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BulletSim: Tweeks to vehicle motion. 

Pass through old angular velocity making for smoother transitions.
Remove some old kludges for angular motion (damping and rotvel suppression).
user_profiles
Robert Adams 2013-01-21 23:43:24 -08:00
parent 471c477863
commit 80b1e32bfa
3 changed files with 11 additions and 15 deletions
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21
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -1192,7 +1192,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// set directly on the vehicle. // set directly on the vehicle.
private void MoveAngular(float pTimestep) private void MoveAngular(float pTimestep)
{ {
VehicleRotationalVelocity = Vector3.Zero; // VehicleRotationalVelocity = Vector3.Zero;
ComputeAngularTurning(pTimestep); ComputeAngularTurning(pTimestep);
@ -1202,12 +1202,6 @@ namespace OpenSim.Region.Physics.BulletSPlugin
ComputeAngularBanking(); ComputeAngularBanking();
// ==================================================================
// All of the above computation are made relative to vehicle coordinates.
// Convert to world coordinates.
// TODO: Should this be applied as an angular force (torque)?
VehicleRotationalVelocity *= VehicleOrientation;
// ================================================================== // ==================================================================
if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.01f)) if (VehicleRotationalVelocity.ApproxEquals(Vector3.Zero, 0.01f))
{ {
@ -1256,7 +1250,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin
private void ComputeAngularTurning(float pTimestep) private void ComputeAngularTurning(float pTimestep)
{ {
// The user wants this many radians per second angular change? // The user wants this many radians per second angular change?
Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep); Vector3 currentAngular = VehicleRotationalVelocity * Quaternion.Inverse(VehicleOrientation);
Vector3 angularMotorContribution = m_angularMotor.Step(pTimestep, currentAngular);
// ================================================================== // ==================================================================
// From http://wiki.secondlife.com/wiki/LlSetVehicleFlags : // From http://wiki.secondlife.com/wiki/LlSetVehicleFlags :
@ -1272,7 +1267,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
angularMotorContribution.Y = 0f; angularMotorContribution.Y = 0f;
} }
VehicleRotationalVelocity += angularMotorContribution; VehicleRotationalVelocity += angularMotorContribution * VehicleOrientation;
VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution); VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", Prim.LocalID, angularMotorContribution);
} }
@ -1312,7 +1307,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
if (verticalError.Z < 0f) if (verticalError.Z < 0f)
{ {
vertContribution.X += PIOverFour; vertContribution.X += PIOverFour;
vertContribution.Y += PIOverFour; // vertContribution.Y -= PIOverFour;
} }
// 'vertContrbution' is now the necessary angular correction to correct tilt in one second. // 'vertContrbution' is now the necessary angular correction to correct tilt in one second.
@ -1320,7 +1315,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
Vector3 unscaledContrib = vertContribution; // DEBUG DEBUG Vector3 unscaledContrib = vertContribution; // DEBUG DEBUG
vertContribution /= m_verticalAttractionTimescale; vertContribution /= m_verticalAttractionTimescale;
VehicleRotationalVelocity += vertContribution; VehicleRotationalVelocity += vertContribution * VehicleOrientation;
VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}", VDetailLog("{0}, MoveAngular,verticalAttraction,,verticalError={1},unscaled={2},eff={3},ts={4},vertAttr={5}",
Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContribution); Prim.LocalID, verticalError, unscaledContrib, m_verticalAttractionEfficiency, m_verticalAttractionTimescale, vertContribution);
@ -1371,7 +1366,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
deflectContribution = (-deflectionError) * m_angularDeflectionEfficiency; deflectContribution = (-deflectionError) * m_angularDeflectionEfficiency;
deflectContribution /= m_angularDeflectionTimescale; deflectContribution /= m_angularDeflectionTimescale;
VehicleRotationalVelocity += deflectContribution; VehicleRotationalVelocity += deflectContribution * VehicleOrientation;
VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}", VDetailLog("{0}, MoveAngular,Deflection,movingDir={1},pointingDir={2},deflectError={3},ret={4}",
Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContribution); Prim.LocalID, movingDirection, pointingDirection, deflectionError, deflectContribution);
@ -1438,7 +1433,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin
// Don't do it all at once. // Don't do it all at once.
bankingContribution /= m_bankingTimescale; bankingContribution /= m_bankingTimescale;
VehicleRotationalVelocity += bankingContribution; VehicleRotationalVelocity += bankingContribution * VehicleOrientation;
VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}", VDetailLog("{0}, MoveAngular,Banking,rollComp={1},speed={2},rollComp={3},yAng={4},mYAng={5},ret={6}",
Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContribution); Prim.LocalID, rollComponents, VehicleForwardSpeed, rollComponents, yawAngle, mixedYawAngle, bankingContribution);

2
OpenSim/Region/Physics/BulletSPlugin/BSParam.cs
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@ -450,7 +450,7 @@ public static class BSParam
(s) => { return (float)VehicleMaxAngularVelocity; }, (s) => { return (float)VehicleMaxAngularVelocity; },
(s,p,l,v) => { VehicleMaxAngularVelocity = v; } ), (s,p,l,v) => { VehicleMaxAngularVelocity = v; } ),
new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)", new ParameterDefn("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
0.95f, 0.0f,
(s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); }, (s,cf,p,v) => { VehicleAngularDamping = cf.GetFloat(p, v); },
(s) => { return VehicleAngularDamping; }, (s) => { return VehicleAngularDamping; },
(s,p,l,v) => { VehicleAngularDamping = v; } ), (s,p,l,v) => { VehicleAngularDamping = v; } ),

3
OpenSim/Region/Physics/BulletSPlugin/BSPrim.cs
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@ -1009,6 +1009,7 @@ public sealed class BSPrim : BSPhysObject
{ {
DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity); DetailLog("{0},BSPrim.ForceRotationalVel,taint,rotvel={1}", LocalID, _rotationalVelocity);
PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity); PhysicsScene.PE.SetAngularVelocity(PhysBody, _rotationalVelocity);
// PhysicsScene.PE.SetInterpolationAngularVelocity(PhysBody, _rotationalVelocity);
ActivateIfPhysical(false); ActivateIfPhysical(false);
} }
} }
@ -1649,7 +1650,7 @@ public sealed class BSPrim : BSPhysObject
// TODO: handle physics introduced by Bullet with computed vehicle physics. // TODO: handle physics introduced by Bullet with computed vehicle physics.
if (_vehicle.IsActive) if (_vehicle.IsActive)
{ {
entprop.RotationalVelocity = OMV.Vector3.Zero; // entprop.RotationalVelocity = OMV.Vector3.Zero;
} }
// Assign directly to the local variables so the normal set actions do not happen // Assign directly to the local variables so the normal set actions do not happen