BulletSim: increase vehicle stability by suppressing Bullet's update to angular velocity.
Robert Adams
parent
084e3926ca
commit
5685b33071
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@ -805,6 +805,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// m_angularFrictionTimescale // body angular velocity decay rate
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// m_lastAngularVelocity // what was last applied to body
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/*
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if (m_angularMotorDirection.LengthSquared() > 0.0001)
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{
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Vector3 origVel = m_angularMotorVelocity;
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@ -823,6 +824,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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{
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m_angularMotorVelocity = Vector3.Zero;
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}
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*/
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Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
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@ -842,15 +844,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// verticalError.X and .Y are the World error amounts. They are 0 when there is no
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// error (Vehicle Body is 'vertical'), and .Z will be 1. As the body leans to its
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// side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall
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// and .Z will go // negative. Similar for tilt and |.Y|. .X and .Y must be
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// and .Z will go negative. Similar for tilt and |.Y|. .X and .Y must be
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// modulated to prevent a stable inverted body.
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// Error is 0 (no error) to +/- 2 (max error)
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if (verticalError.Z < 0.0f)
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{
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verticalError.X = 2.0f - verticalError.X;
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verticalError.Y = 2.0f - verticalError.Y;
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}
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verticalError.X = Math.Max(-2f, Math.Min(verticalError.X, 2f));
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verticalError.Y = Math.Max(-2f, Math.Min(verticalError.Y, 2f));
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// scale it by VAservo (timestep and timescale)
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verticalError = verticalError * VAservo;
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@ -1013,10 +1013,15 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// Also remove any motion that is on the object so added motion is only from vehicle.
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Vector3 applyAngularForce = ((m_lastAngularVelocity * pTimestep)
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- Prim.ForceRotationalVelocity);
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// Unscale the force by the angular factor so it overwhelmes the Bullet additions.
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Prim.ForceRotationalVelocity = applyAngularForce;
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VDetailLog("{0},MoveAngular,done,newRotVel={1},lastAngular={2}",
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Prim.LocalID, applyAngularForce, m_lastAngularVelocity);
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VDetailLog("{0},MoveAngular,done,angMotor={1},vertAttr={2},bank={3},deflect={4},newAngForce={5},lastAngular={6}",
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Prim.LocalID,
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angularMotorContribution, verticalAttractionContribution,
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bankingContribution, deflectionContribution,
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applyAngularForce, m_lastAngularVelocity
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);
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}
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}
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@ -1380,54 +1380,16 @@ public sealed class BSPrim : BSPhysObject
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public override void UpdateProperties(EntityProperties entprop)
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{
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/*
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UpdatedProperties changed = 0;
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// assign to the local variables so the normal set action does not happen
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// if (_position != entprop.Position)
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if (!_position.ApproxEquals(entprop.Position, POSITION_TOLERANCE))
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{
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_position = entprop.Position;
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changed |= UpdatedProperties.Position;
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}
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// if (_orientation != entprop.Rotation)
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if (!_orientation.ApproxEquals(entprop.Rotation, ROTATION_TOLERANCE))
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{
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_orientation = entprop.Rotation;
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changed |= UpdatedProperties.Rotation;
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}
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// if (_velocity != entprop.Velocity)
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if (!_velocity.ApproxEquals(entprop.Velocity, VELOCITY_TOLERANCE))
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{
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_velocity = entprop.Velocity;
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changed |= UpdatedProperties.Velocity;
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}
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// if (_acceleration != entprop.Acceleration)
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if (!_acceleration.ApproxEquals(entprop.Acceleration, ACCELERATION_TOLERANCE))
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{
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_acceleration = entprop.Acceleration;
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changed |= UpdatedProperties.Acceleration;
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}
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// if (_rotationalVelocity != entprop.RotationalVelocity)
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if (!_rotationalVelocity.ApproxEquals(entprop.RotationalVelocity, ROTATIONAL_VELOCITY_TOLERANCE))
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{
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_rotationalVelocity = entprop.RotationalVelocity;
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changed |= UpdatedProperties.RotationalVel;
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}
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if (changed != 0)
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{
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// Only update the position of single objects and linkset roots
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if (Linkset.IsRoot(this))
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{
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base.RequestPhysicsterseUpdate();
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}
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}
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*/
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// Don't check for damping here -- it's done in BulletSim and SceneObjectPart.
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// Updates only for individual prims and for the root object of a linkset.
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if (Linkset.IsRoot(this))
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{
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// A temporary kludge to suppress the rotational effects introduced on vehicles by Bullet
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// TODO: handle physics introduced by Bullet with computed vehicle physics.
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if (_vehicle.IsActive)
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{
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entprop.RotationalVelocity = OMV.Vector3.Zero;
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}
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// Assign directly to the local variables so the normal set action does not happen
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_position = entprop.Position;
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_orientation = entprop.Rotation;
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@ -515,9 +515,9 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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collidersCount = 0;
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}
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// Don't have to use the pointers passed back since we know it is the same pinned memory we passed in
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// Don't have to use the pointers passed back since we know it is the same pinned memory we passed in.
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// Get a value for 'now' so all the collision and update routines don't have to get their own
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// Get a value for 'now' so all the collision and update routines don't have to get their own.
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SimulationNowTime = Util.EnvironmentTickCount();
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// If there were collisions, process them by sending the event to the prim.
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@ -563,6 +563,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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ObjectsWithCollisions.Remove(po);
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ObjectsWithNoMoreCollisions.Clear();
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}
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// Done with collisions.
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// If any of the objects had updated properties, tell the object it has been changed by the physics engine
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if (updatedEntityCount > 0)
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@ -586,9 +587,8 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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// The physics engine returns the number of milliseconds it simulated this call.
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// These are summed and normalized to one second and divided by 1000 to give the reported physics FPS.
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// We multiply by 55 to give a recognizable running rate (55 or less).
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return numSubSteps * m_fixedTimeStep * 1000 * 55;
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// return timeStep * 1000 * 55;
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// Multiply by 55 to give a nominal frame rate of 55.
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return (float)numSubSteps * m_fixedTimeStep * 1000f * 55f;
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}
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// Something has collided
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@ -1172,7 +1172,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
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(s) => { return s.m_params[0].avatarFriction; },
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(s,p,l,v) => { s.UpdateParameterObject(ref s.m_params[0].avatarFriction, p, l, v); } ),
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new ParameterDefn("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
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0.99f,
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10.0f,
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(s,cf,p,v) => { s.m_params[0].avatarStandingFriction = cf.GetFloat(p, v); },
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(s) => { return s.m_params[0].avatarStandingFriction; },
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(s,p,l,v) => { s.m_params[0].avatarStandingFriction = v; } ),
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@ -357,7 +357,7 @@ public enum CollisionFlags : uint
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CF_CHARACTER_OBJECT = 1 << 4,
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CF_DISABLE_VISUALIZE_OBJECT = 1 << 5,
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CF_DISABLE_SPU_COLLISION_PROCESS = 1 << 6,
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// Following used by BulletSim to control collisions
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// Following used by BulletSim to control collisions and updates
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BS_SUBSCRIBE_COLLISION_EVENTS = 1 << 10,
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BS_FLOATS_ON_WATER = 1 << 11,
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BS_NONE = 0,
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