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BulletSim: move new linear deflection code to own routine. 

Remove VehicleForwardVelocity changed storage since the value
will be modified as movement is processed.
cpu-performance
Robert Adams 2013-06-21 10:46:21 -07:00
parent a5de4f692b
commit 74539659f6
1 changed files with 36 additions and 30 deletions
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66
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -707,7 +707,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private Vector3 m_knownRotationalVelocity; private Vector3 m_knownRotationalVelocity;
private Vector3 m_knownRotationalForce; private Vector3 m_knownRotationalForce;
private Vector3 m_knownRotationalImpulse; private Vector3 m_knownRotationalImpulse;
private Vector3 m_knownForwardVelocity; // vehicle relative forward speed
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;
@ -719,7 +718,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private const int m_knownChangedRotationalImpulse = 1 << 7; private const int m_knownChangedRotationalImpulse = 1 << 7;
private const int m_knownChangedTerrainHeight = 1 << 8; private const int m_knownChangedTerrainHeight = 1 << 8;
private const int m_knownChangedWaterLevel = 1 << 9; private const int m_knownChangedWaterLevel = 1 << 9;
private const int m_knownChangedForwardVelocity = 1 <<10;
public void ForgetKnownVehicleProperties() public void ForgetKnownVehicleProperties()
{ {
@ -923,12 +921,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{ {
get get
{ {
if ((m_knownHas & m_knownChangedForwardVelocity) == 0) return VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation));
{
m_knownForwardVelocity = VehicleVelocity * Quaternion.Inverse(Quaternion.Normalize(VehicleOrientation));
m_knownHas |= m_knownChangedForwardVelocity;
}
return m_knownForwardVelocity;
} }
} }
private float VehicleForwardSpeed private float VehicleForwardSpeed
@ -981,6 +974,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{ {
ComputeLinearVelocity(pTimestep); ComputeLinearVelocity(pTimestep);
ComputeLinearDeflection(pTimestep);
ComputeLinearTerrainHeightCorrection(pTimestep); ComputeLinearTerrainHeightCorrection(pTimestep);
ComputeLinearHover(pTimestep); ComputeLinearHover(pTimestep);
@ -1026,14 +1021,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
{ {
// Step the motor from the current value. Get the correction needed this step. // Step the motor from the current value. Get the correction needed this step.
Vector3 origVelW = VehicleVelocity; // DEBUG Vector3 origVelW = VehicleVelocity; // DEBUG
Vector3 currentVelV = VehicleVelocity * Quaternion.Inverse(VehicleOrientation); Vector3 currentVelV = VehicleForwardVelocity;
Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV); Vector3 linearMotorCorrectionV = m_linearMotor.Step(pTimestep, currentVelV);
//Compute Linear deflection. // Friction reduces vehicle motion based on absolute speed. Slow vehicle down by friction.
Vector3 linearDeflectionFactorV = ComputeLinearDeflection(m_linearDeflectionEfficiency, currentVelV, pTimestep);
linearMotorCorrectionV += linearDeflectionFactorV;
// Friction reduces vehicle motion
Vector3 frictionFactorV = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep); Vector3 frictionFactorV = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep);
linearMotorCorrectionV -= (currentVelV * frictionFactorV); linearMotorCorrectionV -= (currentVelV * frictionFactorV);
@ -1050,11 +1041,38 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Add this correction to the velocity to make it faster/slower. // Add this correction to the velocity to make it faster/slower.
VehicleVelocity += linearMotorVelocityW; VehicleVelocity += linearMotorVelocityW;
VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}",
VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6},LinearDeflec={7}",
ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV, ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV,
linearMotorVelocityW, VehicleVelocity, frictionFactorV, linearDeflectionFactorV); linearMotorVelocityW, VehicleVelocity, frictionFactorV);
}
//Given a Deflection Effiency and a Velocity, Returns a Velocity that is Partially Deflected onto the X Axis
//Clamped so that a DeflectionTimescale of less then 1 does not increase force over original velocity
private void ComputeLinearDeflection(float pTimestep)
{
Vector3 linearDeflectionV = Vector3.Zero;
Vector3 velocityV = VehicleForwardVelocity;
// Velocity in Y and Z dimensions is movement to the side or turning.
// Compute deflection factor from the to the side and rotational velocity
linearDeflectionV.Y = SortedClampInRange(0, (velocityV.Y * m_linearDeflectionEfficiency) / m_linearDeflectionTimescale, velocityV.Y);
linearDeflectionV.Z = SortedClampInRange(0, (velocityV.Z * m_linearDeflectionEfficiency) / m_linearDeflectionTimescale, velocityV.Z);
// Velocity to the side and around is corrected and moved into the forward direction
linearDeflectionV.X += Math.Abs(linearDeflectionV.Y);
linearDeflectionV.X += Math.Abs(linearDeflectionV.Z);
// Scale the deflection to the fractional simulation time
linearDeflectionV *= pTimestep;
// Subtract the sideways and rotational velocity deflection factors while adding the correction forward
linearDeflectionV *= new Vector3(1,-1,-1);
// Correciont is vehicle relative. Convert to world coordinates and add to the velocity
VehicleVelocity += linearDeflectionV * VehicleOrientation;
VDetailLog("{0}, MoveLinear,LinearDeflection,linDefEff={1},linDefTS={2},linDeflectionV={3}",
ControllingPrim.LocalID, m_linearDeflectionEfficiency, m_linearDeflectionTimescale, linearDeflectionV);
} }
public void ComputeLinearTerrainHeightCorrection(float pTimestep) public void ComputeLinearTerrainHeightCorrection(float pTimestep)
@ -1655,19 +1673,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
} }
return frictionFactor; return frictionFactor;
} }
//Given a Deflection Effiency and a Velocity, Returns a Velocity that is Partially Deflected onto the X Axis
//Clamped so that a DeflectionTimescale of less then 1 does not increase force over original velocity
private Vector3 ComputeLinearDeflection(float DeflectionEfficiency,Vector3 Velocity,float pTimestep)
{
Vector3 LinearDeflection = Vector3.Zero;
LinearDeflection.Y = SortedClampInRange(0, (Velocity.Y * DeflectionEfficiency) / m_linearDeflectionTimescale, Velocity.Y);
LinearDeflection.Z = SortedClampInRange(0, (Velocity.Z * DeflectionEfficiency) / m_linearDeflectionTimescale, Velocity.Z);
LinearDeflection.X += Math.Abs(LinearDeflection.Y);
LinearDeflection.X += Math.Abs(LinearDeflection.Z);
LinearDeflection *= pTimestep;
return LinearDeflection*=new Vector3(1,-1,-1);
}
private float SortedClampInRange(float clampa, float val, float clampb) private float SortedClampInRange(float clampa, float val, float clampb)
{ {
if (clampa > clampb) if (clampa > clampb)