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BulletSim: complete vector motor. Correct line endings.

connector_plugin^2
Robert Adams 2012-11-24 20:01:34 -08:00
parent d1480ac7ee
commit 22d5bf8ff9
1 changed files with 129 additions and 104 deletions
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49
OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
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@ -1,4 +1,4 @@
using System;
using System;
using System.Collections.Generic;
using System.Text;
using OpenMetaverse;
@ -7,8 +7,25 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
public abstract class BSMotor
{
public BSMotor()
{
PhysicsScene = null;
}
public virtual void Reset() { }
public virtual void Zero() { }
// Used only for outputting debug information. Might not be set so check for null.
public BSScene PhysicsScene { get; set; }
protected void MDetailLog(string msg, params Object[] parms)
{
if (PhysicsScene != null)
{
if (PhysicsScene.VehicleLoggingEnabled)
{
PhysicsScene.DetailLog(msg, parms);
}
}
}
}
// Can all the incremental stepping be replaced with motor classes?
public class BSVMotor : BSMotor
@ -24,14 +41,13 @@ public class BSVMotor : BSMotor
public Vector3 TargetValue { get; private set; }
public Vector3 CurrentValue { get; private set; }
BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency)
BSVMotor(float timeScale, float decayTimeScale, Vector3 frictionTimeScale, float efficiency) : base()
{
TimeScale = timeScale;
TargetValueDecayTimeScale = decayTimeScale;
CurrentValueReductionTimescale = frictionTimeScale;
Efficiency = efficiency;
CurrentValue = TargetValue = Vector3.Zero;
}
public void SetCurrent(Vector3 current)
{
@ -43,30 +59,39 @@ public class BSVMotor : BSMotor
}
public Vector3 Step(float timeStep)
{
Vector3 returnCurrent = Vector3.Zero;
if (CurrentValue.LengthSquared() > 0.001f)
{
// Vector3 origDir = Target; // DEBUG
// Vector3 origVel = CurrentValue; // DEBUG
// Add (desiredVelocity - currentAppliedVelocity) / howLongItShouldTakeToComplete
Vector3 addAmount = (TargetValue - CurrentValue)/(TargetValue) * timeStep;
// Add (desiredVector - currentAppliedVector) / howLongItShouldTakeToComplete
Vector3 addAmount = (TargetValue - CurrentValue)/TimeScale * timeStep;
CurrentValue += addAmount;
returnCurrent = CurrentValue;
// The desired value reduces to zero when also reduces the difference with current.
float decayFactor = (1.0f / TargetValueDecayTimeScale) * timeStep;
TargetValue *= (1f - decayFactor);
Vector3 frictionFactor = (Vector3.One / CurrentValueReductionTimescale) * timeStep;
CurrentValue *= (Vector3.One - frictionFactor);
MDetailLog("{0},BSVMotor.Step,nonZero,curr={1},target={2},add={3},decay={4},frict={5},ret={6}",
BSScene.DetailLogZero, TargetValue, CurrentValue,
addAmount, decayFactor, frictionFactor, returnCurrent);
}
else
{
// if what remains of direction is very small, zero it.
TargetValue = Vector3.Zero;
// Difference between what we have and target is small. Motor is done.
CurrentValue = Vector3.Zero;
TargetValue = Vector3.Zero;
MDetailLog("{0},BSVMotor.Step,zero,curr={1},target={2},ret={3}",
BSScene.DetailLogZero, TargetValue, CurrentValue, returnCurrent);
// VDetailLog("{0},MoveLinear,zeroed", Prim.LocalID);
}
return CurrentValue;
return returnCurrent;
}
}
@ -80,7 +105,7 @@ public class BSFMotor : BSMotor
public float Target { get; private set; }
public float CurrentValue { get; private set; }
BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency)
BSFMotor(float timeScale, float decayTimescale, float friction, float efficiency) : base()
{
}
public void SetCurrent(float target)
@ -97,7 +122,7 @@ public class BSFMotor : BSMotor
public class BSPIDMotor : BSMotor
{
// TODO: write and use this one
BSPIDMotor()
BSPIDMotor() : base()
{
}
}