BulletSim: parameterize the value for gravity reduction for ground vehicles on the ground. Set defaults for vehicle factors to one. Debug logging changes.

OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs

@@ -976,8 +976,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
         public void ComputeLinearVelocity(float pTimestep)
         {
             // Step the motor from the current value. Get the correction needed this step.
-            Vector3 currentVel = VehicleVelocity * Quaternion.Inverse(VehicleOrientation);
+            Vector3 origVelW = VehicleVelocity;             // DEBUG
-            Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVel);
+            Vector3 currentVelV = VehicleVelocity * Quaternion.Inverse(VehicleOrientation);
+            Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV);
 
             // Motor is vehicle coordinates. Rotate it to world coordinates
             Vector3 linearMotorVelocityW = linearMotorCorrectionV * VehicleOrientation;
@@ -992,8 +993,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
             // Add this correction to the velocity to make it faster/slower.
             VehicleVelocity += linearMotorVelocityW;
 
-            VDetailLog("{0},  MoveLinear,velocity,vehVel={1},correction={2},force={3}",
+            VDetailLog("{0},  MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5}",
-                        Prim.LocalID, VehicleVelocity, linearMotorCorrectionV, linearMotorVelocityW);
+                        Prim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, linearMotorVelocityW, VehicleVelocity);
         }
 
         public void ComputeLinearTerrainHeightCorrection(float pTimestep)
@@ -1193,12 +1194,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
 
             // Hack to reduce downward force if the vehicle is probably sitting on the ground
             if (Prim.IsColliding && IsGroundVehicle)
-                appliedGravity *= 0.2f;
+                appliedGravity *= BSParam.VehicleGroundGravityFudge;
 
             VehicleAddForce(appliedGravity);
 
-            VDetailLog("{0},  MoveLinear,applyGravity,vehGrav={1},appliedForce-{2}", 
+            VDetailLog("{0},  MoveLinear,applyGravity,vehGrav={1},collid={2},appliedForce={3}", 
-                            Prim.LocalID, m_VehicleGravity, appliedGravity);
+                            Prim.LocalID, m_VehicleGravity, Prim.IsColliding, appliedGravity);
         }
 
         // =======================================================================

OpenSim/Region/Physics/BulletSPlugin/BSLinksetCompound.cs

@@ -232,7 +232,7 @@ public sealed class BSLinksetCompound : BSLinkset
                                                                         newLsi.OffsetFromCenterOfMass,
                                                                         newLsi.OffsetRot,
                                                                         true /* shouldRecalculateLocalAabb */);
-                            DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1}newLsi={2}",
+                            DetailLog("{0},BSLinksetCompound.UpdateProperties,changeChildPosRot,whichUpdated={1},newLsi={2}",
                                                                         updated.LocalID, whichUpdated, newLsi);
                             updated.LinksetInfo = newLsi;
                             updatedChild = true;

OpenSim/Region/Physics/BulletSPlugin/BSParam.cs

@@ -110,6 +110,7 @@ public static class BSParam
             return (Vector3)vehicleAngularFactorV;
         }
     }
+    public static float VehicleGroundGravityFudge { get; private set; }
     public static float VehicleDebuggingEnabled { get; private set; }
 
     public static float LinksetImplementation { get; private set; }
@@ -480,12 +481,12 @@ public static class BSParam
             (s) => { return VehicleAngularDamping; },
             (s,p,l,v) => { VehicleAngularDamping = v; } ),
         new ParameterDefn("VehicleLinearFactor", "Fraction of physical linear changes applied to vehicle (0.0 - 1.0)",
-            0.2f,
+            1.0f,
             (s,cf,p,v) => { VehicleLinearFactor = cf.GetFloat(p, v); },
             (s) => { return VehicleLinearFactor; },
             (s,p,l,v) => { VehicleLinearFactor = v; } ),
         new ParameterDefn("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (0.0 - 1.0)",
-            0.2f,
+            1.0f,
             (s,cf,p,v) => { VehicleAngularFactor = cf.GetFloat(p, v); },
             (s) => { return VehicleAngularFactor; },
             (s,p,l,v) => { VehicleAngularFactor = v; } ),
@@ -495,10 +496,15 @@ public static class BSParam
             (s) => { return VehicleFriction; },
             (s,p,l,v) => { VehicleFriction = v; } ),
         new ParameterDefn("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
-            0.0f,
+            0.2f,
             (s,cf,p,v) => { VehicleRestitution = cf.GetFloat(p, v); },
             (s) => { return VehicleRestitution; },
             (s,p,l,v) => { VehicleRestitution = v; } ),
+        new ParameterDefn("VehicleGroundGravityFudge", "Factor to multiple gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
+            1.0f,
+            (s,cf,p,v) => { VehicleGroundGravityFudge = cf.GetFloat(p, v); },
+            (s) => { return VehicleGroundGravityFudge; },
+            (s,p,l,v) => { VehicleGroundGravityFudge = v; } ),
         new ParameterDefn("VehicleDebuggingEnable", "Turn on/off vehicle debugging",
             ConfigurationParameters.numericFalse,
             (s,cf,p,v) => { VehicleDebuggingEnabled = BSParam.NumericBool(cf.GetBoolean(p, BSParam.BoolNumeric(v))); },