From 92d3c611e57fc320bf20b6b500c275eaebf912aa Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Fri, 26 Oct 2012 13:55:20 -0700 Subject: [PATCH] BulletSim: many small changes for vehicles simulation. --- .../Physics/BulletSPlugin/BSDynamics.cs | 71 +++++++++++-------- 1 file changed, 40 insertions(+), 31 deletions(-) diff --git a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs index 9b59befbb3..8bd81173d5 100644 --- a/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs +++ b/OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs @@ -526,6 +526,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin BulletSimAPI.UpdateInertiaTensor2(Prim.BSBody.ptr); } */ + if (IsActive) + { + // Friction effects are handled by this vehicle code + BulletSimAPI.SetFriction2(Prim.BSBody.ptr, 0f); + BulletSimAPI.SetHitFraction2(Prim.BSBody.ptr, 0f); + } } // One step of the vehicle properties for the next 'pTimestep' seconds. @@ -552,6 +558,7 @@ namespace OpenSim.Region.Physics.BulletSPlugin Prim.ForceOrientation = newOrientation; } */ + BulletSimAPI.SetInterpolationVelocity2(Prim.BSBody.ptr, m_newVelocity, m_lastAngularVelocity); // remember the position so next step we can limit absolute movement effects m_lastPositionVector = Prim.ForcePosition; @@ -570,17 +577,21 @@ namespace OpenSim.Region.Physics.BulletSPlugin { Vector3 origDir = m_linearMotorDirection; Vector3 origVel = m_lastLinearVelocityVector; + Vector3 vehicleVelocity = Prim.ForceVelocity * Quaternion.Inverse(Prim.ForceOrientation); // DEBUG // add drive to body Vector3 addAmount = (m_linearMotorDirection - m_lastLinearVelocityVector)/(m_linearMotorTimescale / pTimestep); // lastLinearVelocityVector is the current body velocity vector m_lastLinearVelocityVector += addAmount; - float keepfraction = 1.0f - (1.0f / (m_linearMotorDecayTimescale / pTimestep)); - m_linearMotorDirection *= keepfraction; + float decayFactor = (1.0f / m_linearMotorDecayTimescale) * pTimestep; + m_linearMotorDirection *= (1f - decayFactor); - VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},add={3},notDecay={4},dir={5},vel={6}", - Prim.LocalID, origDir, origVel, addAmount, keepfraction, m_linearMotorDirection, m_lastLinearVelocityVector); + Vector3 frictionFactor = (Vector3.One / m_linearFrictionTimescale) * pTimestep; + m_lastLinearVelocityVector *= (Vector3.One - frictionFactor); + + VDetailLog("{0},MoveLinear,nonZero,origdir={1},origvel={2},vehVel={3},add={4},decay={5},lmDir={6},lmVel={7}", + Prim.LocalID, origDir, origVel, vehicleVelocity, addAmount, decayFactor, m_linearMotorDirection, m_lastLinearVelocityVector); // convert requested object velocity to object relative vector m_newVelocity = m_lastLinearVelocityVector * Prim.ForceOrientation; @@ -661,18 +672,18 @@ namespace OpenSim.Region.Physics.BulletSPlugin } else { - float horizontalError = pos.Z - m_VhoverTargetHeight; + float verticalError = pos.Z - m_VhoverTargetHeight; // RA: where does the 50 come from> - float horizontalCorrectionVelocity = ((horizontalError * 50.0f) / (m_VhoverTimescale / pTimestep)); + float verticalCorrectionVelocity = pTimestep * ((verticalError * 50.0f) / m_VhoverTimescale); // Replace Vertical speed with correction figure if significant - if (Math.Abs(horizontalError) > 0.01f) + if (Math.Abs(verticalError) > 0.01f) { - m_newVelocity.Z += horizontalCorrectionVelocity; + m_newVelocity.Z += verticalCorrectionVelocity; //KF: m_VhoverEfficiency is not yet implemented } - else if (horizontalError < -0.01) + else if (verticalError < -0.01) { - m_newVelocity.Z -= horizontalCorrectionVelocity; + m_newVelocity.Z -= verticalCorrectionVelocity; } else { @@ -748,16 +759,13 @@ namespace OpenSim.Region.Physics.BulletSPlugin if ((m_flags & (VehicleFlag.NO_Z)) != 0) m_newVelocity.Z = 0; - // Apply friction - Vector3 keepFraction = Vector3.One - (Vector3.One / (m_linearFrictionTimescale / pTimestep)); - m_lastLinearVelocityVector *= keepFraction; - // Apply velocity - // Prim.ForceVelocity = m_newVelocity; - Prim.AddForce(m_newVelocity, false); + Prim.ForceVelocity = m_newVelocity; + // Prim.AddForce(m_newVelocity * Prim.Linkset.LinksetMass, false); + // Prim.AddForce(grav * Prim.Linkset.LinksetMass, false); - VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4},1Mdecay={5}", - Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav, keepFraction); + VDetailLog("{0},MoveLinear,done,lmDir={1},lmVel={2},newVel={3},grav={4}", + Prim.LocalID, m_linearMotorDirection, m_lastLinearVelocityVector, m_newVelocity, grav); } // end MoveLinear() @@ -858,14 +866,17 @@ namespace OpenSim.Region.Physics.BulletSPlugin #region Deflection //Forward is the prefered direction, but if the reference frame has changed, we need to take this into account as well - Vector3 PreferredAxisOfMotion = - new Vector3((10*(m_angularDeflectionEfficiency/m_angularDeflectionTimescale)), 0, 0); - PreferredAxisOfMotion *= Quaternion.Add(Prim.ForceOrientation, m_referenceFrame); + if (m_angularDeflectionEfficiency != 0) + { + Vector3 preferredAxisOfMotion = + new Vector3((pTimestep * 10 * (m_angularDeflectionEfficiency / m_angularDeflectionTimescale)), 0, 0); + preferredAxisOfMotion *= Quaternion.Add(Prim.ForceOrientation, m_referenceFrame); - //Multiply it so that it scales linearly - //deflection = PreferredAxisOfMotion; + deflection = (preferredAxisOfMotion * (m_angularDeflectionEfficiency) / m_angularDeflectionTimescale) * pTimestep; - //deflection = ((PreferredAxisOfMotion * m_angularDeflectionEfficiency) / (m_angularDeflectionTimescale / pTimestep)); + VDetailLog("{0},MoveAngular,Deflection,perfAxis={1},deflection={2}", + Prim.LocalID, preferredAxisOfMotion, deflection); + } #endregion @@ -917,18 +928,16 @@ namespace OpenSim.Region.Physics.BulletSPlugin banking += bankingRot; } m_angularMotorVelocity.X *= m_bankingEfficiency == 1 ? 0.0f : 1 - m_bankingEfficiency; + VDetailLog("{0},MoveAngular,Banking,bEff={1},angMotVel={2},banking={3}", + Prim.LocalID, m_bankingEfficiency, m_angularMotorVelocity, banking); } #endregion m_lastVertAttractor = vertattr; - // Bank section tba - - // Deflection section tba - // Sum velocities - m_lastAngularVelocity = m_angularMotorVelocity + vertattr; // + bank + deflection + m_lastAngularVelocity = m_angularMotorVelocity + vertattr + banking + deflection; if ((m_flags & (VehicleFlag.NO_DEFLECTION_UP)) != 0) { @@ -948,8 +957,8 @@ namespace OpenSim.Region.Physics.BulletSPlugin m_lastAngularVelocity -= m_lastAngularVelocity * decayamount; // Apply to the body - // Prim.ForceRotationalVelocity = m_lastAngularVelocity; - Prim.AddAngularForce(m_lastAngularVelocity, false); + // The above calculates the absolute angular velocity needed + Prim.ForceRotationalVelocity = m_lastAngularVelocity; VDetailLog("{0},MoveAngular,done,decay={1},lastAngular={2}", Prim.LocalID, decayamount, m_lastAngularVelocity); } //end MoveAngular