AngMotor update 1
Kitto Flora
parent
0c5850237e
commit
8c20610293
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@ -108,13 +108,14 @@ namespace OpenSim.Region.Physics.OdePlugin
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//Angular properties
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private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
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private int m_angularMotorApply = 0; // application frame counter
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private Vector3 m_angularMotorVelocity = Vector3.Zero; // current angular motor velocity
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private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate
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private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
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private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
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private float m_angularMotorTimescale = 0; // motor angular Attack rate set by LSL
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private float m_angularMotorDecayTimescale = 0; // motor angular Decay rate set by LSL
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private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular Friction set by LSL
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private Vector3 m_angularMotorDVel = Vector3.Zero; // decayed angular motor
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// private Vector3 m_angObjectVel = Vector3.Zero; // current body angular velocity
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private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
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// private Vector3 m_lastVertAttractor = Vector3.Zero; // what VA was last applied to body
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//Deflection properties
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// private float m_angularDeflectionEfficiency = 0;
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@ -227,7 +228,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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break;
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case Vehicle.ANGULAR_MOTOR_DIRECTION:
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m_angularMotorDirection = new Vector3(pValue, pValue, pValue);
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m_angularMotorApply = 10;
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UpdateAngDecay();
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break;
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case Vehicle.LINEAR_FRICTION_TIMESCALE:
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m_linearFrictionTimescale = new Vector3(pValue, pValue, pValue);
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@ -260,7 +261,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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if(m_angularMotorDirection.Y < - 12.56f) m_angularMotorDirection.Y = - 12.56f;
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if(m_angularMotorDirection.Z > 12.56f) m_angularMotorDirection.Z = 12.56f;
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if(m_angularMotorDirection.Z < - 12.56f) m_angularMotorDirection.Z = - 12.56f;
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m_angularMotorApply = 10;
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UpdateAngDecay();
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break;
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case Vehicle.LINEAR_FRICTION_TIMESCALE:
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m_linearFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
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@ -310,6 +311,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_linearMotorTimescale = 1000;
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m_linearMotorDecayTimescale = 120;
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m_angularMotorDirection = Vector3.Zero;
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m_angularMotorDVel = Vector3.Zero;
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m_angularMotorTimescale = 1000;
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m_angularMotorDecayTimescale = 120;
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m_VhoverHeight = 0;
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@ -336,6 +338,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_linearMotorTimescale = 1;
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m_linearMotorDecayTimescale = 60;
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m_angularMotorDirection = Vector3.Zero;
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m_angularMotorDVel = Vector3.Zero;
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m_angularMotorTimescale = 1;
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m_angularMotorDecayTimescale = 0.8f;
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m_VhoverHeight = 0;
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@ -363,6 +366,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_linearMotorTimescale = 5;
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m_linearMotorDecayTimescale = 60;
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m_angularMotorDirection = Vector3.Zero;
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m_angularMotorDVel = Vector3.Zero;
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m_angularMotorTimescale = 4;
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m_angularMotorDecayTimescale = 4;
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m_VhoverHeight = 0;
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@ -391,6 +395,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_linearMotorTimescale = 2;
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m_linearMotorDecayTimescale = 60;
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m_angularMotorDirection = Vector3.Zero;
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m_angularMotorDVel = Vector3.Zero;
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m_angularMotorTimescale = 4;
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m_angularMotorDecayTimescale = 4;
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m_VhoverHeight = 0;
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@ -417,6 +422,7 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_linearMotorTimescale = 5;
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m_linearMotorDecayTimescale = 60;
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m_angularMotorDirection = Vector3.Zero;
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m_angularMotorDVel = Vector3.Zero;
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m_angularMotorTimescale = 6;
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m_angularMotorDecayTimescale = 10;
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m_VhoverHeight = 5;
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@ -468,8 +474,8 @@ namespace OpenSim.Region.Physics.OdePlugin
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m_lLinObjectVel = Vector3.Zero;
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m_wLinObjectVel = Vector3.Zero;
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m_angularMotorDirection = Vector3.Zero;
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m_angularMotorVelocity = Vector3.Zero;
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m_lastAngularVelocity = Vector3.Zero;
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m_lastAngularVelocity = Vector3.Zero;
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m_angularMotorDVel = Vector3.Zero;
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}
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private void UpdateLinDecay()
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@ -611,54 +617,62 @@ namespace OpenSim.Region.Physics.OdePlugin
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d.BodyAddForce(Body, grav.X, grav.Y, grav.Z);
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//if(frcount == 0) Console.WriteLine("Grav {0}", grav);
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} // end MoveLinear()
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private void UpdateAngDecay()
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{
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if (Math.Abs(m_angularMotorDirection.X) > Math.Abs(m_angularMotorDVel.X)) m_angularMotorDVel.X = m_angularMotorDirection.X;
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if (Math.Abs(m_angularMotorDirection.Y) > Math.Abs(m_angularMotorDVel.Y)) m_angularMotorDVel.Y = m_angularMotorDirection.Y;
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if (Math.Abs(m_angularMotorDirection.Z) > Math.Abs(m_angularMotorDVel.Z)) m_angularMotorDVel.Z = m_angularMotorDirection.Z;
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} // else let the motor decay on its own
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private void MoveAngular(float pTimestep)
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{
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/*
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private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
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private int m_angularMotorApply = 0; // application frame counter
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private float m_angularMotorVelocity = 0; // current angular motor velocity (ramps up and down)
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private float m_angularMotorTimescale = 0; // motor angular velocity ramp up rate
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private float m_angularMotorDecayTimescale = 0; // motor angular velocity decay rate
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private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular velocity decay rate
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private Vector3 m_lastAngularVelocity = Vector3.Zero; // what was last applied to body
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private Vector3 m_angularMotorDirection = Vector3.Zero; // angular velocity requested by LSL motor
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private float m_angularMotorTimescale = 0; // motor angular Attack rate set by LSL
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private float m_angularMotorDecayTimescale = 0; // motor angular Decay rate set by LSL
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private Vector3 m_angularFrictionTimescale = Vector3.Zero; // body angular Friction set by LSL
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private Vector3 m_angularMotorDVel = Vector3.Zero; // decayed angular motor
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private Vector3 m_angObjectVel = Vector3.Zero; // what was last applied to body
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*/
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//if(frcount == 0) Console.WriteLine("MoveAngular ");
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//####
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// Get what the body is doing, this includes 'external' influences
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d.Vector3 angularVelocity = d.BodyGetAngularVel(Body);
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// Vector3 angularVelocity = Vector3.Zero;
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d.Vector3 angularObjectVel = d.BodyGetAngularVel(Body);
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Vector3 angObjectVel = new Vector3(angularObjectVel.X, angularObjectVel.Y, angularObjectVel.Z);
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//if(frcount == 0) Console.WriteLine("V0 = {0}", angObjectVel);
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// Vector3 FrAaccel = m_lastAngularVelocity - angObjectVel;
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// Vector3 initavel = angObjectVel;
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// Decay Angular Motor
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if (m_angularMotorDecayTimescale < 300.0f)
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{
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float decayfactor = m_angularMotorDecayTimescale/pTimestep;
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Vector3 decayAmount = (m_angularMotorDVel/decayfactor);
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m_angularMotorDVel -= decayAmount;
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if (m_angularMotorApply > 0)
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{
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// ramp up to new value
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// current velocity += error / ( time to get there / step interval )
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// requested speed - last motor speed
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m_angularMotorVelocity.X += (m_angularMotorDirection.X - m_angularMotorVelocity.X) / (m_angularMotorTimescale / pTimestep);
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m_angularMotorVelocity.Y += (m_angularMotorDirection.Y - m_angularMotorVelocity.Y) / (m_angularMotorTimescale / pTimestep);
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m_angularMotorVelocity.Z += (m_angularMotorDirection.Z - m_angularMotorVelocity.Z) / (m_angularMotorTimescale / pTimestep);
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m_angularMotorApply--; // This is done so that if script request rate is less than phys frame rate the expected
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// velocity may still be acheived.
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}
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else
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{
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// no motor recently applied, keep the body velocity
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/* m_angularMotorVelocity.X = angularVelocity.X;
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m_angularMotorVelocity.Y = angularVelocity.Y;
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m_angularMotorVelocity.Z = angularVelocity.Z; */
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// and decay the velocity
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m_angularMotorVelocity -= m_angularMotorVelocity / (m_angularMotorDecayTimescale / pTimestep);
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} // end motor section
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if (m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f))
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{
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m_angularMotorDVel = Vector3.Zero;
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}
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else
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{
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if (Math.Abs(m_angularMotorDVel.X) < Math.Abs(angObjectVel.X)) angObjectVel.X = m_angularMotorDVel.X;
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if (Math.Abs(m_angularMotorDVel.Y) < Math.Abs(angObjectVel.Y)) angObjectVel.Y = m_angularMotorDVel.Y;
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if (Math.Abs(m_angularMotorDVel.Z) < Math.Abs(angObjectVel.Z)) angObjectVel.Z = m_angularMotorDVel.Z;
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}
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} // end decay angular motor
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//if(frcount == 0) Console.WriteLine("MotorDvel {0} Obj {1}", m_angularMotorDVel, angObjectVel);
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//if(frcount == 0) Console.WriteLine("VA = {0}", angObjectVel);
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// Vertical attractor section
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Vector3 vertattr = Vector3.Zero;
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if(m_verticalAttractionTimescale < 300)
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{
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float VAservo = 0.0167f / (m_verticalAttractionTimescale * pTimestep);
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float VAservo = 1.0f / (m_verticalAttractionTimescale * pTimestep);
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// get present body rotation
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d.Quaternion rot = d.BodyGetQuaternion(Body);
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Quaternion rotq = new Quaternion(rot.X, rot.Y, rot.Z, rot.W);
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@ -670,38 +684,88 @@ namespace OpenSim.Region.Physics.OdePlugin
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// verterr.X and .Y are the World error ammounts. They are 0 when there is no error (Vehicle Body is 'vertical'), and .Z will be 1.
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// As the body leans to its side |.X| will increase to 1 and .Z fall to 0. As body inverts |.X| will fall and .Z will go
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// negative. Similar for tilt and |.Y|. .X and .Y must be modulated to prevent a stable inverted body.
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if (verterr.Z < 0.0f)
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{
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{ // Defelction from vertical exceeds 90-degrees. This method will ensure stable return to
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// vertical, BUT for some reason a z-rotation is imparted to the object. TBI.
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//Console.WriteLine("InvertFlip");
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verterr.X = 2.0f - verterr.X;
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verterr.Y = 2.0f - verterr.Y;
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}
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// Error is 0 (no error) to +/- 2 (max error)
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// scale it by VAservo
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verterr = verterr * VAservo;
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verterr *= 0.5f;
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// verterror is 0 (no error) to +/- 1 (max error at 180-deg tilt)
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if ((!angObjectVel.ApproxEquals(Vector3.Zero, 0.001f)) || (verterr.Z < 0.49f))
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{
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//if(frcount == 0)
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// As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
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// Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
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vertattr.X = verterr.Y;
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vertattr.Y = - verterr.X;
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vertattr.Z = 0f;
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//if(frcount == 0) Console.WriteLine("VAerr=" + verterr);
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// As the body rotates around the X axis, then verterr.Y increases; Rotated around Y then .X increases, so
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// Change Body angular velocity X based on Y, and Y based on X. Z is not changed.
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vertattr.X = verterr.Y;
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vertattr.Y = - verterr.X;
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vertattr.Z = 0f;
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// scaling appears better usingsquare-law
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float bounce = 1.0f - (m_verticalAttractionEfficiency * m_verticalAttractionEfficiency);
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vertattr.X += bounce * angularVelocity.X;
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vertattr.Y += bounce * angularVelocity.Y;
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} // else vertical attractor is off
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// m_lastVertAttractor = vertattr;
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// scaling appears better usingsquare-law
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float damped = m_verticalAttractionEfficiency * m_verticalAttractionEfficiency;
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float bounce = 1.0f - damped;
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// 0 = crit damp, 1 = bouncy
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float oavz = angObjectVel.Z; // retain z velocity
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angObjectVel = (angObjectVel + (vertattr * VAservo * 0.0333f)) * bounce; // The time-scaled correction, which sums, therefore is bouncy
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angObjectVel = angObjectVel + (vertattr * VAservo * 0.0667f * damped); // damped, good @ < 90.
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angObjectVel.Z = oavz;
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//if(frcount == 0) Console.WriteLine("VA+");
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//Console.WriteLine("VAttr {0} OAvel {1}", vertattr, angObjectVel);
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}
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else
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{
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// else error is very small
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angObjectVel.X = 0f;
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angObjectVel.Y = 0f;
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//if(frcount == 0) Console.WriteLine("VA0");
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}
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} // else vertical attractor is off
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//if(frcount == 0) Console.WriteLine("V1 = {0}", angObjectVel);
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if ( (! m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) || (! angObjectVel.ApproxEquals(Vector3.Zero, 0.01f)) )
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{ // if motor or object have motion
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if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
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if (m_angularMotorTimescale < 300.0f)
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{
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Vector3 attack_error = m_angularMotorDVel - angObjectVel;
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float angfactor = m_angularMotorTimescale/pTimestep;
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Vector3 attackAmount = (attack_error/angfactor);
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angObjectVel += attackAmount;
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//if(frcount == 0) Console.WriteLine("Accel {0} Attk {1}",FrAaccel, attackAmount);
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//if(frcount == 0) Console.WriteLine("V2+= {0}", angObjectVel);
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}
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if (m_angularFrictionTimescale.X < 300.0f)
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{
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float fricfactor = m_angularFrictionTimescale.X / pTimestep;
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angObjectVel.X -= angObjectVel.X / fricfactor;
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}
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if (m_angularFrictionTimescale.Y < 300.0f)
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{
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float fricfactor = m_angularFrictionTimescale.Y / pTimestep;
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angObjectVel.Y -= angObjectVel.Y / fricfactor;
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}
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if (m_angularFrictionTimescale.Z < 300.0f)
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{
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float fricfactor = m_angularFrictionTimescale.Z / pTimestep;
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angObjectVel.Z -= angObjectVel.Z / fricfactor;
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Console.WriteLine("z fric");
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}
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} // else no signif. motion
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//if(frcount == 0) Console.WriteLine("Dmotor {0} Obj {1}", m_angularMotorDVel, angObjectVel);
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// Bank section tba
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// Deflection section tba
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//if(frcount == 0) Console.WriteLine("V3 = {0}", angObjectVel);
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// Sum velocities
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m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // tba: + bank + deflection
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if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.01f))
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m_lastAngularVelocity = angObjectVel;
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/*
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if (!m_lastAngularVelocity.ApproxEquals(Vector3.Zero, 0.0001f))
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{
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if(!d.BodyIsEnabled (Body)) d.BodyEnable (Body);
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}
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@ -709,13 +773,12 @@ namespace OpenSim.Region.Physics.OdePlugin
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{
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m_lastAngularVelocity = Vector3.Zero; // Reduce small value to zero.
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}
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// apply friction
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Vector3 decayamount = Vector3.One / (m_angularFrictionTimescale / pTimestep);
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m_lastAngularVelocity -= m_lastAngularVelocity * decayamount;
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*/
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// Apply to the body
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// Vector3 aInc = m_lastAngularVelocity - initavel;
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//if(frcount == 0) Console.WriteLine("Inc {0}", aInc);
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d.BodySetAngularVel (Body, m_lastAngularVelocity.X, m_lastAngularVelocity.Y, m_lastAngularVelocity.Z);
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//if(frcount == 0) Console.WriteLine("V4 = {0}", m_lastAngularVelocity);
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} //end MoveAngular
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}
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@ -2593,14 +2593,14 @@ Console.WriteLine(" JointCreateFixed");
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{
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get
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{
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Vector3 pv = Vector3.Zero;
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/* Vector3 pv = Vector3.Zero;
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if (_zeroFlag)
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return pv;
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m_lastUpdateSent = false;
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if (m_rotationalVelocity.ApproxEquals(pv, 0.2f))
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return pv;
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*/
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return m_rotationalVelocity;
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}
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set
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@ -2827,14 +2827,15 @@ Console.WriteLine(" JointCreateFixed");
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_acceleration = new Vector3(_velocity.X - m_lastVelocity.X / 0.1f, _velocity.Y - m_lastVelocity.Y / 0.1f, _velocity.Z - m_lastVelocity.Z / 0.1f);
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//m_log.Info("[PHYSICS]: V1: " + _velocity + " V2: " + m_lastVelocity + " Acceleration: " + _acceleration.ToString());
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if (_velocity.ApproxEquals(pv, 0.5f))
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{
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m_rotationalVelocity = pv;
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}
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else
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{
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// if (_velocity.ApproxEquals(pv, 0.5f)) ???? Disregard rotational vel if lin vel is < 0.5 ?????
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// {
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// m_rotationalVelocity = pv;/
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// }
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// else
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// {
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m_rotationalVelocity = new Vector3(rotvel.X, rotvel.Y, rotvel.Z);
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}
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// }
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//m_log.Debug("ODE: " + m_rotationalVelocity.ToString());
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_orientation.X = ori.X;
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