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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
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42
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -618,15 +618,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private float? m_knownWaterLevel;
private Vector3? m_knownPosition;
private Vector3? m_knownVelocity;
private Vector3? m_knownForce;
private Quaternion? m_knownOrientation;
private Vector3? m_knownRotationalVelocity;
private Vector3? m_knownRotationalForce;
private const int m_knownChangedPosition = 1 << 0;
private const int m_knownChangedVelocity = 1 << 1;
private const int m_knownChangedOrientation = 1 << 2;
private const int m_knownChangedRotationalVelocity = 1 << 3;
private const int m_knownChangedRotationalForce = 1 << 4;
private const int m_knownChangedForce = 1 << 2;
private const int m_knownChangedOrientation = 1 << 3;
private const int m_knownChangedRotationalVelocity = 1 << 4;
private const int m_knownChangedRotationalForce = 1 << 5;
private void ForgetKnownVehicleProperties()
{
@ -634,6 +636,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_knownWaterLevel = null;
m_knownPosition = null;
m_knownVelocity = null;
m_knownForce = null;
m_knownOrientation = null;
m_knownRotationalVelocity = null;
m_knownRotationalForce = null;
@ -652,6 +655,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Prim.ForceVelocity = 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)
{
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
{
get
@ -784,10 +796,9 @@ namespace OpenSim.Region.Physics.BulletSPlugin
linearMotorContribution *= VehicleOrientation;
// ==================================================================
// Gravity and Buoyancy
// There is some gravity, make a gravity force vector that is applied after object velocity.
// Buoyancy: force to overcome gravity.
// 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);
@ -812,14 +823,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
newVelocity.Z = 0;
// ==================================================================
// Clamp REALLY high or low velocities
// Clamp high or low velocities
float newVelocityLengthSq = newVelocity.LengthSquared();
if (newVelocityLengthSq > 1e6f)
// if (newVelocityLengthSq > 1e6f)
if (newVelocityLengthSq > 1000f)
{
newVelocity /= newVelocity.Length();
newVelocity *= 1000f;
}
else if (newVelocityLengthSq < 1e-6f)
// else if (newVelocityLengthSq < 1e-6f)
else if (newVelocityLengthSq < 0.001f)
newVelocity = Vector3.Zero;
// ==================================================================
@ -828,15 +841,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin
VehicleVelocity = newVelocity;
// Other linear forces are applied as forces.
Vector3 totalDownForce = grav * m_vehicleMass * pTimestep;
if (totalDownForce != Vector3.Zero)
Vector3 totalDownForce = buoyancyContribution * m_vehicleMass;
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,
linearMotorContribution, terrainHeightContribution, hoverContribution, limitMotorUpContribution
linearMotorContribution, terrainHeightContribution, hoverContribution,
limitMotorUpContribution, buoyancyContribution
);
} // end MoveLinear()