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Fix vertical attractor

avinationmerge
Kitto Flora 2010-04-29 13:50:11 -04:00
parent 85646b157c
commit 5c23b4aa56
1 changed files with 43 additions and 41 deletions
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82
OpenSim/Region/Physics/ChOdePlugin/ODEPrim.cs
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@ -3395,6 +3395,44 @@ Console.WriteLine(" JointCreateFixed");
//if(frcount == 0) Console.WriteLine("VA = {0}", angObjectVel); //if(frcount == 0) Console.WriteLine("VA = {0}", angObjectVel);
if ( (! m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (! angObjectVel.ApproxEquals(Vector3.Zero, 0.01f)) )
{ // if motor or object have motion
if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
if (m_angularMotorTimescale < 300.0f)
{
Vector3 attack_error = m_angularMotorDVel - angObjectVel;
float angfactor = m_angularMotorTimescale/timestep;
Vector3 attackAmount = (attack_error/angfactor);
angObjectVel += attackAmount;
//if(frcount == 0) Console.WriteLine("Accel {0} Attk {1}",FrAaccel, attackAmount);
//if(frcount == 0) Console.WriteLine("V2+= {0}", angObjectVel);
}
angObjectVel.X -= angObjectVel.X / (m_angularFrictionTimescale.X * 0.7f / timestep);
angObjectVel.Y -= angObjectVel.Y / (m_angularFrictionTimescale.Y * 0.7f / timestep);
angObjectVel.Z -= angObjectVel.Z / (m_angularFrictionTimescale.Z * 0.7f / timestep);
} // else no signif. motion
//if(frcount == 0) Console.WriteLine("Dmotor {0} Obj {1}", m_angularMotorDVel, angObjectVel);
// Bank section tba
// Deflection section tba
//if(frcount == 0) Console.WriteLine("V3 = {0}", angObjectVel);
// Rotation Axis Disables:
if (!m_angularEnable.ApproxEquals(Vector3.One, 0.003f))
{
if (m_angularEnable.X == 0)
angObjectVel.X = 0f;
if (m_angularEnable.Y == 0)
angObjectVel.Y = 0f;
if (m_angularEnable.Z == 0)
angObjectVel.Z = 0f;
}
angObjectVel = angObjectVel * rotq; // ================ Converts to WORLD rotation
// Vertical attractor section // Vertical attractor section
Vector3 vertattr = Vector3.Zero; Vector3 vertattr = Vector3.Zero;
@ -3419,8 +3457,9 @@ Console.WriteLine(" JointCreateFixed");
} }
verterr *= 0.5f; verterr *= 0.5f;
// verterror is 0 (no error) to +/- 1 (max error at 180-deg tilt) // verterror is 0 (no error) to +/- 1 (max error at 180-deg tilt)
Vector3 xyav = angObjectVel;
if ((!angObjectVel.ApproxEquals(Vector3.Zero, 0.001f)) || (verterr.Z < 0.49f)) xyav.Z = 0.0f;
if ((!xyav.ApproxEquals(Vector3.Zero, 0.001f)) || (verterr.Z < 0.49f))
{ {
// As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so // As the body rotates around the X axis, then verterr.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. // Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
@ -3452,46 +3491,9 @@ Console.WriteLine(" JointCreateFixed");
} // else vertical attractor is off } // else vertical attractor is off
//if(frcount == 0) Console.WriteLine("V1 = {0}", angObjectVel); //if(frcount == 0) Console.WriteLine("V1 = {0}", angObjectVel);
if ( (! m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (! angObjectVel.ApproxEquals(Vector3.Zero, 0.01f)) )
{ // if motor or object have motion
if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
if (m_angularMotorTimescale < 300.0f)
{
Vector3 attack_error = m_angularMotorDVel - angObjectVel;
float angfactor = m_angularMotorTimescale/timestep;
Vector3 attackAmount = (attack_error/angfactor);
angObjectVel += attackAmount;
//if(frcount == 0) Console.WriteLine("Accel {0} Attk {1}",FrAaccel, attackAmount);
//if(frcount == 0) Console.WriteLine("V2+= {0}", angObjectVel);
}
angObjectVel.X -= angObjectVel.X / (m_angularFrictionTimescale.X * 0.7f / timestep);
angObjectVel.Y -= angObjectVel.Y / (m_angularFrictionTimescale.Y * 0.7f / timestep);
angObjectVel.Z -= angObjectVel.Z / (m_angularFrictionTimescale.Z * 0.7f / timestep);
} // else no signif. motion
//if(frcount == 0) Console.WriteLine("Dmotor {0} Obj {1}", m_angularMotorDVel, angObjectVel);
// Bank section tba
// Deflection section tba
//if(frcount == 0) Console.WriteLine("V3 = {0}", angObjectVel);
m_lastAngularVelocity = angObjectVel; m_lastAngularVelocity = angObjectVel;
// apply Angular Velocity to body
if (!m_angularEnable.ApproxEquals(Vector3.One, 0.003f))
{
if (m_angularEnable.X == 0)
m_lastAngularVelocity.X = 0f;
if (m_angularEnable.Y == 0)
m_lastAngularVelocity.Y = 0f;
if (m_angularEnable.Z == 0)
m_lastAngularVelocity.Z = 0f;
}
// Apply to the body
// Vector3 aInc = m_lastAngularVelocity - initavel;
//if(frcount == 0) Console.WriteLine("Inc {0}", aInc);
m_lastAngularVelocity = m_lastAngularVelocity * rotq; // ================ Converts to WORLD rotation
d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z); d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
//if(frcount == 0) Console.WriteLine("V4 = {0}", m_lastAngularVelocity); //if(frcount == 0) Console.WriteLine("V4 = {0}", m_lastAngularVelocity);