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llLookAt() and llRotLookAt(): all orientation updates now done via angular velocity manipulation. Also correct some orientation glitches during interpolation.

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dahlia 2015-02-06 22:36:26 -08:00
parent 3b7c3378f1
commit 506e62f815
1 changed files with 27 additions and 16 deletions
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43
OpenSim/Region/Framework/Scenes/SceneObjectPart.cs
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@ -4881,28 +4881,39 @@ namespace OpenSim.Region.Framework.Scenes
{
if (APIDTarget != Quaternion.Identity)
{
if (m_APIDIterations <= 1)
PhysicsActor pa = ParentGroup.RootPart.PhysActor;
if (pa == null || !pa.IsPhysical)
{
AngularVelocity = Vector3.Zero;
UpdateRotation(APIDTarget);
APIDTarget = Quaternion.Identity;
StopLookAt();
return;
}
Quaternion rot = Quaternion.Slerp(RotationOffset,APIDTarget,1.0f/(float)m_APIDIterations);
rot.Normalize();
Quaternion currRot = GetWorldRotation();
currRot.Normalize();
Quaternion dR = rot / RotationOffset;
Vector3 axis;
float angle;
dR.GetAxisAngle(out axis, out angle);
axis *= RotationOffset;
axis.Normalize();
axis *= angle / 11; // simulator update frequency is 10-11 Hz
AngularVelocity = axis;
// difference between current orientation and desired orientation
Quaternion dR = new Quaternion(currRot.X, currRot.Y, currRot.Z, -currRot.W) * APIDTarget;
m_APIDIterations--;
// find axis of rotation to rotate to desired orientation
Vector3 axis = Vector3.UnitX;
float s = (float)Math.Sqrt(1.0f - dR.W * dR.W);
if (s >= 0.001)
{
float invS = 1.0f / s;
if (dR.W < 0) invS = -invS;
axis = new Vector3(dR.X * invS, dR.Y * invS, dR.Z * invS) * currRot;
axis.Normalize();
}
// angle between current and desired orientation
float angle = 2.0f * (float)Math.Acos(dR.W);
if (angle > Math.PI)
angle = 2.0f * (float)Math.PI - angle;
// set angular velocity to rotate to desired orientation
// with velocity proportional to strength and angle
// the factor of 10 seems to make rotation speed closer to LL implementation
AngularVelocity = axis * angle * APIDStrength * (float)Math.PI * 10.0f;
// This ensures that we'll check this object on the next iteration
ParentGroup.QueueForUpdateCheck();