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BulletSim: apply linear and angular friction in vehicle coordinates 

and not world coordinates.
user_profiles
Robert Adams 2013-05-06 16:48:01 -07:00
parent 045aaa838a
commit 93e1986d69
1 changed files with 6 additions and 6 deletions
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12
OpenSim/Region/Physics/BulletSPlugin/BSDynamics.cs
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@ -1042,12 +1042,12 @@ namespace OpenSim.Region.Physics.BulletSPlugin
VehicleVelocity += linearMotorVelocityW;
// Friction reduces vehicle motion
Vector3 frictionFactor = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep);
VehicleVelocity -= (VehicleVelocity * frictionFactor);
Vector3 frictionFactorW = ComputeFrictionFactor(m_linearFrictionTimescale, pTimestep) * VehicleOrientation;
VehicleVelocity -= (VehicleVelocity * frictionFactorW);
VDetailLog("{0}, MoveLinear,velocity,origVelW={1},velV={2},correctV={3},correctW={4},newVelW={5},fricFact={6}",
ControllingPrim.LocalID, origVelW, currentVelV, linearMotorCorrectionV,
linearMotorVelocityW, VehicleVelocity, frictionFactor);
linearMotorVelocityW, VehicleVelocity, frictionFactorW);
}
public void ComputeLinearTerrainHeightCorrection(float pTimestep)
@ -1340,10 +1340,10 @@ namespace OpenSim.Region.Physics.BulletSPlugin
VehicleRotationalVelocity += angularMotorContributionV * VehicleOrientation;
// Reduce any velocity by friction.
Vector3 frictionFactor = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep);
VehicleRotationalVelocity -= (VehicleRotationalVelocity * frictionFactor);
Vector3 frictionFactorW = ComputeFrictionFactor(m_angularFrictionTimescale, pTimestep) * VehicleOrientation;
VehicleRotationalVelocity -= (VehicleRotationalVelocity * frictionFactorW);
VDetailLog("{0}, MoveAngular,angularTurning,angularMotorContrib={1}", ControllingPrim.LocalID, angularMotorContributionV);
VDetailLog("{0}, MoveAngular,angularTurning,angContribV={1}", ControllingPrim.LocalID, angularMotorContributionV);
}
// From http://wiki.secondlife.com/wiki/Linden_Vehicle_Tutorial: