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BulletSim: many small changes for vehicles simulation.

integration
Robert Adams 2012-10-26 13:55:20 -07:00
parent 2b75035aef
commit 92d3c611e5
1 changed files with 40 additions and 31 deletions
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71
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -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