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ubitODE let vehicles responde faster to changes of some parameters like motors decay times

avinationmerge
UbitUmarov 2012-05-12 14:00:08 +01:00
parent 792e8db456
commit 4d98a291a2
1 changed files with 13 additions and 12 deletions
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25
OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
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@ -63,6 +63,9 @@ namespace OpenSim.Region.Physics.OdePlugin
private OdeScene _pParentScene;
// Vehicle properties
// WARNING this are working copies for internel use
// their values may not be the corresponding parameter
private Quaternion m_referenceFrame = Quaternion.Identity; // Axis modifier
private Quaternion m_RollreferenceFrame = Quaternion.Identity; // what hell is this ?
@ -244,6 +247,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (pValue < m_timestep) pValue = m_timestep;
else if (pValue > 120) pValue = 120;
m_angularMotorDecayTimescale = pValue * m_invtimestep;
m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale;
break;
case Vehicle.ANGULAR_MOTOR_TIMESCALE:
if (pValue < m_timestep) pValue = m_timestep;
@ -293,6 +297,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (pValue < m_timestep) pValue = m_timestep;
else if (pValue > 120) pValue = 120;
m_linearMotorDecayTimescale = (0.2f +pValue) * m_invtimestep;
m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale);
break;
case Vehicle.LINEAR_MOTOR_TIMESCALE:
if (pValue < m_timestep) pValue = m_timestep;
@ -320,7 +325,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (len > 12.566f)
m_angularMotorDirection *= (12.566f / len);
m_amEfect = 1.0f / m_angularMotorTimescale; // turn it on
m_amEfect = 1.0f ; // turn it on
m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale;
if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
@ -338,7 +343,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearMotorDirection *= (100.0f / len);
m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale;
m_lmEfect = 1.0f / m_linearMotorTimescale; // turn it on
m_lmEfect = 1.0f; // turn it on
m_ffactor = 0.01f;
if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
@ -374,7 +379,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (len > 12.566f)
m_angularMotorDirection *= (12.566f / len);
m_amEfect = 1.0f / m_angularMotorTimescale; // turn it on
m_amEfect = 1.0f; // turn it on
m_amDecay = 1.0f - 1.0f / m_angularMotorDecayTimescale;
if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
@ -393,11 +398,9 @@ namespace OpenSim.Region.Physics.OdePlugin
if (len > 100.0f)
m_linearMotorDirection *= (100.0f / len);
m_lmEfect = 1.0f / m_linearMotorTimescale; // turn it on
m_lmEfect = 1.0f; // turn it on
m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale;
m_ffactor = 0.01f;
if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
&& !rootPrim.m_isSelected && !rootPrim.m_disabled)
@ -776,10 +779,10 @@ namespace OpenSim.Region.Physics.OdePlugin
float ldampZ = 0;
// linear motor
if (m_lmEfect > 0.001 && m_linearMotorTimescale < 1000)
if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000)
{
tmpV = m_linearMotorDirection - curLocalVel; // velocity error
tmpV *= m_lmEfect; // error to correct in this timestep
tmpV *= m_lmEfect / m_linearMotorTimescale; // error to correct in this timestep
tmpV *= rotq; // to world
if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
@ -799,9 +802,7 @@ namespace OpenSim.Region.Physics.OdePlugin
}
m_lmEfect *= m_lmDecay;
// m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
m_ffactor = 0;
m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
}
else
{
@ -1007,7 +1008,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_amEfect > 0.01 && m_angularMotorTimescale < 1000)
{
tmpV = m_angularMotorDirection - curLocalAngVel; // velocity error
tmpV *= m_amEfect; // error to correct in this timestep
tmpV *= m_amEfect / m_angularMotorTimescale; // error to correct in this timestep
torque.X += tmpV.X * m_ampwr;
torque.Y += tmpV.Y * m_ampwr;
torque.Z += tmpV.Z;