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Angular motor adjustments

avinationmerge
Kitto Flora 2010-02-12 15:56:21 -05:00
parent 6a70349512
commit 9568718add
1 changed files with 26 additions and 22 deletions
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48
OpenSim/Region/Physics/ChOdePlugin/ODEDynamics.cs
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@ -224,6 +224,8 @@ namespace OpenSim.Region.Physics.OdePlugin
// These are vector properties but the engine lets you use a single float value to // These are vector properties but the engine lets you use a single float value to
// set all of the components to the same value // set all of the components to the same value
case Vehicle.ANGULAR_FRICTION_TIMESCALE: case Vehicle.ANGULAR_FRICTION_TIMESCALE:
if (pValue > 30f) pValue = 30f;
if (pValue < 0.1f) pValue = 0.1f;
m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue); m_angularFrictionTimescale = new Vector3(pValue, pValue, pValue);
break; break;
case Vehicle.ANGULAR_MOTOR_DIRECTION: case Vehicle.ANGULAR_MOTOR_DIRECTION:
@ -250,6 +252,12 @@ namespace OpenSim.Region.Physics.OdePlugin
switch (pParam) switch (pParam)
{ {
case Vehicle.ANGULAR_FRICTION_TIMESCALE: case Vehicle.ANGULAR_FRICTION_TIMESCALE:
if (pValue.X > 30f) pValue.X = 30f;
if (pValue.X < 0.1f) pValue.X = 0.1f;
if (pValue.Y > 30f) pValue.Y = 30f;
if (pValue.Y < 0.1f) pValue.Y = 0.1f;
if (pValue.Z > 30f) pValue.Z = 30f;
if (pValue.Z < 0.1f) pValue.Z = 0.1f;
m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z); m_angularFrictionTimescale = new Vector3(pValue.X, pValue.Y, pValue.Z);
break; break;
case Vehicle.ANGULAR_MOTOR_DIRECTION: case Vehicle.ANGULAR_MOTOR_DIRECTION:
@ -306,7 +314,7 @@ namespace OpenSim.Region.Physics.OdePlugin
{ {
case Vehicle.TYPE_SLED: case Vehicle.TYPE_SLED:
m_linearFrictionTimescale = new Vector3(30, 1, 1000); m_linearFrictionTimescale = new Vector3(30, 1, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); m_angularFrictionTimescale = new Vector3(30, 30, 30);
// m_lLinMotorVel = Vector3.Zero; // m_lLinMotorVel = Vector3.Zero;
m_linearMotorTimescale = 1000; m_linearMotorTimescale = 1000;
m_linearMotorDecayTimescale = 120; m_linearMotorDecayTimescale = 120;
@ -333,7 +341,7 @@ namespace OpenSim.Region.Physics.OdePlugin
break; break;
case Vehicle.TYPE_CAR: case Vehicle.TYPE_CAR:
m_linearFrictionTimescale = new Vector3(100, 2, 1000); m_linearFrictionTimescale = new Vector3(100, 2, 1000);
m_angularFrictionTimescale = new Vector3(1000, 1000, 1000); m_angularFrictionTimescale = new Vector3(30, 30, 30); // was 1000, but sl max frict time is 30.
// m_lLinMotorVel = Vector3.Zero; // m_lLinMotorVel = Vector3.Zero;
m_linearMotorTimescale = 1; m_linearMotorTimescale = 1;
m_linearMotorDecayTimescale = 60; m_linearMotorDecayTimescale = 60;
@ -548,6 +556,7 @@ namespace OpenSim.Region.Physics.OdePlugin
if (m_linearFrictionTimescale.Z < 300.0f) if (m_linearFrictionTimescale.Z < 300.0f)
{ {
float fricfactor = m_linearFrictionTimescale.Z / pTimestep; float fricfactor = m_linearFrictionTimescale.Z / pTimestep;
//if(frcount == 0) Console.WriteLine("Zfric={0}", fricfactor);
float fricZ = m_lLinObjectVel.Z / fricfactor; float fricZ = m_lLinObjectVel.Z / fricfactor;
m_lLinObjectVel.Z -= fricZ; m_lLinObjectVel.Z -= fricZ;
} }
@ -639,7 +648,6 @@ namespace OpenSim.Region.Physics.OdePlugin
*/ */
//if(frcount == 0) Console.WriteLine("MoveAngular "); //if(frcount == 0) Console.WriteLine("MoveAngular ");
//####
// Get what the body is doing, this includes 'external' influences // Get what the body is doing, this includes 'external' influences
d.Vector3 angularObjectVel = d.BodyGetAngularVel(Body); d.Vector3 angularObjectVel = d.BodyGetAngularVel(Body);
Vector3 angObjectVel = new Vector3(angularObjectVel.X, angularObjectVel.Y, angularObjectVel.Z); Vector3 angObjectVel = new Vector3(angularObjectVel.X, angularObjectVel.Y, angularObjectVel.Z);
@ -652,9 +660,18 @@ namespace OpenSim.Region.Physics.OdePlugin
// Decay Angular Motor 2. // Decay Angular Motor 2.
if (m_angularMotorDecayTimescale < 300.0f) if (m_angularMotorDecayTimescale < 300.0f)
{ {
float decayfactor = m_angularMotorDecayTimescale/pTimestep; // df = Dec / pts //####
Vector3 decayAmount = (m_angularMotorDVel/decayfactor); // v-da = v-Dvel / df = v-Dvel * pts / Dec if ( Vector3.Mag(m_angularMotorDVel) < 1.0f)
m_angularMotorDVel -= decayAmount; // v-Dvel = v-Dvel - (v-Dvel / df = v-Dvel * pts / Dec) {
float decayfactor = (m_angularMotorDecayTimescale)/pTimestep;
Vector3 decayAmount = (m_angularMotorDVel/decayfactor);
m_angularMotorDVel -= decayAmount;
}
else
{
Vector3 decel = Vector3.Normalize(m_angularMotorDVel) * pTimestep / m_angularMotorDecayTimescale;
m_angularMotorDVel -= decel;
}
if (m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f)) if (m_angularMotorDVel.ApproxEquals(Vector3.Zero, 0.01f))
{ {
@ -743,22 +760,9 @@ namespace OpenSim.Region.Physics.OdePlugin
//if(frcount == 0) Console.WriteLine("V2+= {0}", angObjectVel); //if(frcount == 0) Console.WriteLine("V2+= {0}", angObjectVel);
} }
if (m_angularFrictionTimescale.X < 300.0f) angObjectVel.X -= angObjectVel.X / (m_angularFrictionTimescale.X * 0.7f / pTimestep);
{ angObjectVel.Y -= angObjectVel.Y / (m_angularFrictionTimescale.Y * 0.7f / pTimestep);
float fricfactor = m_angularFrictionTimescale.X / pTimestep; angObjectVel.Z -= angObjectVel.Z / (m_angularFrictionTimescale.Z * 0.7f / pTimestep);
angObjectVel.X -= angObjectVel.X / fricfactor;
}
if (m_angularFrictionTimescale.Y < 300.0f)
{
float fricfactor = m_angularFrictionTimescale.Y / pTimestep;
angObjectVel.Y -= angObjectVel.Y / fricfactor;
}
if (m_angularFrictionTimescale.Z < 300.0f)
{
float fricfactor = m_angularFrictionTimescale.Z / pTimestep;
angObjectVel.Z -= angObjectVel.Z / fricfactor;
Console.WriteLine("z fric");
}
} // else no signif. motion } // else no signif. motion
//if(frcount == 0) Console.WriteLine("Dmotor {0} Obj {1}", m_angularMotorDVel, angObjectVel); //if(frcount == 0) Console.WriteLine("Dmotor {0} Obj {1}", m_angularMotorDVel, angObjectVel);