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ChODE Object Linear Motion update

avinationmerge
Kitto Flora 2010-01-21 14:39:11 -05:00
parent a964431c21
commit 66692f90e3
2 changed files with 102 additions and 87 deletions
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187
OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs
View File

@ -82,13 +82,6 @@ namespace OpenSim.Region.Physics.OdePlugin
private IntPtr m_body = IntPtr.Zero;
// private IntPtr m_jointGroup = IntPtr.Zero;
// private IntPtr m_aMotor = IntPtr.Zero;
// Correction factors, to match Sl
private static float m_linearVelocityFactor = 0.9f;
private static float m_linearAttackFactor = 0.4f;
private static float m_linearDecayFactor = 0.5f;
private static float m_linearFrictionFactor = 1.2f;
// Vehicle properties
private Vehicle m_type = Vehicle.TYPE_NONE; // If a 'VEHICLE', and what kind
@ -103,15 +96,15 @@ namespace OpenSim.Region.Physics.OdePlugin
// LIMIT_ROLL_ONLY
// Linear properties
private Vector3 m_linearMotorDirection = Vector3.Zero; // velocity requested by LSL, decayed by time
private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero; // velocity requested by LSL, for max limiting
private Vector3 m_dir = Vector3.Zero; // velocity applied to body
private Vector3 m_linearFrictionTimescale = Vector3.Zero;
private float m_linearMotorDecayTimescale = 0;
private float m_linearMotorTimescale = 0;
private Vector3 m_lastLinearVelocityVector = Vector3.Zero;
// private bool m_LinearMotorSetLastFrame = false;
// private Vector3 m_linearMotorOffset = Vector3.Zero;
private Vector3 m_linearMotorDirection = Vector3.Zero; // (was m_linearMotorDirectionLASTSET) the (local) Velocity
//requested by LSL
private float m_linearMotorTimescale = 0; // Motor Attack rate set by LSL
private float m_linearMotorDecayTimescale = 0; // Motor Decay rate set by LSL
private Vector3 m_linearFrictionTimescale = Vector3.Zero; // General Friction set by LSL
private Vector3 m_lLinMotorDVel = Vector3.Zero; // decayed motor
private Vector3 m_lLinObjectVel = Vector3.Zero; // local frame object velocity
private Vector3 m_wLinObjectVel = Vector3.Zero; // world frame object velocity
//Angular properties
private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
@ -241,7 +234,7 @@ namespace OpenSim.Region.Physics.OdePlugin
break;
case Vehicle.LINEAR_MOTOR_DIRECTION:
m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
UpdateLinDecay();
break;
case Vehicle.LINEAR_MOTOR_OFFSET:
// m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
@ -273,9 +266,8 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
break;
case Vehicle.LINEAR_MOTOR_DIRECTION:
pValue *= m_linearVelocityFactor;
m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); // velocity requested by LSL, decayed by time
m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z); // velocity requested by LSL, for max limiting
m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); // velocity requested by LSL, for max limiting
UpdateLinDecay();
break;
case Vehicle.LINEAR_MOTOR_OFFSET:
// m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
@ -304,7 +296,7 @@ namespace OpenSim.Region.Physics.OdePlugin
case Vehicle.TYPE_SLED:
m_linearFrictionTimescale = new Vector3(30, 1, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorDirection = Vector3.Zero;
// m_lLinMotorVel = Vector3.Zero;
m_linearMotorTimescale = 1000;
m_linearMotorDecayTimescale = 120;
m_angularMotorDirection = Vector3.Zero;
@ -330,7 +322,7 @@ namespace OpenSim.Region.Physics.OdePlugin
case Vehicle.TYPE_CAR:
m_linearFrictionTimescale = new Vector3(100, 2, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000);
m_linearMotorDirection = Vector3.Zero;
// m_lLinMotorVel = Vector3.Zero;
m_linearMotorTimescale = 1;
m_linearMotorDecayTimescale = 60;
m_angularMotorDirection = Vector3.Zero;
@ -357,7 +349,7 @@ namespace OpenSim.Region.Physics.OdePlugin
case Vehicle.TYPE_BOAT:
m_linearFrictionTimescale = new Vector3(10, 3, 2);
m_angularFrictionTimescale = new Vector3(10,10,10);
m_linearMotorDirection = Vector3.Zero;
// m_lLinMotorVel = Vector3.Zero;
m_linearMotorTimescale = 5;
m_linearMotorDecayTimescale = 60;
m_angularMotorDirection = Vector3.Zero;
@ -385,7 +377,7 @@ namespace OpenSim.Region.Physics.OdePlugin
case Vehicle.TYPE_AIRPLANE:
m_linearFrictionTimescale = new Vector3(200, 10, 5);
m_angularFrictionTimescale = new Vector3(20, 20, 20);
m_linearMotorDirection = Vector3.Zero;
// m_lLinMotorVel = Vector3.Zero;
m_linearMotorTimescale = 2;
m_linearMotorDecayTimescale = 60;
m_angularMotorDirection = Vector3.Zero;
@ -412,7 +404,6 @@ namespace OpenSim.Region.Physics.OdePlugin
case Vehicle.TYPE_BALLOON:
m_linearFrictionTimescale = new Vector3(5, 5, 5);
m_angularFrictionTimescale = new Vector3(10, 10, 10);
m_linearMotorDirection = Vector3.Zero;
m_linearMotorTimescale = 5;
m_linearMotorDecayTimescale = 60;
m_angularMotorDirection = Vector3.Zero;
@ -453,7 +444,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_body == IntPtr.Zero || m_type == Vehicle.TYPE_NONE)
return;
frcount++; // used to limit debug comment output
if (frcount > 100)
if (frcount > 24)
frcount = 0;
MoveLinear(pTimestep, pParentScene);
@ -463,63 +454,90 @@ namespace OpenSim.Region.Physics.OdePlugin
internal void Halt()
{ // Kill all motions, when non-physical
m_linearMotorDirection = Vector3.Zero;
m_linearMotorDirectionLASTSET = Vector3.Zero;
m_dir = Vector3.Zero;
m_lastLinearVelocityVector = Vector3.Zero;
m_lLinMotorDVel = Vector3.Zero;
m_lLinObjectVel = Vector3.Zero;
m_wLinObjectVel = Vector3.Zero;
m_angularMotorDirection = Vector3.Zero;
m_angularMotorVelocity = Vector3.Zero;
m_lastAngularVelocity = Vector3.Zero;
}
private void UpdateLinDecay()
{
if (Math.Abs(m_linearMotorDirection.X) > Math.Abs(m_lLinMotorDVel.X)) m_lLinMotorDVel.X = m_linearMotorDirection.X;
if (Math.Abs(m_linearMotorDirection.Y) > Math.Abs(m_lLinMotorDVel.Y)) m_lLinMotorDVel.Y = m_linearMotorDirection.Y;
if (Math.Abs(m_linearMotorDirection.Z) > Math.Abs(m_lLinMotorDVel.Z)) m_lLinMotorDVel.Z = m_linearMotorDirection.Z;
} // else let the motor decay on its own
private void MoveLinear(float pTimestep, OdeScene _pParentScene)
{
if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) // requested m_linearMotorDirection is significant
{
if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
Vector3 acceleration = new Vector3(0f, 0f, 0f);
// add drive to body
float linfactor = m_linearMotorTimescale/pTimestep;
// Linear accel
Vector3 addAmount1 = (m_linearMotorDirection/linfactor) * 0.8f;
// Differential accel
Vector3 addAmount2 = ((m_linearMotorDirection - m_lastLinearVelocityVector)/linfactor) * 1.6f;
// SL correction
Vector3 addAmount = (addAmount1 + addAmount2) * m_linearAttackFactor;
m_lastLinearVelocityVector += addAmount; // lastLinearVelocityVector is the current body velocity vector
//if(frcount == 0) Console.WriteLine("AL {0} + AD {1} AS{2} V {3}", addAmount1, addAmount2, addAmount, m_lastLinearVelocityVector);
// This will work temporarily, but we really need to compare speed on an axis
// KF: Limit body velocity to applied velocity?
if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
// decay applied velocity
Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
//Console.WriteLine("decay: " + decayfraction);
m_linearMotorDirection -= m_linearMotorDirection * decayfraction * m_linearDecayFactor;
//Console.WriteLine("actual: " + m_linearMotorDirection);
}
else
{ // requested is not significant
// if what remains of applied is small, zero it.
if (m_lastLinearVelocityVector.ApproxEquals(Vector3.Zero, 0.01f))
m_lastLinearVelocityVector = Vector3.Zero;
}
// convert requested object velocity to world-referenced vector
m_dir = m_lastLinearVelocityVector;
d.Quaternion rot = d.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W); // rotq = rotation of object
m_dir *= rotq; // apply obj rotation to velocity vector
Quaternion irotq = Quaternion.Inverse(rotq);
d.Vector3 velnow = d.BodyGetLinearVel(Body); // this is in world frame
Vector3 vel_now = new Vector3(velnow.X, velnow.Y, velnow.Z);
acceleration = vel_now - m_wLinObjectVel;
m_lLinObjectVel = vel_now * irotq;
if (m_linearMotorDecayTimescale < 300.0f) //setting of 300 or more disables decay rate
{
if ( Vector3.Mag(m_lLinMotorDVel) < 1.0f)
{
float decayfactor = m_linearMotorDecayTimescale/pTimestep;
Vector3 decayAmount = (m_lLinMotorDVel/decayfactor);
m_lLinMotorDVel -= decayAmount;
}
else
{
float decayfactor = 3.0f - (0.57f * (float)Math.Log((double)(m_linearMotorDecayTimescale)));
Vector3 decel = Vector3.Normalize(m_lLinMotorDVel) * decayfactor * pTimestep;
m_lLinMotorDVel -= decel;
}
if (m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f))
{
m_lLinMotorDVel = Vector3.Zero;
}
else
{
if (Math.Abs(m_lLinMotorDVel.X) < Math.Abs(m_lLinObjectVel.X)) m_lLinObjectVel.X = m_lLinMotorDVel.X;
if (Math.Abs(m_lLinMotorDVel.Y) < Math.Abs(m_lLinObjectVel.Y)) m_lLinObjectVel.Y = m_lLinMotorDVel.Y;
if (Math.Abs(m_lLinMotorDVel.Z) < Math.Abs(m_lLinObjectVel.Z)) m_lLinObjectVel.Z = m_lLinMotorDVel.Z;
}
}
// add Gravity and Buoyancy
// KF: So far I have found no good method to combine a script-requested
// .Z velocity and gravity. Therefore only 0g will used script-requested
// .Z velocity. >0g (m_VehicleBuoyancy < 1) will used modified gravity only.
if ( (! m_lLinMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (! m_lLinObjectVel.ApproxEquals(Vector3.Zero, 0.01f)) )
{
if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
if (m_linearMotorTimescale < 300.0f)
{
Vector3 attack_error = m_lLinMotorDVel - m_lLinObjectVel;
float linfactor = m_linearMotorTimescale/pTimestep;
Vector3 attackAmount = (attack_error/linfactor) * 1.3f;
m_lLinObjectVel += attackAmount;
}
if (m_linearFrictionTimescale.X < 300.0f)
{
float fricfactor = m_linearFrictionTimescale.X / pTimestep;
float fricX = m_lLinObjectVel.X / fricfactor;
m_lLinObjectVel.X -= fricX;
}
if (m_linearFrictionTimescale.Y < 300.0f)
{
float fricfactor = m_linearFrictionTimescale.Y / pTimestep;
float fricY = m_lLinObjectVel.Y / fricfactor;
m_lLinObjectVel.Y -= fricY;
}
if (m_linearFrictionTimescale.Z < 300.0f)
{
float fricfactor = m_linearFrictionTimescale.Z / pTimestep;
float fricZ = m_lLinObjectVel.Z / fricfactor;
m_lLinObjectVel.Z -= fricZ;
}
}
m_wLinObjectVel = m_lLinObjectVel * rotq;
// Add Gravity and Buoyancy
Vector3 grav = Vector3.Zero;
if(m_VehicleBuoyancy < 1.0f)
{
@ -528,10 +546,7 @@ namespace OpenSim.Region.Physics.OdePlugin
d.Mass objMass;
d.BodyGetMass(Body, out objMass);
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy);
// Preserve the current Z velocity
d.Vector3 vel_now = d.BodyGetLinearVel(Body);
m_dir.Z = vel_now.Z; // Preserve the accumulated falling velocity
grav.Z = _pParentScene.gravityz * objMass.mass * (1f - m_VehicleBuoyancy); // Applied later as a force
} // else its 1.0, no gravity.
// Check if hovering
@ -567,24 +582,24 @@ namespace OpenSim.Region.Physics.OdePlugin
{
d.Mass objMass;
d.BodyGetMass(Body, out objMass);
m_dir.Z = - ( (herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
m_wLinObjectVel.Z = - ( (herr0 * pTimestep * 50.0f) / m_VhoverTimescale);
//KF: m_VhoverEfficiency is not yet implemented
}
else
{
m_dir.Z = 0f;
m_wLinObjectVel.Z = 0f;
}
}
else
{ // not hovering, Gravity rules
m_wLinObjectVel.Z = vel_now.Z;
//if(frcount == 0) Console.WriteLine(" Z {0} a.Z {1}", m_wLinObjectVel.Z, acceleration.Z);
}
// Apply velocity
d.BodySetLinearVel(Body, m_dir.X, m_dir.Y, m_dir.Z);
d.BodySetLinearVel(Body, m_wLinObjectVel.X, m_wLinObjectVel.Y, m_wLinObjectVel.Z);
// apply gravity force
d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
// apply friction
Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount * m_linearFrictionFactor;
//if(frcount == 0) Console.WriteLine("Grav {0}", grav);
} // end MoveLinear()
private void MoveAngular(float pTimestep)
@ -633,7 +648,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if(m_verticalAttractionTimescale < 300)
{
float VAservo = 0.2f / (m_verticalAttractionTimescale * pTimestep);
float VAservo = 0.0167f / (m_verticalAttractionTimescale * pTimestep);
// get present body rotation
d.Quaternion rot = d.BodyGetQuaternion(Body);
Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);

2
OpenSim/Region/Physics/ChOdePlugin/OdePlugin.cs
View File

@ -229,7 +229,7 @@ namespace OpenSim.Region.Physics.OdePlugin
public int bodyFramesAutoDisable = 20;
protected DateTime m_lastframe = DateTime.UtcNow;
private DateTime m_lastframe = DateTime.UtcNow;
private float[] _watermap;
private bool m_filterCollisions = true;