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BulletSim: Add gravity force to vehicle. Some debugging additions.

integration
Robert Adams 2012-10-29 14:32:07 -07:00
parent dae038a117
commit 42d65840c8
1 changed files with 6 additions and 2 deletions
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8
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -539,6 +539,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{ {
if (!IsActive) return; if (!IsActive) return;
m_lastAngularVelocity = Prim.ForceRotationalVelocity; // DEBUG: account for what Bullet did last time
MoveLinear(pTimestep); MoveLinear(pTimestep);
MoveAngular(pTimestep); MoveAngular(pTimestep);
LimitRotation(pTimestep); LimitRotation(pTimestep);
@ -558,7 +560,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Prim.ForceOrientation = newOrientation; Prim.ForceOrientation = newOrientation;
} }
*/ */
BulletSimAPI.SetInterpolationVelocity2(Prim.BSBody.ptr, m_newVelocity, m_lastAngularVelocity); // DEBUG: Trying to figure out why Bullet goes crazy when the root prim is moved.
BulletSimAPI.SetInterpolationVelocity2(Prim.BSBody.ptr, m_newVelocity, m_lastAngularVelocity); // DEBUG DEBUG DEBUG
// remember the position so next step we can limit absolute movement effects // remember the position so next step we can limit absolute movement effects
m_lastPositionVector = Prim.ForcePosition; m_lastPositionVector = Prim.ForcePosition;
@ -762,13 +765,14 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Apply velocity // Apply velocity
Prim.ForceVelocity = m_newVelocity; Prim.ForceVelocity = m_newVelocity;
// Prim.AddForce(m_newVelocity * Prim.Linkset.LinksetMass, false); // Prim.AddForce(m_newVelocity * Prim.Linkset.LinksetMass, false);
// Prim.AddForce(grav * Prim.Linkset.LinksetMass, false); Prim.AddForce(grav * Prim.Linkset.LinksetMass, false);
VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4}", VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4}",
Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav); Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav);
} // end MoveLinear() } // end MoveLinear()
// =======================================================================
// Apply the effect of the angular motor. // Apply the effect of the angular motor.
private void MoveAngular(float pTimestep) private void MoveAngular(float pTimestep)
{ {