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BulletSim: repair vehicle problems introduced in previous 'improvements'. Fix line endings in BSParams.

0.7.5-pf-bulletsim
Robert Adams 2012-12-21 15:21:32 -08:00
parent ae4d932e7f
commit 6dbf9c8ed4
4 changed files with 598 additions and 572 deletions
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37
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -634,28 +634,33 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_knownHas = 0;
m_knownChanged = 0;
}
// Push all the changed values back into the physics engine
private void PushKnownChanged()
{
if (m_knownChanged != 0)
{
if ((m_knownChanged & m_knownChangedPosition) != 0)
Prim.ForcePosition = VehiclePosition;
Prim.ForcePosition = m_knownPosition;
if ((m_knownChanged & m_knownChangedOrientation) != 0)
Prim.ForceOrientation = VehicleOrientation;
Prim.ForceOrientation = m_knownOrientation;
if ((m_knownChanged & m_knownChangedVelocity) != 0)
{
Prim.ForceVelocity = VehicleVelocity;
Prim.ForceVelocity = m_knownVelocity;
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;
Prim.ForceRotationalVelocity = m_knownRotationalVelocity;
// Fake out Bullet by making it think the velocity is the same as last time.
BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, VehicleRotationalVelocity);
BulletSimAPI.SetInterpolationAngularVelocity2(Prim.PhysBody.ptr, m_knownRotationalVelocity);
}
if ((m_knownChanged & m_knownChangedRotationalForce) != 0)
Prim.AddAngularForce((Vector3)m_knownRotationalForce, false, true);
@ -667,7 +672,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
}
// Since the computation of terrain height can be a little involved, this routine
// is used ot fetch the height only once for each vehicle simulation step.
// is used to fetch the height only once for each vehicle simulation step.
private float GetTerrainHeight(Vector3 pos)
{
if ((m_knownHas & m_knownChangedTerrainHeight) == 0)
@ -699,12 +704,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_knownPosition = Prim.ForcePosition;
m_knownHas |= m_knownChangedPosition;
}
return (Vector3)m_knownPosition;
return m_knownPosition;
}
set
{
m_knownPosition = value;
m_knownChanged |= m_knownChangedPosition;
m_knownHas |= m_knownChangedPosition;
}
}
@ -717,12 +723,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_knownOrientation = Prim.ForceOrientation;
m_knownHas |= m_knownChangedOrientation;
}
return (Quaternion)m_knownOrientation;
return m_knownOrientation;
}
set
{
m_knownOrientation = value;
m_knownChanged |= m_knownChangedOrientation;
m_knownHas |= m_knownChangedOrientation;
}
}
@ -741,13 +748,19 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
m_knownVelocity = value;
m_knownChanged |= m_knownChangedVelocity;
m_knownHas |= m_knownChangedVelocity;
}
}
private void VehicleAddForce(Vector3 aForce)
{
if ((m_knownHas & m_knownChangedForce) == 0)
{
m_knownForce = Vector3.Zero;
}
m_knownForce += aForce;
m_knownChanged |= m_knownChangedForce;
m_knownHas |= m_knownChangedForce;
}
private Vector3 VehicleRotationalVelocity
@ -765,12 +778,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{
m_knownRotationalVelocity = value;
m_knownChanged |= m_knownChangedRotationalVelocity;
m_knownHas |= m_knownChangedRotationalVelocity;
}
}
private void VehicleAddAngularForce(Vector3 aForce)
{
if ((m_knownHas & m_knownChangedRotationalForce) == 0)
{
m_knownRotationalForce = Vector3.Zero;
}
m_knownRotationalForce += aForce;
m_knownChanged |= m_knownChangedRotationalForce;
m_knownHas |= m_knownChangedRotationalForce;
}
// Vehicle relative forward velocity
private Vector3 VehicleForwardVelocity
@ -782,7 +801,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation));
m_knownHas |= m_knownChangedForwardVelocity;
}
return (Vector3)m_knownForwardVelocity;
return m_knownForwardVelocity;
}
}
private float VehicleForwardSpeed

14
OpenSim/Region/Physics/BulletSPlugin/BSMotors.cs
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@ -268,12 +268,14 @@ public class BSPIDVMotor : BSVMotor
public Vector3 proportionFactor { get; set; }
public Vector3 integralFactor { get; set; }
public Vector3 derivFactor { get; set; }
// Arbritrary factor range.
// EfficiencyHigh means move quickly to the correct number. EfficiencyLow means might over correct.
public float EfficiencyHigh = 0.4f;
public float EfficiencyLow = 4.0f;
Vector3 IntegralFactor { get; set; }
// Running integration of the error
Vector3 RunningIntegration { get; set; }
public BSPIDVMotor(string useName)
: base(useName)
@ -281,7 +283,7 @@ public class BSPIDVMotor : BSVMotor
proportionFactor = new Vector3(1.00f, 1.00f, 1.00f);
integralFactor = new Vector3(1.00f, 1.00f, 1.00f);
derivFactor = new Vector3(1.00f, 1.00f, 1.00f);
IntegralFactor = Vector3.Zero;
RunningIntegration = Vector3.Zero;
LastError = Vector3.Zero;
}
@ -312,14 +314,18 @@ public class BSPIDVMotor : BSVMotor
public override Vector3 Step(float timeStep, Vector3 error)
{
// Add up the error so we can integrate over the accumulated errors
IntegralFactor += error * timeStep;
RunningIntegration += error * timeStep;
// A simple derivitive is the rate of change from the last error.
Vector3 derivFactor = (error - LastError) * timeStep;
LastError = error;
// Correction = -(proportionOfPresentError + accumulationOfPastError + rateOfChangeOfError)
Vector3 ret = -(error * proportionFactor + IntegralFactor * integralFactor + derivFactor * derivFactor);
Vector3 ret = -(
error * proportionFactor
+ RunningIntegration * integralFactor
+ derivFactor * derivFactor
);
return ret;
}

5
OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
View File

@ -1,4 +1,4 @@
/*
/*
* Copyright (c) Contributors, http://opensimulator.org/
* See CONTRIBUTORS.TXT for a full list of copyright holders.
*
@ -136,6 +136,7 @@ public static class BSParam
// A ParameterDefn() takes the following parameters:
// -- the text name of the parameter. This is used for console input and ini file.
// -- a short text description of the parameter. This shows up in the console listing.
// -- a default value (float)
// -- a delegate for fetching the parameter from the ini file.
// Should handle fetching the right type from the ini file and converting it.
// -- a delegate for getting the value as a float
@ -148,7 +149,7 @@ public static class BSParam
// o = BSPhysObject
// p = string parameter name
// l = localID of referenced object
// v = float value
// v = value (float)
// cf = parameter configuration class (for fetching values from ini file)
private static ParameterDefn[] ParameterDefinitions =
{

2
OpenSim/Region/Physics/BulletSPlugin/BSScene.cs
View File

@ -864,7 +864,7 @@ public sealed class BSScene : PhysicsScene, IPhysicsParameters
{
DetailLog("{0},BSScene.AssertInTaintTime,NOT IN TAINT TIME,Region={1},Where={2}", DetailLogZero, RegionName, whereFrom);
m_log.ErrorFormat("{0} NOT IN TAINT TIME!! Region={1}, Where={2}", LogHeader, RegionName, whereFrom);
Util.PrintCallStack(DetailLog); // Prints the stack into the DEBUG log file.
Util.PrintCallStack(DetailLog);
}
return InTaintTime;
}