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changes to vehicle banking

avinationmerge
UbitUmarov 2012-02-11 14:29:36 +00:00
parent 33a9f0f1c5
commit 3f9c390b4d
1 changed files with 23 additions and 69 deletions
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92
OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
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@ -38,6 +38,8 @@
* settings use.
*/
// Ubit 2012
using System;
using System.Collections.Generic;
using System.Reflection;
@ -57,24 +59,15 @@ namespace OpenSim.Region.Physics.OdePlugin
get { return m_type; }
}
// private OdeScene m_parentScene = null;
// private IntPtr m_aMotor = IntPtr.Zero;
private OdePrim rootPrim;
private OdeScene _pParentScene;
private Vector3 refUpAxis = new Vector3(0, 0, 1);
private Vector3 refAtAxis = new Vector3(1, 0, 0);
// Vehicle properties
private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
private Quaternion m_RollreferenceFrame = Quaternion.Identity; // what hell is this ?
private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
private VehicleFlag m_flags = (VehicleFlag) 0; // Boolean settings:
// HOVER_TERRAIN_ONLY
// HOVER_GLOBAL_HEIGHT
@ -84,7 +77,6 @@ namespace OpenSim.Region.Physics.OdePlugin
// LIMIT_MOTOR_UP
// LIMIT_ROLL_ONLY
private Vector3 m_BlockingEndPoint = Vector3.Zero; // not sl
private Quaternion m_RollreferenceFrame = Quaternion.Identity;
// Linear properties
private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
@ -116,7 +108,6 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_VhoverHeight = 0f;
private float m_VhoverEfficiency = 0f;
private float m_VhoverTimescale = 1000f;
private float m_VhoverTargetHeight = -1.0f; // if <0 then no hover, else its the current target height
private float m_VehicleBuoyancy = 0f; //KF: m_VehicleBuoyancy is set by VEHICLE_BUOYANCY for a vehicle.
// Modifies gravity. Slider between -1 (double-gravity) and 1 (full anti-gravity)
// KF: So far I have found no good method to combine a script-requested .Z velocity and gravity.
@ -126,9 +117,6 @@ namespace OpenSim.Region.Physics.OdePlugin
private float m_verticalAttractionEfficiency = 1.0f; // damped
private float m_verticalAttractionTimescale = 1000f; // Timescale > 300 means no vert attractor.
// special contact data for vehicles
public ContactData VehiculeContactData = new ContactData(0f, 0.1f);
// auxiliar
private Vector3 m_dir = Vector3.Zero; // velocity applied to body
@ -271,7 +259,6 @@ namespace OpenSim.Region.Physics.OdePlugin
float timestep = _pParentScene.ODE_STEPSIZE;
switch (pParam)
{
case Vehicle.ANGULAR_FRICTION_TIMESCALE:
if (pValue.X < timestep) pValue.X = timestep;
if (pValue.Y < timestep) pValue.Y = timestep;
@ -575,7 +562,6 @@ namespace OpenSim.Region.Physics.OdePlugin
return vec;
}
public static void GetRollPitch(Quaternion rot, out float roll, out float pitch)
{
// assuming rot is normalised
@ -617,23 +603,23 @@ namespace OpenSim.Region.Physics.OdePlugin
d.Vector3 dvtmp;
Vector3 tmpV;
Vector3 curVel; // velocity in world
Vector3 curAngVel; // angular velocity in world
Vector3 force = Vector3.Zero; // actually linear aceleration until mult by mass in world frame
Vector3 torque = Vector3.Zero;// actually angular aceleration until mult by Inertia in vehicle frame
d.Vector3 dtorque = new d.Vector3();
dvtmp = d.BodyGetLinearVel(Body);
Vector3 curVel;
curVel.X = dvtmp.X;
curVel.Y = dvtmp.Y;
curVel.Z = dvtmp.Z;
Vector3 curLocalVel = curVel * irotq; // current velocity in local
dvtmp = d.BodyGetAngularVel(Body);
Vector3 curAngVel;
curAngVel.X = dvtmp.X;
curAngVel.Y = dvtmp.Y;
curAngVel.Z = dvtmp.Z;
Vector3 curLocalAngVel = curAngVel * irotq; // current velocity in local
Vector3 force = Vector3.Zero; // actually linear aceleration until mult by mass in world frame
Vector3 torque = Vector3.Zero;// actually angular aceleration until mult by Inertia in object frame
d.Vector3 dtorque = new d.Vector3();
Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in local
// linear motor
if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000)
@ -791,11 +777,6 @@ namespace OpenSim.Region.Physics.OdePlugin
}
}
float r;
float p;
float y;
rotq.GetEulerAngles(out r, out p, out y);
// vertical atractor
if (m_verticalAttractionTimescale < 300)
{
@ -830,7 +811,17 @@ namespace OpenSim.Region.Physics.OdePlugin
broll *= -((1 - m_bankingMix) + vfact);
}
broll = (broll - curLocalAngVel.Z) / m_bankingTimescale;
torque.Z += broll;
// torque.Z += broll;
// make z rot be in world Z not local as seems to be in sl
tmpV.X = 0;
tmpV.Y = 0;
tmpV.Z = broll;
tmpV *= irotq;
torque.X += tmpV.X;
torque.Y += tmpV.Y;
torque.Z += tmpV.Z;
}
}
@ -853,43 +844,6 @@ namespace OpenSim.Region.Physics.OdePlugin
d.MultiplyM3V3(out dvtmp, ref dmass.I, ref dtorque);
d.BodyAddRelTorque(Body, dvtmp.X, dvtmp.Y, dvtmp.Z); // add torque in object frame
}
//end MoveAngular
// limit rotations
/*
bool changed = false;
if (m_RollreferenceFrame != Quaternion.Identity)
{
if (rotq.X >= m_RollreferenceFrame.X)
{
rot.X = rotq.X - (m_RollreferenceFrame.X / 2);
}
if (rotq.Y >= m_RollreferenceFrame.Y)
{
rot.Y = rotq.Y - (m_RollreferenceFrame.Y / 2);
}
if (rotq.X <= -m_RollreferenceFrame.X)
{
rot.X = rotq.X + (m_RollreferenceFrame.X / 2);
}
if (rotq.Y <= -m_RollreferenceFrame.Y)
{
rot.Y = rotq.Y + (m_RollreferenceFrame.Y / 2);
}
changed = true;
}
if ((m_flags & VehicleFlag.LOCK_ROTATION) != 0)
{
rot.X = 0;
rot.Y = 0;
changed = true;
}
if (changed)
d.BodySetQuaternion(Body, ref rot);
*/
}
}
}