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BulletSim: implementation of vertical attraction motor.

integration
Robert Adams 2012-11-27 05:24:29 -08:00
parent 9e0db36c82
commit 59554758b1
1 changed files with 60 additions and 39 deletions
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99
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -125,6 +125,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Therefore only m_VehicleBuoyancy=1 (0g) will use the script-requested .Z velocity.
//Attractor properties
private BSVMotor m_verticalAttractionMotor = new BSVMotor("VerticalAttraction");
private float m_verticalAttractionEfficiency = 1.0f; // damped
private float m_verticalAttractionTimescale = 500f; // Timescale > 300 means no vert attractor.
@ -197,9 +198,11 @@ namespace OpenSim.Region.Physics.BulletSPlugin
break;
case Vehicle.VERTICAL_ATTRACTION_EFFICIENCY:
m_verticalAttractionEfficiency = Math.Max(0.1f, Math.Min(pValue, 1f));
m_verticalAttractionMotor.Efficiency = m_verticalAttractionEfficiency;
break;
case Vehicle.VERTICAL_ATTRACTION_TIMESCALE:
m_verticalAttractionTimescale = Math.Max(pValue, 0.01f);
m_verticalAttractionMotor.TimeScale = m_verticalAttractionTimescale;
break;
// These are vector properties but the engine lets you use a single float value to
@ -530,12 +533,22 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Refresh();
m_linearMotor = new BSVMotor("LinearMotor", m_linearMotorTimescale,
m_linearMotorDecayTimescale, m_linearFrictionTimescale, 1f);
m_linearMotorDecayTimescale, m_linearFrictionTimescale,
1f);
m_linearMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
m_angularMotor = new BSVMotor("AngularMotor", m_angularMotorTimescale,
m_angularMotorDecayTimescale, m_angularFrictionTimescale, 1f);
m_angularMotorDecayTimescale, m_angularFrictionTimescale,
1f);
m_angularMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
m_verticalAttractionMotor = new BSVMotor("VerticalAttraction", m_verticalAttractionTimescale,
BSMotor.Infinite, BSMotor.InfiniteVector,
m_verticalAttractionEfficiency);
// Z goes away and we keep X and Y
m_verticalAttractionMotor.FrictionTimescale = new Vector3(BSMotor.Infinite, BSMotor.Infinite, 0.1f);
m_verticalAttractionMotor.PhysicsScene = PhysicsScene; // DEBUG DEBUG DEBUG (enables detail logging)
// m_bankingMotor = new BSVMotor("BankingMotor", ...);
}
@ -828,47 +841,64 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep);
// ==================================================================
// NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
{
angularMotorContribution.X = 0f;
angularMotorContribution.Y = 0f;
VDetailLog("{0},MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
}
// ==================================================================
Vector3 verticalAttractionContribution = Vector3.Zero;
// If vertical attaction timescale is reasonable and we applied an angular force last time...
if (m_verticalAttractionTimescale < 300 && m_lastAngularVelocity != Vector3.Zero)
if (m_verticalAttractionTimescale < 500)
{
float VAservo = pTimestep * 0.2f / m_verticalAttractionTimescale;
if (Prim.IsColliding)
VAservo = pTimestep * 0.05f / m_verticalAttractionTimescale;
VAservo *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
// Create a vector of the vehicle "up" in world coordinates
Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation;
// verticalError.X and .Y are the World error amounts. They are 0 when there is no
// error (Vehicle Body is 'vertical'), and .Z will be 1. As the body leans to its
// side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall
// and .Z will go negative. Similar for tilt and |.Y|. .X and .Y must be
// modulated to prevent a stable inverted body.
verticalError.Normalize();
m_verticalAttractionMotor.SetCurrent(verticalError);
m_verticalAttractionMotor.SetTarget(Vector3.UnitZ);
verticalAttractionContribution = m_verticalAttractionMotor.Step(pTimestep);
/*
// Take a vector pointing up and convert it from world to vehicle relative coords.
Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation;
verticalError.Normalize();
// Error is 0 (no error) to +/- 2 (max error)
verticalError.X = Math.Max(-2f, Math.Min(verticalError.X, 2f));
verticalError.Y = Math.Max(-2f, Math.Min(verticalError.Y, 2f));
// If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
// is now leaning to one side (rotated around the X axis) and the Y value will
// go from zero (nearly straight up) to one (completely to the side) or leaning
// front-to-back (rotated around the Y axis) and the value of X will be between
// zero and one.
// The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
// scale it by VAservo (timestep and timescale)
verticalError = verticalError * VAservo;
// If verticalError.Z is negative, the vehicle is upside down. Add additional push.
if (verticalError.Z < 0f)
{
verticalError.X = 2f - verticalError.X;
verticalError.Y = 2f - verticalError.Y;
}
// As the body rotates around the X axis, then verticalError.Y increases; Rotated around Y
// then .X increases, so change Body angular velocity X based on Y, and Y based on X.
// Z is not changed.
// Y error means needed rotation around X axis and visa versa.
verticalAttractionContribution.X = verticalError.Y;
verticalAttractionContribution.Y = - verticalError.X;
verticalAttractionContribution.Z = 0f;
// scaling appears better usingsquare-law
Vector3 angularVelocity = Prim.ForceRotationalVelocity;
float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
verticalAttractionContribution.X += bounce * angularVelocity.X;
verticalAttractionContribution.Y += bounce * angularVelocity.Y;
// scale by the time scale and timestep
Vector3 unscaledContrib = verticalAttractionContribution;
verticalAttractionContribution /= m_verticalAttractionTimescale;
verticalAttractionContribution *= pTimestep;
VDetailLog("{0},MoveAngular,verticalAttraction,VAservo={1},effic={2},verticalError={3},bounce={4},vertattr={5}",
Prim.LocalID, VAservo, m_verticalAttractionEfficiency, verticalError, bounce, verticalAttractionContribution);
// apply efficiency
Vector3 preEfficiencyContrib = verticalAttractionContribution;
float efficencySquared = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency;
verticalAttractionContribution *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
VDetailLog("{0},MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}",
Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib,
m_verticalAttractionEfficiency, efficencySquared,
verticalAttractionContribution);
*/
}
@ -988,15 +1018,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
VDetailLog("{0},BSDynamic.MoveAngular,motorOffset,applyTorqueImpulse={1}", Prim.LocalID, torqueFromOffset);
}
// ==================================================================
// NO_DEFLECTION_UP says angular motion should not add any pitch or roll movement
if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0)
{
m_lastAngularVelocity.X = 0;
m_lastAngularVelocity.Y = 0;
VDetailLog("{0},MoveAngular,noDeflectionUp,lastAngular={1}", Prim.LocalID, m_lastAngularVelocity);
}
// ==================================================================
if (m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
{