Vehicle Linear parameter adjustments
Kitto Flora
parent
67cfe34e67
commit
3f901d313b
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@ -83,6 +83,12 @@ namespace OpenSim.Region.Physics.OdePlugin
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// private IntPtr m_jointGroup = IntPtr.Zero;
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// private IntPtr m_aMotor = IntPtr.Zero;
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// Correction factors, to match Sl
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private static float m_linearVelocityFactor = 0.9f;
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private static float m_linearAttackFactor = 0.4f;
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private static float m_linearDecayFactor = 0.5f;
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private static float m_linearFrictionFactor = 1.2f;
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// Vehicle properties
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private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
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@ -98,7 +104,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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// Linear properties
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private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
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private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL
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private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL, for max limiting
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private Vector3 m_dir = Vector3.Zero; // velocity applied to body
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private Vector3 m_linearFrictionTimescale = Vector3.Zero;
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private float m_linearMotorDecayTimescale = 0;
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@ -267,8 +273,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
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break;
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case Vehicle.LINEAR_MOTOR_DIRECTION:
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m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
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m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
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pValue *= m_linearVelocityFactor;
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m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); // velocity requested by LSL, decayed by time
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m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); // velocity requested by LSL, for max limiting
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break;
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case Vehicle.LINEAR_MOTOR_OFFSET:
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// m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
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@ -453,6 +460,17 @@ namespace OpenSim.Region.Physics.OdePlugin
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MoveAngular(pTimestep);
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}// end Step
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internal void Halt()
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{ // Kill all motions, when non-physical
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m_linearMotorDirection = Vector3.Zero;
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m_linearMotorDirectionLASTSET = Vector3.Zero;
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m_dir = Vector3.Zero;
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m_lastLinearVelocityVector = Vector3.Zero;
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m_angularMotorDirection = Vector3.Zero;
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m_angularMotorVelocity = Vector3.Zero;
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m_lastAngularVelocity = Vector3.Zero;
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}
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private void MoveLinear(float pTimestep, OdeScene _pParentScene)
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{
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if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
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@ -460,9 +478,15 @@ namespace OpenSim.Region.Physics.OdePlugin
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if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
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// add drive to body
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Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
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m_lastLinearVelocityVector += (addAmount*10); // lastLinearVelocityVector is the current body velocity vector?
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float linfactor = m_linearMotorTimescale/pTimestep;
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// Linear accel
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Vector3 addAmount1 = (m_linearMotorDirection/linfactor) * 0.8f;
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// Differential accel
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Vector3 addAmount2 = ((m_linearMotorDirection - m_lastLinearVelocityVector)/linfactor) * 1.6f;
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// SL correction
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Vector3 addAmount = (addAmount1 + addAmount2) * m_linearAttackFactor;
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m_lastLinearVelocityVector += addAmount; // lastLinearVelocityVector is the current body velocity vector
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//if(frcount == 0) Console.WriteLine("AL {0} + AD {1} AS{2} V {3}", addAmount1, addAmount2, addAmount, m_lastLinearVelocityVector);
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// This will work temporarily, but we really need to compare speed on an axis
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// KF: Limit body velocity to applied velocity?
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if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
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@ -475,7 +499,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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// decay applied velocity
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Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
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//Console.WriteLine("decay: " + decayfraction);
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m_linearMotorDirection -= m_linearMotorDirection * decayfraction * 0.5f;
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m_linearMotorDirection -= m_linearMotorDirection * decayfraction * m_linearDecayFactor;
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//Console.WriteLine("actual: " + m_linearMotorDirection);
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}
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else
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@ -560,7 +584,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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// apply friction
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Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
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m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
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m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount * m_linearFrictionFactor;
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} // end MoveLinear()
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private void MoveAngular(float pTimestep)
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@ -2296,10 +2296,14 @@ Console.WriteLine(" JointCreateFixed");
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public override bool IsPhysical
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{
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get { return m_isphysical; }
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set {
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set
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{
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m_isphysical = value;
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if (!m_isphysical) // Zero the remembered last velocity
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if (!m_isphysical)
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{ // Zero the remembered last velocity
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m_lastVelocity = Vector3.Zero;
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if (m_vehicle.Type != Vehicle.TYPE_NONE) m_vehicle.Halt();
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}
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}
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}
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@ -229,7 +229,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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public int bodyFramesAutoDisable = 20;
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protected DateTime m_lastframe = DateTime.UtcNow;
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private float[] _watermap;
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private bool m_filterCollisions = true;
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@ -2639,13 +2639,20 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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if (framecount >= int.MaxValue)
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framecount = 0;
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//if (m_worldOffset != Vector3.Zero)
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// return 0;
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framecount++;
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float fps = 0;
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DateTime now = DateTime.UtcNow;
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TimeSpan SinceLastFrame = now - m_lastframe;
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m_lastframe = now;
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float realtime = (float)SinceLastFrame.TotalSeconds;
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// Console.WriteLine("ts={0} rt={1}", timeStep, realtime);
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timeStep = realtime;
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// float fps = 1.0f / realtime;
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float fps = 0.0f; // number of ODE steps in this Simulate step
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//m_log.Info(timeStep.ToString());
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step_time += timeStep;
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@ -2691,11 +2698,11 @@ namespace OpenSim.Region.Physics.OdePlugin
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// Figure out the Frames Per Second we're going at.
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//(step_time == 0.004f, there's 250 of those per second. Times the step time/step size
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fps = (step_time / ODE_STEPSIZE) * 1000;
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// fps = (step_time / ODE_STEPSIZE) * 1000;
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// HACK: Using a time dilation of 1.0 to debug rubberbanding issues
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//m_timeDilation = Math.Min((step_time / ODE_STEPSIZE) / (0.09375f / ODE_STEPSIZE), 1.0f);
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step_time = 0.09375f;
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// step_time = 0.09375f;
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while (step_time > 0.0f)
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{
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@ -2716,7 +2723,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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foreach (OdeCharacter character in _taintedActors)
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{
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character.ProcessTaints(timeStep);
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character.ProcessTaints(ODE_STEPSIZE);
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processedtaints = true;
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//character.m_collisionscore = 0;
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@ -2725,7 +2732,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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if (processedtaints)
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_taintedActors.Clear();
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}
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}
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} // end lock _taintedActors
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// Modify other objects in the scene.
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processedtaints = false;
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@ -2742,7 +2749,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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else
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{
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//Console.WriteLine("Simulate calls ProcessTaints");
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prim.ProcessTaints(timeStep);
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prim.ProcessTaints(ODE_STEPSIZE);
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}
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processedtaints = true;
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prim.m_collisionscore = 0;
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@ -2767,7 +2774,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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foreach (PhysicsJoint joint in pendingJoints)
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{
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//DoJointErrorMessage(joint, "taint: time to create joint with parms: " + joint.RawParams);
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string[] jointParams = joint.RawParams.Split(" ".ToCharArray(), System.StringSplitOptions.RemoveEmptyEntries);
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string[] jointParams = joint.RawParams.Split(" ".ToCharArray(),
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System.StringSplitOptions.RemoveEmptyEntries);
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List<IntPtr> jointBodies = new List<IntPtr>();
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bool allJointBodiesAreReady = true;
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foreach (string jointParam in jointParams)
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@ -2934,13 +2942,13 @@ namespace OpenSim.Region.Physics.OdePlugin
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//DoJointErrorMessage(successfullyProcessedJoint, "done");
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}
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}
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}
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} // end SupportsNINJAJoints
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if (processedtaints)
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//Console.WriteLine("Simulate calls Clear of _taintedPrim list");
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_taintedPrimH.Clear();
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_taintedPrimH.Clear(); // ??? if this only ???
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_taintedPrimL.Clear();
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}
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} // end lock _taintedPrimLock
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// Move characters
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lock (_characters)
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@ -2949,7 +2957,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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foreach (OdeCharacter actor in _characters)
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{
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if (actor != null)
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actor.Move(timeStep, defects);
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actor.Move(ODE_STEPSIZE, defects);
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}
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if (0 != defects.Count)
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{
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@ -2958,7 +2966,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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RemoveCharacter(defect);
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}
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}
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}
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} // end lock _characters
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// Move other active objects
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lock (_activeprims)
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@ -2966,9 +2974,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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foreach (OdePrim prim in _activeprims)
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{
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prim.m_collisionscore = 0;
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prim.Move(timeStep);
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}
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prim.Move(ODE_STEPSIZE);
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}
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} // end lock _activeprims
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//if ((framecount % m_randomizeWater) == 0)
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// randomizeWater(waterlevel);
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@ -2976,7 +2984,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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//int RayCastTimeMS = m_rayCastManager.ProcessQueuedRequests();
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m_rayCastManager.ProcessQueuedRequests();
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collision_optimized(timeStep);
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collision_optimized(ODE_STEPSIZE);
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lock (_collisionEventPrim)
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{
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@ -2998,7 +3006,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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break;
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}
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}
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}
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} // end lock _collisionEventPrim
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//if (m_global_contactcount > 5)
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//{
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@ -3009,8 +3017,9 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.WorldQuickStep(world, ODE_STEPSIZE);
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d.JointGroupEmpty(contactgroup);
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fps++;
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//ode.dunlock(world);
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}
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} // end try
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catch (Exception e)
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{
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m_log.ErrorFormat("[PHYSICS]: {0}, {1}, {2}", e.Message, e.TargetSite, e);
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@ -3025,7 +3034,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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//fps = 0;
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//}
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//}
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}
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} // end while (step_time > 0.0f)
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lock (_characters)
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{
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@ -3090,7 +3099,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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}
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}
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}
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} // end lock _activeprims
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//DumpJointInfo();
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@ -3111,10 +3120,10 @@ namespace OpenSim.Region.Physics.OdePlugin
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}
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d.WorldExportDIF(world, fname, physics_logging_append_existing_logfile, prefix);
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}
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}
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} // end lock OdeLock
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return fps;
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}
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return fps * 1000.0f; //NB This is a FRAME COUNT, not a time! AND is divide by 1000 in SimStatusReporter!
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} // end Simulate
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public override void GetResults()
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{
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