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* A few fixes to the Linear Motor

0.6.5-rc1
Teravus Ovares 2009-04-17 23:04:33 +00:00
parent b4cb45bb79
commit 68190617b4
1 changed files with 21 additions and 15 deletions
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30
OpenSim/Region/Physics/OdePlugin/ODEVehicleSettings.cs
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@ -64,6 +64,7 @@ namespace OpenSim.Region.Physics.OdePlugin
private Vector3 m_angularMotorDirection = Vector3.Zero; private Vector3 m_angularMotorDirection = Vector3.Zero;
private Vector3 m_linearFrictionTimescale = Vector3.Zero; private Vector3 m_linearFrictionTimescale = Vector3.Zero;
private Vector3 m_linearMotorDirection = Vector3.Zero; private Vector3 m_linearMotorDirection = Vector3.Zero;
private Vector3 m_linearMotorDirectionLASTSET = Vector3.Zero;
private Vector3 m_linearMotorOffset = Vector3.Zero; private Vector3 m_linearMotorOffset = Vector3.Zero;
private float m_angularDeflectionEfficiency = 0; private float m_angularDeflectionEfficiency = 0;
private float m_angularDeflectionTimescale = 0; private float m_angularDeflectionTimescale = 0;
@ -173,7 +174,7 @@ namespace OpenSim.Region.Physics.OdePlugin
break; break;
case Vehicle.LINEAR_MOTOR_DIRECTION: case Vehicle.LINEAR_MOTOR_DIRECTION:
m_linearMotorDirection = new Vector3(pValue, pValue, pValue); m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
m_LinearMotorSetLastFrame = true; m_linearMotorDirectionLASTSET = new Vector3(pValue, pValue, pValue);
break; break;
case Vehicle.LINEAR_MOTOR_OFFSET: case Vehicle.LINEAR_MOTOR_OFFSET:
m_linearMotorOffset = new Vector3(pValue, pValue, pValue); m_linearMotorOffset = new Vector3(pValue, pValue, pValue);
@ -199,6 +200,7 @@ namespace OpenSim.Region.Physics.OdePlugin
break; break;
case Vehicle.LINEAR_MOTOR_DIRECTION: case Vehicle.LINEAR_MOTOR_DIRECTION:
m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z); m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
m_linearMotorDirectionLASTSET = new Vector3(pValue.X, pValue.Y, pValue.Z);
break; break;
case Vehicle.LINEAR_MOTOR_OFFSET: case Vehicle.LINEAR_MOTOR_OFFSET:
m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z); m_linearMotorOffset = new Vector3(pValue.X, pValue.Y, pValue.Z);
@ -466,27 +468,31 @@ namespace OpenSim.Region.Physics.OdePlugin
if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f)) if (!m_linearMotorDirection.ApproxEquals(Vector3.Zero, 0.01f))
{ {
Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep); Vector3 addAmount = m_linearMotorDirection/(m_linearMotorTimescale/pTimestep);
m_lastLinearVelocityVector += (addAmount*10); m_lastLinearVelocityVector += (addAmount*10);
// This will work temporarily, but we really need to compare speed on an axis // This will work temporarily, but we really need to compare speed on an axis
if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirection.X)) if (Math.Abs(m_lastLinearVelocityVector.X) > Math.Abs(m_linearMotorDirectionLASTSET.X))
m_lastLinearVelocityVector.X = m_linearMotorDirection.X; m_lastLinearVelocityVector.X = m_linearMotorDirectionLASTSET.X;
if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirection.Y)) if (Math.Abs(m_lastLinearVelocityVector.Y) > Math.Abs(m_linearMotorDirectionLASTSET.Y))
m_lastLinearVelocityVector.Y = m_linearMotorDirection.Y; m_lastLinearVelocityVector.Y = m_linearMotorDirectionLASTSET.Y;
if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirection.Z)) if (Math.Abs(m_lastLinearVelocityVector.Z) > Math.Abs(m_linearMotorDirectionLASTSET.Z))
m_lastLinearVelocityVector.Z = m_linearMotorDirection.Z; m_lastLinearVelocityVector.Z = m_linearMotorDirectionLASTSET.Z;
//System.Console.WriteLine("add: " + addAmount); //Console.WriteLine("add: " + addAmount);
m_linearMotorDirection -= (m_linearMotorDirection*new Vector3(1, 1, 1)/ Vector3 decayfraction = ((Vector3.One/(m_linearMotorDecayTimescale/pTimestep)));
(m_linearMotorDecayTimescale/pTimestep)) * 0.10f; //Console.WriteLine("decay: " + decayfraction);
m_linearMotorDirection -= m_linearMotorDirection * decayfraction;
//Console.WriteLine("actual: " + m_linearMotorDirection); //Console.WriteLine("actual: " + m_linearMotorDirection);
} }
//System.Console.WriteLine(m_linearMotorDirection + " " + m_lastLinearVelocityVector); //System.Console.WriteLine(m_linearMotorDirection + " " + m_lastLinearVelocityVector);
SetMotorProperties(); SetMotorProperties();
Vector3 decayamount = new Vector3(1,1,1)/(m_linearFrictionTimescale/pTimestep); Vector3 decayamount = Vector3.One / (m_linearFrictionTimescale / pTimestep);
m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount; m_lastLinearVelocityVector -= m_lastLinearVelocityVector * decayamount;
//m_linearMotorDirection *= decayamount; //m_linearMotorDirection *= decayamount;
@ -507,7 +513,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
d.JointSetLMotorAxis(m_lMotor1, 0, 1, dirNorm.X, dirNorm.Y, dirNorm.Z); d.JointSetLMotorAxis(m_lMotor1, 0, 1, dirNorm.X, dirNorm.Y, dirNorm.Z);
d.JointSetLMotorParam(m_lMotor1, (int)dParam.Vel, m_linearMotorDirection.Length()); d.JointSetLMotorParam(m_lMotor1, (int)dParam.Vel, m_lastLinearVelocityVector.Length());
d.JointSetLMotorParam(m_lMotor1, (int)dParam.FMax, 35f * objMass.mass); d.JointSetLMotorParam(m_lMotor1, (int)dParam.FMax, 35f * objMass.mass);
} }