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BulletSim: remove check for small motor movement because, while it 

did the right thing for stopping (speed reducing to zero), it prevented
movement from starting (speed increasing from zero). Will revisit
when the generalize PID motor is debugged.
0.7.5-pf-bulletsim
Robert Adams 2012-12-29 10:19:47 -08:00
parent 0538096fa3
commit 28a8949b9f
2 changed files with 6 additions and 3 deletions
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7
OpenSim/Region/Physics/BulletSPlugin/BSCharacter.cs
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@ -217,6 +217,7 @@ public sealed class BSCharacter : BSPhysObject
// 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force. // 'stepVelocity' is now the speed we'd like the avatar to move in. Turn that into an instantanous force.
OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass / PhysicsScene.LastTimeStep; OMV.Vector3 moveForce = (stepVelocity - _velocity) * Mass / PhysicsScene.LastTimeStep;
/*
// If moveForce is very small, zero things so we don't keep sending microscopic updates to the user // If moveForce is very small, zero things so we don't keep sending microscopic updates to the user
float moveForceMagnitudeSquared = moveForce.LengthSquared(); float moveForceMagnitudeSquared = moveForce.LengthSquared();
if (moveForceMagnitudeSquared < 0.0001) if (moveForceMagnitudeSquared < 0.0001)
@ -227,10 +228,12 @@ public sealed class BSCharacter : BSPhysObject
} }
else else
{ {
DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}",
LocalID, stepVelocity, _velocity, Mass, moveForce);
AddForce(moveForce, false, true); AddForce(moveForce, false, true);
} }
*/
DetailLog("{0},BSCharacter.MoveMotor,move,stepVel={1},vel={2},mass={3},moveForce={4}",
LocalID, stepVelocity, _velocity, Mass, moveForce);
AddForce(moveForce, false, true);
}); });
} }