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minor change to linear motor decay

avinationmerge
UbitUmarov 2012-05-07 21:44:24 +01:00
parent 2ab9588c9a
commit 75c51f33c4
1 changed files with 17 additions and 11 deletions
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28
OpenSim/Region/Physics/UbitOdePlugin/ODEDynamics.cs
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@ -118,6 +118,7 @@ namespace OpenSim.Region.Physics.OdePlugin
// auxiliar
private float m_lmEfect = 0; // current linear motor eficiency
private float m_lmDecay = 1.0f;
private float m_amEfect = 0; // current angular motor eficiency
private float m_ffactor = 1.0f;
@ -155,6 +156,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_linearMotorDecayTimescale = vd.m_linearMotorDecayTimescale;
if (m_linearMotorDecayTimescale < m_timestep) m_linearMotorDecayTimescale = m_timestep;
m_linearMotorDecayTimescale += 0.2f;
m_linearMotorDecayTimescale *= m_invtimestep;
m_linearMotorTimescale = vd.m_linearMotorTimescale;
@ -208,6 +210,7 @@ namespace OpenSim.Region.Physics.OdePlugin
m_referenceFrame = vd.m_referenceFrame;
m_lmEfect = 0;
m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale);
m_amEfect = 0;
m_ffactor = 1.0f;
}
@ -279,7 +282,7 @@ namespace OpenSim.Region.Physics.OdePlugin
case Vehicle.LINEAR_MOTOR_DECAY_TIMESCALE:
if (pValue < m_timestep) pValue = m_timestep;
else if (pValue > 120) pValue = 120;
m_linearMotorDecayTimescale = pValue * m_invtimestep;
m_linearMotorDecayTimescale = (0.2f +pValue) * m_invtimestep;
break;
case Vehicle.LINEAR_MOTOR_TIMESCALE:
if (pValue < m_timestep) pValue = m_timestep;
@ -318,9 +321,10 @@ namespace OpenSim.Region.Physics.OdePlugin
case Vehicle.LINEAR_MOTOR_DIRECTION:
m_linearMotorDirection = new Vector3(pValue, pValue, pValue);
len = m_linearMotorDirection.Length();
if (len > 30.0f)
m_linearMotorDirection *= (30.0f / len);
m_lmEfect = 1.0f; // turn it on
if (len > 100.0f)
m_linearMotorDirection *= (100.0f / len);
m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale;
m_lmEfect = 1.0f / m_linearMotorTimescale; // turn it on
m_ffactor = 0.01f;
if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
&& !rootPrim.m_isSelected && !rootPrim.m_disabled)
@ -368,9 +372,10 @@ namespace OpenSim.Region.Physics.OdePlugin
case Vehicle.LINEAR_MOTOR_DIRECTION:
m_linearMotorDirection = new Vector3(pValue.X, pValue.Y, pValue.Z);
len = m_linearMotorDirection.Length();
if (len > 30.0f)
m_linearMotorDirection *= (30.0f / len);
m_lmEfect = 1.0f; // turn it on
if (len > 100.0f)
m_linearMotorDirection *= (100.0f / len);
m_lmDecay = 1.0f - 1.0f / m_linearMotorDecayTimescale;
m_lmEfect = 1.0f / m_linearMotorTimescale; // turn it on
m_ffactor = 0.01f;
if (rootPrim.Body != IntPtr.Zero && !d.BodyIsEnabled(rootPrim.Body)
&& !rootPrim.m_isSelected && !rootPrim.m_disabled)
@ -603,12 +608,13 @@ namespace OpenSim.Region.Physics.OdePlugin
// VehicleFlag.HOVER_GLOBAL_HEIGHT);
break;
}
m_lmDecay = (1.0f - 1.0f / m_linearMotorDecayTimescale);
}//end SetDefaultsForType
internal void Stop()
{
m_lmEfect = 0;
m_lmDecay = 1.0f;
m_amEfect = 0;
m_ffactor = 1f;
}
@ -739,10 +745,10 @@ namespace OpenSim.Region.Physics.OdePlugin
Vector3 curLocalAngVel = curAngVel * irotq; // current angular velocity in local
// linear motor
if (m_lmEfect > 0.01 && m_linearMotorTimescale < 1000)
if (m_lmEfect > 0.001 && m_linearMotorTimescale < 1000)
{
tmpV = m_linearMotorDirection - curLocalVel; // velocity error
tmpV *= m_lmEfect / m_linearMotorTimescale; // error to correct in this timestep
tmpV *= m_lmEfect; // error to correct in this timestep
tmpV *= rotq; // to world
if ((m_flags & VehicleFlag.LIMIT_MOTOR_UP) != 0)
@ -760,7 +766,7 @@ namespace OpenSim.Region.Physics.OdePlugin
force.Y += tmpV.Y;
force.Z += tmpV.Z;
}
m_lmEfect *= (1.0f - 1.0f / m_linearMotorDecayTimescale);
m_lmEfect *= m_lmDecay;
m_ffactor = 0.01f + 1e-4f * curVel.LengthSquared();
}