BulletSim: reorganize angular movement routine into separate subroutines enabling external calibration routines and unit testing.
Robert Adams
parent
59554758b1
commit
68fe7dff20
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@ -317,7 +317,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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m_VhoverEfficiency = 0;
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m_VhoverTimescale = 0;
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m_VehicleBuoyancy = 0;
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m_linearDeflectionEfficiency = 1;
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m_linearDeflectionTimescale = 1;
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@ -366,8 +366,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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m_bankingMix = 1;
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m_referenceFrame = Quaternion.Identity;
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m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
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| VehicleFlag.HOVER_TERRAIN_ONLY
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m_flags &= ~(VehicleFlag.HOVER_WATER_ONLY
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| VehicleFlag.HOVER_TERRAIN_ONLY
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| VehicleFlag.HOVER_GLOBAL_HEIGHT
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| VehicleFlag.HOVER_UP_ONLY);
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m_flags |= (VehicleFlag.NO_DEFLECTION_UP
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@ -575,7 +575,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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Vector3 localInertia = new Vector3(m_vehicleMass, m_vehicleMass, m_vehicleMass);
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BulletSimAPI.SetMassProps2(Prim.PhysBody.ptr, m_vehicleMass, localInertia);
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VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}",
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VDetailLog("{0},BSDynamics.Refresh,frict={1},inert={2},aDamp={3}",
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Prim.LocalID, friction, localInertia, angularDamping);
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}
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}
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@ -759,13 +759,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// (http://wiki.secondlife.com/wiki/Category:LSL_Vehicle), the downForce
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// has a decay factor. This says this force should
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// be computed with a motor.
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VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}",
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VDetailLog("{0},MoveLinear,limitMotorUp,distAbove={1},downForce={2}",
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Prim.LocalID, distanceAboveGround, limitMotorUpContribution);
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}
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// ==================================================================
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Vector3 newVelocity = linearMotorContribution
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+ terrainHeightContribution
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Vector3 newVelocity = linearMotorContribution
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+ terrainHeightContribution
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+ hoverContribution
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+ limitMotorUpContribution;
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@ -801,7 +801,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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}
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VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},primVel={4},totalDown={5}",
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Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector,
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Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector,
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newVelocity, Prim.Velocity, totalDownForce);
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} // end MoveLinear()
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@ -850,139 +850,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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VDetailLog("{0},MoveAngular,noDeflectionUp,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
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}
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// ==================================================================
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Vector3 verticalAttractionContribution = Vector3.Zero;
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// If vertical attaction timescale is reasonable and we applied an angular force last time...
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if (m_verticalAttractionTimescale < 500)
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{
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Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation;
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verticalError.Normalize();
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m_verticalAttractionMotor.SetCurrent(verticalError);
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m_verticalAttractionMotor.SetTarget(Vector3.UnitZ);
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verticalAttractionContribution = m_verticalAttractionMotor.Step(pTimestep);
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/*
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// Take a vector pointing up and convert it from world to vehicle relative coords.
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Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation;
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verticalError.Normalize();
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Vector3 verticalAttractionContribution = ComputeAngularVerticalAttraction(pTimestep);
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// If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
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// is now leaning to one side (rotated around the X axis) and the Y value will
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// go from zero (nearly straight up) to one (completely to the side) or leaning
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// front-to-back (rotated around the Y axis) and the value of X will be between
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// zero and one.
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// The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
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Vector3 deflectionContribution = ComputeAngularDeflection(pTimestep);
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// If verticalError.Z is negative, the vehicle is upside down. Add additional push.
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if (verticalError.Z < 0f)
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{
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verticalError.X = 2f - verticalError.X;
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verticalError.Y = 2f - verticalError.Y;
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}
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// Y error means needed rotation around X axis and visa versa.
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verticalAttractionContribution.X = verticalError.Y;
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verticalAttractionContribution.Y = - verticalError.X;
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verticalAttractionContribution.Z = 0f;
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// scale by the time scale and timestep
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Vector3 unscaledContrib = verticalAttractionContribution;
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verticalAttractionContribution /= m_verticalAttractionTimescale;
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verticalAttractionContribution *= pTimestep;
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// apply efficiency
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Vector3 preEfficiencyContrib = verticalAttractionContribution;
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float efficencySquared = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency;
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verticalAttractionContribution *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
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VDetailLog("{0},MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}",
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Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib,
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m_verticalAttractionEfficiency, efficencySquared,
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verticalAttractionContribution);
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*/
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}
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// ==================================================================
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Vector3 deflectionContribution = Vector3.Zero;
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if (m_angularDeflectionEfficiency != 0)
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{
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// Compute a scaled vector that points in the preferred axis (X direction)
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Vector3 scaledDefaultDirection =
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new Vector3((pTimestep * 10 * (m_angularDeflectionEfficiency / m_angularDeflectionTimescale)), 0, 0);
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// Adding the current vehicle orientation and reference frame displaces the orientation to the frame.
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// Rotate the scaled default axix relative to the actual vehicle direction giving where it should point.
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Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(Prim.ForceOrientation, m_referenceFrame);
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// Scale by efficiency and timescale
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deflectionContribution = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep;
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VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}",
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Prim.LocalID, preferredAxisOfMotion, deflectionContribution);
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// This deflection computation is not correct.
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deflectionContribution = Vector3.Zero;
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}
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// ==================================================================
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Vector3 bankingContribution = Vector3.Zero;
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if (m_bankingEfficiency != 0)
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{
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Vector3 dir = Vector3.One * Prim.ForceOrientation;
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float mult = (m_bankingMix*m_bankingMix)*-1*(m_bankingMix < 0 ? -1 : 1);
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//Changes which way it banks in and out of turns
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//Use the square of the efficiency, as it looks much more how SL banking works
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float effSquared = (m_bankingEfficiency*m_bankingEfficiency);
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if (m_bankingEfficiency < 0)
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effSquared *= -1; //Keep the negative!
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float mix = Math.Abs(m_bankingMix);
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if (m_angularMotorVelocity.X == 0)
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{
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// The vehicle is stopped
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/*if (!parent.Orientation.ApproxEquals(this.m_referenceFrame, 0.25f))
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{
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Vector3 axisAngle;
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float angle;
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parent.Orientation.GetAxisAngle(out axisAngle, out angle);
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Vector3 rotatedVel = parent.Velocity * parent.Orientation;
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if ((rotatedVel.X < 0 && axisAngle.Y > 0) || (rotatedVel.X > 0 && axisAngle.Y < 0))
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m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (1f) * 10;
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else
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m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (-1f) * 10;
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}*/
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}
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else
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{
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bankingContribution.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4;
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}
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//If they are colliding, we probably shouldn't shove the prim around... probably
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if (!Prim.IsColliding && Math.Abs(m_angularMotorVelocity.X) > mix)
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{
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float angVelZ = m_angularMotorVelocity.X*-1;
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/*if(angVelZ > mix)
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angVelZ = mix;
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else if(angVelZ < -mix)
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angVelZ = -mix;*/
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//This controls how fast and how far the banking occurs
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Vector3 bankingRot = new Vector3(angVelZ*(effSquared*mult), 0, 0);
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if (bankingRot.X > 3)
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bankingRot.X = 3;
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else if (bankingRot.X < -3)
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bankingRot.X = -3;
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bankingRot *= Prim.ForceOrientation;
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bankingContribution += bankingRot;
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}
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m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency;
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VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}",
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Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, bankingContribution);
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}
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Vector3 bankingContribution = ComputeAngularBanking(pTimestep);
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// ==================================================================
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m_lastVertAttractor = verticalAttractionContribution;
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// Sum velocities
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m_lastAngularVelocity = angularMotorContribution
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m_lastAngularVelocity = angularMotorContribution
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+ verticalAttractionContribution
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+ bankingContribution
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+ deflectionContribution;
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@ -1032,7 +910,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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// Since we are stuffing the angular velocity directly into the object, the computed
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// velocity needs to be scaled by the timestep.
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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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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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@ -1046,6 +924,147 @@ namespace OpenSim.Region.Physics.BulletSPlugin
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}
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}
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public Vector3 ComputeAngularVerticalAttraction(float pTimestep)
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{
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Vector3 ret = Vector3.Zero;
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// If vertical attaction timescale is reasonable and we applied an angular force last time...
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if (m_verticalAttractionTimescale < 500)
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{
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Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation;
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verticalError.Normalize();
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m_verticalAttractionMotor.SetCurrent(verticalError);
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m_verticalAttractionMotor.SetTarget(Vector3.UnitZ);
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ret = m_verticalAttractionMotor.Step(pTimestep);
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/*
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// Take a vector pointing up and convert it from world to vehicle relative coords.
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Vector3 verticalError = Vector3.UnitZ * Prim.ForceOrientation;
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verticalError.Normalize();
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// If vertical attraction correction is needed, the vector that was pointing up (UnitZ)
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// is now leaning to one side (rotated around the X axis) and the Y value will
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// go from zero (nearly straight up) to one (completely to the side) or leaning
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// front-to-back (rotated around the Y axis) and the value of X will be between
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// zero and one.
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// The value of Z is how far the rotation is off with 1 meaning none and 0 being 90 degrees.
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// If verticalError.Z is negative, the vehicle is upside down. Add additional push.
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if (verticalError.Z < 0f)
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{
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verticalError.X = 2f - verticalError.X;
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verticalError.Y = 2f - verticalError.Y;
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}
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// Y error means needed rotation around X axis and visa versa.
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verticalAttractionContribution.X = verticalError.Y;
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verticalAttractionContribution.Y = - verticalError.X;
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verticalAttractionContribution.Z = 0f;
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// scale by the time scale and timestep
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Vector3 unscaledContrib = verticalAttractionContribution;
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verticalAttractionContribution /= m_verticalAttractionTimescale;
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verticalAttractionContribution *= pTimestep;
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// apply efficiency
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Vector3 preEfficiencyContrib = verticalAttractionContribution;
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float efficencySquared = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency;
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verticalAttractionContribution *= (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
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VDetailLog("{0},MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},preEff={3},eff={4},effSq={5},vertAttr={6}",
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Prim.LocalID, verticalError, unscaledContrib, preEfficiencyContrib,
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m_verticalAttractionEfficiency, efficencySquared,
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verticalAttractionContribution);
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*/
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}
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return ret;
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}
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public Vector3 ComputeAngularDeflection(float pTimestep)
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{
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Vector3 ret = Vector3.Zero;
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if (m_angularDeflectionEfficiency != 0)
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{
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// Compute a scaled vector that points in the preferred axis (X direction)
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Vector3 scaledDefaultDirection =
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new Vector3((pTimestep * 10 * (m_angularDeflectionEfficiency / m_angularDeflectionTimescale)), 0, 0);
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// Adding the current vehicle orientation and reference frame displaces the orientation to the frame.
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// Rotate the scaled default axix relative to the actual vehicle direction giving where it should point.
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Vector3 preferredAxisOfMotion = scaledDefaultDirection * Quaternion.Add(Prim.ForceOrientation, m_referenceFrame);
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// Scale by efficiency and timescale
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ret = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep;
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VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}", Prim.LocalID, preferredAxisOfMotion, ret);
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// This deflection computation is not correct.
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ret = Vector3.Zero;
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}
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return ret;
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}
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public Vector3 ComputeAngularBanking(float pTimestep)
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{
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Vector3 ret = Vector3.Zero;
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if (m_bankingEfficiency != 0)
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{
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Vector3 dir = Vector3.One * Prim.ForceOrientation;
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float mult = (m_bankingMix * m_bankingMix) * -1 * (m_bankingMix < 0 ? -1 : 1);
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//Changes which way it banks in and out of turns
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//Use the square of the efficiency, as it looks much more how SL banking works
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float effSquared = (m_bankingEfficiency * m_bankingEfficiency);
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if (m_bankingEfficiency < 0)
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effSquared *= -1; //Keep the negative!
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float mix = Math.Abs(m_bankingMix);
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if (m_angularMotorVelocity.X == 0)
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{
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// The vehicle is stopped
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/*if (!parent.Orientation.ApproxEquals(this.m_referenceFrame, 0.25f))
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{
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Vector3 axisAngle;
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float angle;
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parent.Orientation.GetAxisAngle(out axisAngle, out angle);
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Vector3 rotatedVel = parent.Velocity * parent.Orientation;
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if ((rotatedVel.X < 0 && axisAngle.Y > 0) || (rotatedVel.X > 0 && axisAngle.Y < 0))
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m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (1f) * 10;
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else
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m_angularMotorVelocity.X += (effSquared * (mult * mix)) * (-1f) * 10;
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}*/
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}
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else
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{
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ret.Z += (effSquared * (mult * mix)) * (m_angularMotorVelocity.X) * 4;
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}
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//If they are colliding, we probably shouldn't shove the prim around... probably
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if (!Prim.IsColliding && Math.Abs(m_angularMotorVelocity.X) > mix)
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{
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float angVelZ = m_angularMotorVelocity.X * -1;
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/*if(angVelZ > mix)
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angVelZ = mix;
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else if(angVelZ < -mix)
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angVelZ = -mix;*/
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//This controls how fast and how far the banking occurs
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Vector3 bankingRot = new Vector3(angVelZ * (effSquared * mult), 0, 0);
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if (bankingRot.X > 3)
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bankingRot.X = 3;
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else if (bankingRot.X < -3)
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bankingRot.X = -3;
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bankingRot *= Prim.ForceOrientation;
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ret += bankingRot;
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}
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m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency;
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VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},effSq={3},mult={4},mix={5},banking={6}",
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Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, effSquared, mult, mix, ret);
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}
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return ret;
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}
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// This is from previous instantiations of XXXDynamics.cs.
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// Applies roll reference frame.
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// TODO: is this the right way to separate the code to do this operation?
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