OpenSim
/
OpenSimMirror
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

BulletSim: Don't add gravity to down force -- let Bullet do that. Add VehicleAddForce to set of managed vehicle prim properties.

0.7.5-pf-bulletsim
Robert Adams 2012-12-05 09:45:33 -08:00
parent e599a8b242
commit 6d7f66f781
1 changed files with 28 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

42
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
View File

@ -618,15 +618,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private float? m_knownWaterLevel; private float? m_knownWaterLevel;
private Vector3? m_knownPosition; private Vector3? m_knownPosition;
private Vector3? m_knownVelocity; private Vector3? m_knownVelocity;
private Vector3? m_knownForce;
private Quaternion? m_knownOrientation; private Quaternion? m_knownOrientation;
private Vector3? m_knownRotationalVelocity; private Vector3? m_knownRotationalVelocity;
private Vector3? m_knownRotationalForce; private Vector3? m_knownRotationalForce;
private const int m_knownChangedPosition = 1 << 0; private const int m_knownChangedPosition = 1 << 0;
private const int m_knownChangedVelocity = 1 << 1; private const int m_knownChangedVelocity = 1 << 1;
private const int m_knownChangedOrientation = 1 << 2; private const int m_knownChangedForce = 1 << 2;
private const int m_knownChangedRotationalVelocity = 1 << 3; private const int m_knownChangedOrientation = 1 << 3;
private const int m_knownChangedRotationalForce = 1 << 4; private const int m_knownChangedRotationalVelocity = 1 << 4;
private const int m_knownChangedRotationalForce = 1 << 5;
private void ForgetKnownVehicleProperties() private void ForgetKnownVehicleProperties()
{ {
@ -634,6 +636,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_knownWaterLevel = null; m_knownWaterLevel = null;
m_knownPosition = null; m_knownPosition = null;
m_knownVelocity = null; m_knownVelocity = null;
m_knownForce = null;
m_knownOrientation = null; m_knownOrientation = null;
m_knownRotationalVelocity = null; m_knownRotationalVelocity = null;
m_knownRotationalForce = null; m_knownRotationalForce = null;
@ -652,6 +655,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Prim.ForceVelocity = VehicleVelocity; Prim.ForceVelocity = VehicleVelocity;
BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity); BulletSimAPI.SetInterpolationLinearVelocity2(Prim.PhysBody.ptr, VehicleVelocity);
} }
if ((m_knownChanged & m_knownChangedForce) != 0)
Prim.AddForce((Vector3)m_knownForce, false, true);
if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0) if ((m_knownChanged & m_knownChangedRotationalVelocity) != 0)
{ {
Prim.ForceRotationalVelocity = VehicleRotationalVelocity; Prim.ForceRotationalVelocity = VehicleRotationalVelocity;
@ -730,6 +736,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
} }
} }
private void VehicleAddForce(Vector3 aForce)
{
m_knownForce += aForce;
m_knownChanged |= m_knownChangedForce;
}
private Vector3 VehicleRotationalVelocity private Vector3 VehicleRotationalVelocity
{ {
get get
@ -784,10 +796,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
linearMotorContribution *= VehicleOrientation; linearMotorContribution *= VehicleOrientation;
// ================================================================== // ==================================================================
// Gravity and Buoyancy // Buoyancy: force to overcome gravity.
// There is some gravity, make a gravity force vector that is applied after object velocity.
// m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g; // m_VehicleBuoyancy: -1=2g; 0=1g; 1=0g;
Vector3 grav = Prim.PhysicsScene.DefaultGravity * (1f - m_VehicleBuoyancy); Vector3 buoyancyContribution = Prim.PhysicsScene.DefaultGravity * (m_VehicleBuoyancy - 1f);
Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep); Vector3 terrainHeightContribution = ComputeLinearTerrainHeightCorrection(pTimestep);
@ -812,14 +823,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
newVelocity.Z = 0; newVelocity.Z = 0;
// ================================================================== // ==================================================================
// Clamp REALLY high or low velocities // Clamp high or low velocities
float newVelocityLengthSq = newVelocity.LengthSquared(); float newVelocityLengthSq = newVelocity.LengthSquared();
if (newVelocityLengthSq > 1e6f) // if (newVelocityLengthSq > 1e6f)
if (newVelocityLengthSq > 1000f)
{ {
newVelocity /= newVelocity.Length(); newVelocity /= newVelocity.Length();
newVelocity *= 1000f; newVelocity *= 1000f;
} }
else if (newVelocityLengthSq < 1e-6f) // else if (newVelocityLengthSq < 1e-6f)
else if (newVelocityLengthSq < 0.001f)
newVelocity = Vector3.Zero; newVelocity = Vector3.Zero;
// ================================================================== // ==================================================================
@ -828,15 +841,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
VehicleVelocity = newVelocity; VehicleVelocity = newVelocity;
// Other linear forces are applied as forces. // Other linear forces are applied as forces.
Vector3 totalDownForce = grav * m_vehicleMass * pTimestep; Vector3 totalDownForce = buoyancyContribution * m_vehicleMass;
if (totalDownForce != Vector3.Zero) if (!totalDownForce.ApproxEquals(Vector3.Zero, 0.01f))
{ {
Prim.AddForce(totalDownForce, false); VehicleAddForce(totalDownForce);
} }
VDetailLog("{0}, MoveLinear,done,newVel={1},totDown={2},linContrib={3},terrContrib={4},hoverContrib={5},limitContrib={6}", VDetailLog("{0}, MoveLinear,done,newVel={1},totDown={2},linContrib={3},terrContrib={4},hoverContrib={5},limitContrib={6},buoyContrib={7}",
Prim.LocalID, newVelocity, totalDownForce, Prim.LocalID, newVelocity, totalDownForce,
linearMotorContribution, terrainHeightContribution, hoverContribution, limitMotorUpContribution linearMotorContribution, terrainHeightContribution, hoverContribution,
limitMotorUpContribution, buoyancyContribution
); );
} // end MoveLinear() } // end MoveLinear()