5bf8ff9
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@ -1,104 +1,129 @@
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using System;
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using System.Collections.Generic;
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using System.Text;
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using OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public abstract class BSMotor
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{
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public virtual void Reset() { }
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public virtual void Zero() { }
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}
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// Can all the incremental stepping be replaced with motor classes?
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public class BSVMotor : BSMotor
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{
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public Vector3 FrameOfReference { get; set; }
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public Vector3 Offset { get; set; }
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public float TimeScale { get; set; }
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public float TargetValueDecayTimeScale { get; set; }
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public Vector3 CurrentValueReductionTimescale { get; set; }
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public float Efficiency { get; set; }
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public Vector3 TargetValue { get; private set; }
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public Vector3 CurrentValue { get; private set; }
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BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)
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{
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TimeScale = timeScale;
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TargetValueDecayTimeScale = decayTimeScale;
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CurrentValueReductionTimescale = frictionTimeScale;
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Efficiency = efficiency;
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}
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public void SetCurrent(Vector3 current)
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{
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CurrentValue = current;
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}
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public void SetTarget(Vector3 target)
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{
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TargetValue = target;
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}
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public Vector3 Step(float timeStep)
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{
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if (CurrentValue.LengthSquared() > 0.001f)
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{
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// Vector3 origDir = Target; // DEBUG
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// Vector3 origVel = CurrentValue; // DEBUG
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// Add (desiredVelocity - currentAppliedVelocity) / howLongItShouldTakeToComplete
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Vector3 addAmount = (TargetValue - CurrentValue)/(TargetValue) * timeStep;
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CurrentValue += addAmount;
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float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
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TargetValue *= (1f - decayFactor);
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Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep;
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CurrentValue *= (Vector3.One - frictionFactor);
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}
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else
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{
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// if what remains of direction is very small, zero it.
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TargetValue = Vector3.Zero;
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CurrentValue = Vector3.Zero;
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// VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);
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}
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return CurrentValue;
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}
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}
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public class BSFMotor : BSMotor
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{
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public float TimeScale { get; set; }
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public float DecayTimeScale { get; set; }
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public float Friction { get; set; }
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public float Efficiency { get; set; }
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public float Target { get; private set; }
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public float CurrentValue { get; private set; }
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BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency)
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{
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}
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public void SetCurrent(float target)
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{
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}
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public void SetTarget(float target)
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{
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}
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public float Step(float timeStep)
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{
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return 0f;
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}
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}
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public class BSPIDMotor : BSMotor
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{
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// TODO: write and use this one
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BSPIDMotor()
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{
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}
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}
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}
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using System;
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using System.Collections.Generic;
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using System.Text;
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using OpenMetaverse;
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namespace OpenSim.Region.Physics.BulletSPlugin
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{
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public abstract class BSMotor
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{
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public BSMotor()
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{
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PhysicsScene = null;
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}
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public virtual void Reset() { }
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public virtual void Zero() { }
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// Used only for outputting debug information. Might not be set so check for null.
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public BSScene PhysicsScene { get; set; }
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protected void MDetailLog(string msg, params Object[] parms)
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{
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if (PhysicsScene != null)
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{
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if (PhysicsScene.VehicleLoggingEnabled)
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{
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PhysicsScene.DetailLog(msg, parms);
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}
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}
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}
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}
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// Can all the incremental stepping be replaced with motor classes?
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public class BSVMotor : BSMotor
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{
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public Vector3 FrameOfReference { get; set; }
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public Vector3 Offset { get; set; }
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public float TimeScale { get; set; }
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public float TargetValueDecayTimeScale { get; set; }
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public Vector3 CurrentValueReductionTimescale { get; set; }
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public float Efficiency { get; set; }
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public Vector3 TargetValue { get; private set; }
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public Vector3 CurrentValue { get; private set; }
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BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) : base()
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{
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TimeScale = timeScale;
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TargetValueDecayTimeScale = decayTimeScale;
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CurrentValueReductionTimescale = frictionTimeScale;
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Efficiency = efficiency;
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CurrentValue = TargetValue = Vector3.Zero;
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}
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public void SetCurrent(Vector3 current)
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{
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CurrentValue = current;
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}
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public void SetTarget(Vector3 target)
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{
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TargetValue = target;
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}
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public Vector3 Step(float timeStep)
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{
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Vector3 returnCurrent = Vector3.Zero;
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if (CurrentValue.LengthSquared() > 0.001f)
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{
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// Vector3 origDir = Target; // DEBUG
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// Vector3 origVel = CurrentValue; // DEBUG
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// Add (desiredVector - currentAppliedVector) / howLongItShouldTakeToComplete
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Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep;
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CurrentValue += addAmount;
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returnCurrent = CurrentValue;
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// The desired value reduces to zero when also reduces the difference with current.
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float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
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TargetValue *= (1f - decayFactor);
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Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep;
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CurrentValue *= (Vector3.One - frictionFactor);
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MDetailLog("{0},BSVMotor.Step,nonZero,curr={1},target={2},add={3},decay={4},frict={5},ret={6}",
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BSScene.DetailLogZero, TargetValue, CurrentValue,
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addAmount, decayFactor, frictionFactor, returnCurrent);
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}
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else
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{
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// Difference between what we have and target is small. Motor is done.
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CurrentValue = Vector3.Zero;
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TargetValue = Vector3.Zero;
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MDetailLog("{0},BSVMotor.Step,zero,curr={1},target={2},ret={3}",
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BSScene.DetailLogZero, TargetValue, CurrentValue, returnCurrent);
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}
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return returnCurrent;
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}
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}
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public class BSFMotor : BSMotor
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{
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public float TimeScale { get; set; }
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public float DecayTimeScale { get; set; }
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public float Friction { get; set; }
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public float Efficiency { get; set; }
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public float Target { get; private set; }
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public float CurrentValue { get; private set; }
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BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency) : base()
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{
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}
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public void SetCurrent(float target)
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{
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}
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public void SetTarget(float target)
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{
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}
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public float Step(float timeStep)
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{
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return 0f;
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}
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}
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public class BSPIDMotor : BSMotor
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{
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// TODO: write and use this one
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BSPIDMotor() : base()
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{
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}
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}
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}
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